From 0db29866f15102377522039f9f105162fd1e5e02 Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Sat, 6 Mar 2021 13:30:48 +0100
Subject: [PATCH] Add standard_vtol drop

---
 .../airframes/1043_standard_vtol_drop         | 58 +++++++++++++++++++
 .../init.d-posix/airframes/CMakeLists.txt     |  1 +
 platforms/posix/cmake/sitl_target.cmake       |  1 +
 3 files changed, 60 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
new file mode 100644
index 0000000000..448d1cc70d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6
+
+	param set MIS_TAKEOFF_ALT 10
+
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1
+
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80
+
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2
+
+fi
+
+set MAV_TYPE 22
+
+set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
+set MIXER custom
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index ca1ab02c07..9cf2a44955 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -64,6 +64,7 @@ px4_add_romfs_files(
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
+	1043_standard_vtol_drop
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 300cf647f2..72f8deb7f0 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -124,6 +124,7 @@ set(models
 	shell
 	solo
 	standard_vtol
+	standard_vtol_drop
 	tailsitter
 	techpod
 	tiltrotor