#!/bin/sh
#
# @name HIL Standard VTOL QuadPlane
#
# @type Standard VTOL
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

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

param set-default BAT1_N_CELLS 3

param set-default COM_RC_IN_MODE 1

param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_MAG_TYPE 1

param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 16

param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.2
param set-default MC_ROLL_P 6
param set-default MC_ROLLRATE_P 0.3
param set-default MIS_TAKEOFF_ALT 10
param set-default MIS_YAW_TMT 10

param set-default MPC_THR_MIN 0.1
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_VEL_P_ACC 12
param set-default MPC_Z_VEL_I_ACC 3

param set-default NAV_ACC_RAD 5
param set-default NAV_DLL_ACT 2

param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30

param set-default SDLOG_DIRS_MAX 7

param set-default VT_F_TRANS_THR 0.75
param set-default VT_TYPE 2

param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2

# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05

param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3

param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 105
param set-default HIL_ACT_FUNC6 201
param set-default HIL_ACT_FUNC7 202
param set-default HIL_ACT_FUNC8 203


param set SYS_HITL 1

param set UAVCAN_ENABLE 0

# disable some checks to allow to fly
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281

param set-default MAV_TYPE 22