#!/bin/sh
#
# @name Boat
#

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

if [ $AUTOCNF = yes ]
then
	param set GND_L1_DIST 5
	param set GND_L1_PERIOD 100
	param set GND_SP_CTRL_MODE 1
	param set GND_SPEED_D 0.001
	param set GND_SPEED_I 8
	param set GND_SPEED_IMAX 0.125
	param set GND_SPEED_P 2
	param set GND_SPEED_THR_SC 1
	param set GND_SPEED_TRIM 1
	param set GND_THR_CRUISE 0.85
	param set GND_THR_MAX 1
	param set GND_THR_MIN 0

	param set MIS_LTRMIN_ALT 0.01
	param set MIS_TAKEOFF_ALT 0.01
	param set NAV_ACC_RAD 0.5
	param set NAV_LOITER_RAD 2

	param set CBRK_AIRSPD_CHK 162128

	param set GND_MAX_ANG 0.6
	param set GND_WHEEL_BASE 2.0

fi

set MAV_TYPE 11

set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix