From ce824b725d0ad8be598f8297fd8ce32a23e1b06f Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Wed, 29 Nov 2023 14:23:52 -0800
Subject: [PATCH] Sub: copy 4.1 parm defaults

---
 ArduSub/Parameters.h      | 21 +++++++++++++++++++++
 Tools/autotest/ardusub.py |  4 +++-
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index f170667859e8f..433d002180a98 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -358,6 +358,7 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
                              AP_Arming::ARMING_CHECK_BATTERY},
     { "CIRCLE_RATE",         2.0f},
     { "ATC_ACCEL_Y_MAX",     110000.0f},
+    { "ATC_RATE_Y_MAX",      180.0f},
     { "RC3_TRIM",            1100},
     { "COMPASS_OFFS_MAX",    1000},
     { "INS_GYR_CAL",         0},
@@ -368,4 +369,24 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "RC8_OPTION",          213},   // MOUNT1_PITCH
     { "MOT_PWM_MIN",         1100},
     { "MOT_PWM_MAX",         1900},
+    { "PSC_JERK_Z",          50.0f},
+    { "WPNAV_SPEED",         100.0f},
+    { "PILOT_SPEED_UP",      100.0f},
+    { "PSC_VELXY_P",         6.0f},
+    { "EK3_SRC1_VELZ",       0},
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    { "BARO_PROBE_EXT",      0},
+    { "BATT_MONITOR",        4},
+    { "BATT_CAPACITY",       0},
+    { "LEAK1_PIN",           27},
+    { "SCHED_LOOP_RATE",     200},
+    { "SERVO13_FUNCTION",    59},    // k_rcin9, lights 1
+    { "SERVO14_FUNCTION",    60},    // k_rcin10, lights 2
+    { "SERVO16_FUNCTION",    7},     // k_mount_tilt
+    { "SERVO16_REVERSED",    1},
+#else
+    { "BARO_PROBE_EXT",      768},
+    { "SERVO9_FUNCTION",     59},    // k_rcin9, lights 1
+    { "SERVO10_FUNCTION",    7},     // k_mount_tilt
+#endif
 };
diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index d1fc238c8263b..40eb081cfb382 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -317,12 +317,14 @@ def DiveMission(self):
     def GripperMission(self):
         '''Test gripper mission items'''
         self.load_mission("sub-gripper-mission.txt")
-        self.change_mode('GUIDED')
         self.wait_ready_to_arm()
         self.arm_vehicle()
         self.change_mode('AUTO')
+        self.wait_waypoint(1, 2, max_dist=5)
         self.wait_statustext("Gripper Grabbed", timeout=60)
+        self.wait_waypoint(1, 4, max_dist=5)
         self.wait_statustext("Gripper Released", timeout=60)
+        self.wait_waypoint(1, 6, max_dist=5)
         self.disarm_vehicle()
 
     def SET_POSITION_TARGET_GLOBAL_INT(self):