change to ESP32 emitter

data_collection_model_and_results/rover/rover_v3.1/drone_run.sh

@@ -29,7 +29,8 @@ if [ ${rover_id} -eq 1 ]; then
     routine=bounce
     config=${repo_root}/spf/rover_configs/rover_receiver_config_pi.yaml 
 elif [ ${rover_id} -eq 2 ]; then
-    config=${repo_root}/spf/rover_configs/rover_emitter_config_pi.yaml 
+    #config=${repo_root}/spf/rover_configs/rover_emitter_config_pi.yaml 
+    config=${repo_root}/spf/rover_configs/rover_single_receiver_config_pi.yaml
     routine=center
 elif [ ${rover_id} -eq 3 ]; then
     routine=circle

spf/rover_configs/rover_single_receiver_config_pi.yaml

@@ -0,0 +1,40 @@
+# Two receivers each with two antennas
+# When a receiver is brought online it performs
+# phase calibration using an emitter equidistant from
+# both receiver antenna
+# The orientation of the receiver is described in 
+# multiples of pi
+emitter:
+  type: external
+
+distance-finder:
+  trigger: 2
+  echo: 3
+
+#USB PORTS
+#USB  2   (Radio A)  |     USB 1 (Radio B)
+receivers:
+  #radio A
+  - receiver-port: 2
+    theta-in-pis: 0
+    antenna-spacing-m: 0.05075 # 50.75 mm 
+    nelements: 2
+    array-type: linear
+    rx-gain-mode: fast_attack
+    rx-buffers: 4
+    rx-gain: -3
+    buffer-size: 4096 # 2**12
+    f-intermediate: 100000 #1.0e5
+    f-carrier: 2467000000 #2.5e9
+    f-sampling: 16000000 # 16.0e6
+    bandwidth: 300000 #3.0e5
+
+n-thetas: 65
+n-records-per-receiver: 600000
+width: 4000
+calibration-frames: 800
+routine: null
+
+drone-uri: serial
+
+dry-run: False