bizhang_-obav/ROMFS/px4fmu_common/init.d/rc.vtol_defaults

#!/bin/sh
#
# VTOL default parameters.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

set VEHICLE_TYPE vtol

if [ $AUTOCNF = yes ]
then
	# to minimize cpu usage on older boards limit inner loop to 400 Hz
	param set IMU_GYRO_RATEMAX 400

	param set MIS_TAKEOFF_ALT 20
	param set MIS_YAW_TMT 10

	param set EKF2_ARSP_THR 10
	param set EKF2_FUSE_BETA 1

	param set MIS_DIST_WPS 5000

	param set MPC_ACC_HOR_MAX 2
	param set MPC_TKO_SPEED 1
	param set MPC_VEL_MANUAL 3
	param set MPC_XY_CRUISE 3
	param set MPC_XY_VEL_MAX 4
	param set MPC_Z_VEL_MAX_DN 1.5
	param set MPC_JERK_MAX 4.5

	param set NAV_ACC_RAD 3

	param set PWM_AUX_RATE 50
	param set PWM_RATE 400

	param set RTL_LAND_DELAY 0
	param set RTL_TYPE 1

	param set WV_EN 1
fi