#!/bin/sh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


param set-default FW_AIRSPD_MAX   22
param set-default FW_AIRSPD_MIN   14
param set-default FW_AIRSPD_TRIM  16
param set-default FW_L1_PERIOD    25
param set-default FW_PR_P 0.060
param set-default FW_P_RMAX_NEG   40
param set-default FW_P_RMAX_POS   40
param set-default FW_RR_FF    0.4
param set-default FW_RR_P 0.04
param set-default FW_R_RMAX   40

param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_MAX 60
param set-default MC_PITCHRATE_P 0.21
param set-default MC_PITCH_P 4
param set-default MC_ROLLRATE_D 0.004
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_MAX 60
param set-default MC_ROLLRATE_P 0.24
param set-default MC_ROLL_P 4
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.18

param set-default MIS_TAKEOFF_ALT 2.5
param set-default MIS_YAW_TMT 20

param set-default MPC_ACC_HOR_MAX 1
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z  0.5
param set-default MPC_LAND_SPEED  1
param set-default MPC_MANTHR_MIN  0.05
param set-default MPC_MAN_Y_MAX   120
param set-default MPC_THR_MIN 0.07
param set-default MPC_TILTMAX_AIR 35
param set-default MPC_TILTMAX_LND 20
param set-default MPC_TKO_SPEED   1
param set-default MPC_XY_P    0.3
param set-default MPC_XY_VEL_MAX  3
param set-default MPC_XY_VEL_P_ACC 1
param set-default MPC_Z_P 0.5
param set-default MPC_Z_VEL_P_ACC 2
param set-default MPC_YAWRAUTO_MAX 40

param set-default NAV_ACC_RAD 3

param set-default PWM_AUX_REV1    1
param set-default PWM_AUX_REV2    1
param set-default PWM_AUX_REV3    1
param set-default PWM_AUX_REV4    1

param set-default PWM_AUX_DIS5 950

param set-default PWM_MAIN_RATE 400

param set-default VT_ARSP_TRANS   15
param set-default VT_B_TRANS_DUR  4
param set-default VT_F_TRANS_THR    0.6
param set-default VT_IDLE_PWM_MC 1180
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_TRANS_MIN_TM 5
param set-default VT_TRANS_TIMEOUT    30
param set-default VT_TYPE 2

set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_AAERT

set PWM_OUT 1234