-gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
-gen.add("pitch_handicap_enable",bool_t, 0, "Enable motor handicap on pitch", True)
-gen.add("pitch_handicap_limit", double_t, 0, "Pitch handicap limit (degree)", 30, 0, 90)
-gen.add("pitch_handicap_strength",double_t, 0, "Pitch handicap limit strength", 40, 0, 100)
+gen.add("odom_covar_angle", double_t, 0, "Odometry covariance: rotation", 1.00, 1e-6, 6.2832)
+gen.add("rollover_protect", bool_t, 0, "Enable motor rollover protection on pitch", True)
+gen.add("rollover_protect_limit",double_t, 0, "Pitch rollover protection limit (degree)", 45, 0, 90)
+gen.add("rollover_protect_pwm", double_t, 0, "Pitch rollover protection speed (pwm)", 255, 0, 255)