#!/bin/sh
#
# @name VTOL Tiltrotor Tricopter
#
# @type VTOL Tiltrotor Tricopter
#

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

param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16
param set-default FW_L1_PERIOD 12

param set-default MC_ROLLRATE_P 0.3

param set-default MIS_LTRMIN_ALT 10
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10

param set-default MC_PITCHRATE_P 0.3
param set-default MC_PITCH_P 5.0
param set-default MC_ROLLRATE_P 0.4
param set-default MC_ROLL_P 5.0
param set-default MC_YAWRATE_P 0.8
param set-default MC_YAW_P 1.5

param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_MAN_Y_MAX 70
param set-default MPC_THR_MIN 0.1
param set-default MPC_TKO_SPEED 1
param set-default MPC_XY_P 0.15
param set-default MPC_XY_VEL_D 0.005
param set-default MPC_XY_VEL_I 0.2
param set-default MPC_XY_VEL_P 0.05
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_P 0.8

param set-default NAV_ACC_RAD 5
param set-default NAV_LOITER_RAD 80

param set-default VT_F_TRANS_DUR 5.0
param set-default VT_F_TRANS_THR 0.75
param set-default VT_TILT_FW 3.1415
param set-default VT_TILT_TRANS 1.2
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
param set-default VT_B_TRANS_DUR 8

param set-default MAV_TYPE 24

set MIXER_FILE etc/mixers-sitl/tiltrotor_tri_sitl.main.mix
set MIXER custom
