#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#

. ${R}etc/init.d-posix/airframes/10016_iris

# EKF2
param set-default EKF2_AID_MASK 2
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05

# LPE: Flow-only mode
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1

param set-default MPC_ALT_MODE 2

param set-default SENS_FLOW_ROT 6
param set-default SENS_FLOW_MINHGT 0.7
param set-default SENS_FLOW_MAXHGT 3.0
param set-default SENS_FLOW_MAXR 2.5