#!/bin/sh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#

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

if [ $AUTOCNF = yes ]
then
	param set FW_L1_PERIOD 12
	param set FW_MAN_P_MAX 30
	param set FW_PR_FF 0.2
	param set FW_PR_I 0.4
	param set FW_PR_P 0.9
	param set FW_PSP_OFF 3
	param set FW_RR_FF 0.1
	param set FW_RR_P 0.3

	param set MC_YAW_P 1.6

	param set MIS_TAKEOFF_ALT 10

	param set MPC_ACC_HOR_MAX 2
	param set MPC_XY_P 0.8
	param set MPC_XY_VEL_P_ACC 3
	param set MPC_XY_VEL_I_ACC 4
	param set MPC_XY_VEL_D_ACC 0.1

	param set NAV_LOITER_RAD 100

	param set VT_B_TRANS_DUR 8
	param set VT_ELEV_MC_LOCK 0
	param set VT_FWD_THRUST_EN 4
	param set VT_MOT_ID 1234
	param set VT_TILT_TRANS 0.6
	param set VT_TYPE 1

fi

set MAV_TYPE 21

set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
