1041_tailsitter
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#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${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_I 0.2
param set FW_PR_P 0.3
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.33
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
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_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
param set VT_TYPE 0
param set WV_EN 0
fi
set MAV_TYPE 20
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
set MIXER custom