#!nsh

set VEHICLE_TYPE vtol

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 6.0
	param set MC_PITCH_P 6.0
	param set MC_YAW_P 4

	param set PE_VELNE_NOISE 0.5
	param set PE_VELD_NOISE 0.3
	param set PE_POSNE_NOISE 0.5
	param set PE_POSD_NOISE 1.25
	param set PE_ABIAS_PNOISE 0.0001

	#
	# Default parameters for mission and position handling
	#
	param set NAV_ACC_RAD 3
	param set MPC_TKO_SPEED 1.0
	param set MPC_LAND_SPEED 0.7
	param set MPC_Z_VEL_MAX 1.5
	param set MPC_XY_VEL_MAX 4.0
	param set MIS_YAW_TMT 10
	param set MPC_ACC_HOR_MAX 2.0
fi

# set environment variables (!= parameters)
set PWM_RATE 400
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX

# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
	param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
	param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
	param set PWM_DISARMED 900
fi