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>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
	param set BAT_N_CELLS 3

	param set COM_DISARM_LAND 5
	param set COM_RC_IN_MODE 1

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

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

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

	param set MPC_ACC_HOR_MAX 2
	param set MPC_ACC_HOR_MAX 2
	param set MPC_THR_MIN 0.1
	param set MPC_TKO_SPEED 1
	param set MPC_XY_P 0.8
	param set MPC_XY_VEL_D 0.005
	param set MPC_XY_VEL_I 0.2
	param set MPC_XY_VEL_P 0.15
	param set MPC_Z_VEL_I 0.15
	param set MPC_Z_VEL_MAX_DN 1.5
	param set MPC_Z_VEL_P 0.6

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

	param set RTL_DESCEND_ALT 10
	param set RTL_LAND_DELAY 0
	param set RTL_RETURN_ALT 30

	param set SDLOG_DIRS_MAX 7
	param set SYS_MC_EST_GROUP 2
	param set SYS_RESTART_TYPE 2

	param set VT_F_TRANS_THR 0.75
	param set VT_MOT_COUNT 4
	param set VT_TYPE 2

	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
	param set V19_VT_ROLLDIR 0
fi

param set SYS_HITL 1

set MAV_TYPE 22

set MIXER standard_vtol_hitl

set PWM_OUT 1234