From e1117d175b61f942bbe3563deeac49ddec13371d Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Thu, 21 Jun 2018 10:53:24 +0200
Subject: [PATCH] ROMFS: updated deltaquad autoconfig params

Signed-off-by: Roman <bapstroman@gmail.com>
---
 ROMFS/px4fmu_common/init.d/13013_deltaquad | 48 ++++++++++++++++++----
 1 file changed, 40 insertions(+), 8 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/13013_deltaquad b/ROMFS/px4fmu_common/init.d/13013_deltaquad
index e9ee556df7..58c2eca715 100644
--- a/ROMFS/px4fmu_common/init.d/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name DeltaQuad
+# @name Vertical Technologies DeltaQuad
 #
 # @type Standard VTOL
 # @class VTOL
@@ -21,19 +21,30 @@ sh /etc/init.d/rc.vtol_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set BAT_CAPACITY 23000
+	param set BAT_N_CELLS 4
+	param set BAT_R_INTERNAL 0.0025
+
+	param set COM_DISARM_LAND 5
+
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_F_TRANS_THR 1
 	param set VT_DWN_PITCH_MAX 8
 	param set VT_FW_QC_P 55
 	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 8
-	param set VT_B_TRANS_DUR 5
+	param set VT_TRANS_MIN_TM 15
+	param set VT_B_TRANS_DUR 8
 	param set VT_WV_LND_EN 1
 	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 2
+	param set VT_FWD_THRUST_SC 4
 	param set VT_F_TRANS_DUR 1
 	param set VT_IDLE_PWM_MC 1025
+	param set VT_B_REV_OUT 0.5
+	param set VT_B_TRANS_THR 0.7
+	param set VT_FW_PERM_STAB 1
+	param set VT_TRANS_TIMEOUT 22
+	param set VT_F_TRANS_RAMP 4
 
 	param set FW_ARSP_MODE 2
 	param set FW_L1_PERIOD 25
@@ -51,14 +62,19 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
-	param set FW_THR_CRUISE 0.68
+	param set FW_T_HRATE_P 0.1
+	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 20
+	param set FW_P_LIM_MAX 15
 	param set FW_P_LIM_MIN -25
 	param set FW_P_RMAX_NEG 45
 	param set FW_P_RMAX_POS 45
 	param set FW_R_RMAX 50
+	param set FW_THR_MIN 0.55
+	param set FW_BAT_SCALE_EN 1
+	param set FW_THR_ALT_SCL 2.7
+	param set FW_T_RLL2THR 20
 
 	param set LNDMC_ALT_MAX 9999
 	param set LNDMC_XY_VEL_MAX 1
@@ -84,12 +100,13 @@ then
 	param set MC_YAWRATE_FF 0.0
 	param set MC_YAWRATE_MAX 20
 	param set MC_YAWRAUTO_MAX 20
+	param set MC_AIRMODE 1
 
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_MAX 4
+	param set MPC_XY_VEL_MAX 5
 	param set MPC_ACC_HOR_MAX 2.0
-	param set MPC_LAND_SPEED 1.5
+	param set MPC_LAND_SPEED 1.2
 	param set MPC_MAN_R_MAX 30
 	param set MPC_TILTMAX_LND 35
 	param set MPC_Z_VEL_MAX 1.5
@@ -97,6 +114,10 @@ then
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_HOLD_MAX_XY 0.5
 	param set MPC_HOLD_MAX_Z 0.5
+	param set MPC_TKO_RAMP_T 0.8
+	param set MPC_XY_CRUISE 5
+	param set MPC_TILTMAX_AIR 25
+	param set MPC_TILTMAX_LND 25
 
 	param set CBRK_AIRSPD_CHK 162128
 	param set CBRK_IO_SAFETY 22027
@@ -104,8 +125,19 @@ then
 	param set EKF2_GPS_POS_X -0.12
 	param set EKF2_IMU_POS_X -0.12
 	param set EKF2_TAU_VEL 0.5
+	param set EKF2_GPS_P_GATE 10
+	param set EKF2_GPS_V_GATE 10
+
+	param set MIS_DIST_1WP 100
+	param set MIS_DIST_WPS 100000
+	param set MIS_TAKEOFF_ALT 15
+
+
+	param set NAV_DLL_ACT 0
+	param set NAV_LOITER_RAD 100
 
 	param set SYS_COMPANION 57600
+	param set SENS_BOARD_ROT 18
 fi
 
 set MIXER deltaquad