#!/bin/sh
#
# VTOL default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

set VEHICLE_TYPE vtol

# MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22

# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
param set-default COM_POS_FS_EPH 50

param set-default COM_POS_LOW_EPH 50

param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10

param set-default EKF2_ARSP_THR 10
param set-default EKF2_FUSE_BETA 1

param set-default HTE_VXY_THR 2

param set-default MIS_TKO_LAND_REQ 2

param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_ERR_MAX 5
param set-default MPC_XY_VEL_MAX 8
param set-default MPC_JERK_MAX 4.5
param set-default MPC_YAW_MODE 4

# reduce aggressiveness around roll and yaw axis,
# as VTOLs usually have high intertia and lot af drag due to wings
param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_MAX 120
param set-default MC_YAW_P 2
param set-default MC_YAWRATE_MAX 120
param set-default MPC_MAN_Y_MAX 90

param set-default RTL_TYPE 1

param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor

param set-default WV_EN 1