#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#

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

param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.3
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2

param set-default MC_ROLLRATE_P 0.3

param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1

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

param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0

param set-default WV_EN 0

set MAV_TYPE 20

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