px4_autopilot/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

#!/bin/sh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.vtol_defaults


param set-default BAT_N_CELLS 3

param set-default COM_RC_IN_MODE 1

param set-default EKF2_AID_MASK 1
param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MAG_TYPE 1

param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16

param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.2
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.3
param set-default MIS_LTRMIN_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10

param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 1.5

param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 80

param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30

param set-default SDLOG_DIRS_MAX 7
param set-default SYS_RESTART_TYPE 2

param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TYPE 2


param set SYS_HITL 1

# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

set MAV_TYPE 22

set MIXER standard_vtol_hitl

set PWM_OUT 1234