#!/bin/sh
#
# @name SIH Tailsitter Duo
#
# @type VTOL
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>

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

param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.3
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5

param set-default MAV_TYPE 19
set MAV_TYPE 19
set MIXER vtol_tailsitter_duo_sat

# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

param set-default BAT_N_CELLS 3

param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0.0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.145

# sih as tailsitter
param set SIH_VEHICLE_TYPE 2