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#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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#
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. ${R}etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF = yes ]
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then
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param set FW_L1_PERIOD 12
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param set FW_MAN_P_MAX 30
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param set FW_PR_I 0.2
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param set FW_PR_P 0.3
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param set FW_PSP_OFF 2
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param set FW_P_LIM_MAX 32
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param set FW_P_LIM_MIN -15
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param set FW_RR_P 0.3
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param set FW_THR_CRUISE 0.33
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param set FW_THR_MAX 0.6
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param set FW_THR_MIN 0.05
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param set FW_T_ALT_TC 2
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param set FW_T_CLMB_MAX 8
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param set FW_T_HRATE_FF 0.5
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param set FW_T_SINK_MAX 2.7
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param set FW_T_SINK_MIN 2.2
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param set FW_T_TAS_TC 2
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param set MC_ROLLRATE_P 0.3
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param set MPC_ACC_HOR_MAX 2
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_P_ACC 3
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param set MPC_XY_VEL_I_ACC 4
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param set MPC_XY_VEL_D_ACC 0.1
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param set NAV_ACC_RAD 5
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param set NAV_LOITER_RAD 80
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param set VT_F_TRANS_DUR 1.5
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param set VT_F_TRANS_THR 0.7
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param set VT_TYPE 0
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param set WV_EN 0
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fi
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set MAV_TYPE 20
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set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
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set MIXER custom
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