#!/bin/sh
#
# @name Plane SITL
#

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

param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1

param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_THR_LND_MAX 0
param set-default FW_LND_HHDIST 30
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
param set-default FW_LND_FLALT 5
param set-default FW_LND_TLALT 15

param set-default FW_L1_PERIOD 25

param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.40
param set-default FW_PR_I 0.05
param set-default FW_PR_P 0.05

param set-default FW_R_TC 0.45
param set-default FW_RR_FF 0.40
param set-default FW_RR_I 0.132
param set-default FW_RR_P 0.085

param set-default FW_W_EN 1

param set-default MIS_LTRMIN_ALT 30
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_DIST_1WP 2500
param set-default MIS_DIST_WPS 10000

param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default NAV_LOITER_RAD 50

param set-default RWTO_TKOFF 1

# fix takeoff failure for JSBsim in autonomous mission mode.
#param set FW_THR_SLEW_MAX 0.3

param set-default RWTO_MAX_PITCH 20
param set-default RWTO_MAX_ROLL 10

# fix takeoff failure for JSBsim in autonomous mission mode.
#param set-default RWTO_MAX_THR 0.6

param set-default RWTO_PSP 8
param set-default RWTO_AIRSPD_SCL 1.8


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