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

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

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}

param set-default SIM_GZ_EN 1 # Gazebo bridge

param set-default MAV_TYPE 20

param set-default CA_AIRFRAME 4

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05

param set-default CA_SV_CS_COUNT 0

param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104

param set-default SIM_GZ_EC_MIN1 10
param set-default SIM_GZ_EC_MIN2 10
param set-default SIM_GZ_EC_MIN3 10
param set-default SIM_GZ_EC_MIN4 10

param set-default SIM_GZ_EC_MAX1 1500
param set-default SIM_GZ_EC_MAX2 1500
param set-default SIM_GZ_EC_MAX3 1500
param set-default SIM_GZ_EC_MAX4 1500

param set-default FD_FAIL_R 70

param set-default FW_P_TC 0.6

param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22

param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3

param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_TYPE 0

param set-default WV_EN 0

param set-default EKF2_FUSE_BETA 0