From 882c5bbdc9b360a46b54bed51fab3b8d6da27f02 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 4 Apr 2017 18:46:48 +0200
Subject: [PATCH] 4070_aerofc: update MPC and LND parameters

---
 ROMFS/px4fmu_common/init.d/4070_aerofc | 30 +++++++++++++++++++++++---
 1 file changed, 27 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index 2af22b3561..00ffe92c80 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -19,14 +19,21 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
 	# Set all params here, then disable autoconfig
+
+	param set COM_DISARM_LAND 3
+
+	param set LNDMC_MAN_DWNTHR 0.2500
+	param set LNDMC_POS_UPTHR 0.5500
+	param set LNDMC_Z_VEL_MAX 2.0000
+
 	param set MC_ROLL_P 8.0000
 	param set MC_ROLLRATE_P 0.1300
-	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_I 0.07
 	param set MC_ROLLRATE_D 0.0012
 	param set MC_ROLLRATE_MAX 360
 	param set MC_PITCH_P 8.0000
 	param set MC_PITCHRATE_P 0.1300
-	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_I 0.07
 	param set MC_PITCHRATE_D 0.0012
 	param set MC_PITCHRATE_MAX 360
 	param set MC_YAW_P 4.0
@@ -34,7 +41,24 @@ then
 	param set MC_YAWRATE_I 0.050000000745058060
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MPC_XY_CRUISE 8
+
+	param set MPC_LAND_SPEED 0.7000
+	param set MPC_MANTHR_MIN 0.0400
+	param set MPC_THR_HOVER 0.5000
+	param set MPC_THR_MAX 0.9400
+	param set MPC_THR_MIN 0.1000
+	param set MPC_XY_CRUISE 8.0000
+	param set MPC_XY_P 1.5000
+	param set MPC_XY_VEL_P 0.1500
+	param set MPC_Z_P 1.5000
+	param set MPC_Z_VEL_I 0.1500
+	param set MPC_Z_VEL_MAX_DN 4.0000
+	param set MPC_Z_VEL_MAX_UP 5.0000
+	param set MPC_Z_VEL_P 0.8000
+
+	param set EKF2_GPS_POS_X -0.0600
+	param set EKF2_GPS_POS_Z -0.1000
+	param set EKF2_MIN_OBS_DT 50
 
 	param set EKF2_BARO_GATE 10.0
 	param set EKF2_BARO_NOISE 5.0