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#!/bin/sh
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#
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# @name Plane SITL
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#
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. ${R}etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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param set EKF2_MAG_ACCLIM 0
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param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1
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param set FW_LND_ANG 8
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param set FW_THR_LND_MAX 0
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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 0.4
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param set FW_PR_P 0.9
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param set FW_PR_FF 0.2
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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_FF 0.1
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param set FW_RR_P 0.3
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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_THR_CRUISE 0.25
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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 FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 30
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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