1046_gazebo-classic_advanced_tailsitter

#!/bin/sh
#
# @name Advanced Tailsitter SITL
#
# @type VTOL Tailsitter
#

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

param set-default MAV_TYPE 19

param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

param set-default CA_AIRFRAME 4

param set-default CA_ROTOR_COUNT 2
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PY -0.3
param set-default CA_ROTOR0_PZ -0.2
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PY 0.3
param set-default CA_ROTOR1_PZ -0.2

param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y 0.5
param set-default CA_SV_CS1_TYPE 6
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_Y -0.5
param set-default VT_ELEV_MC_LOCK 0

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202

# Single-EKF (for replay)
param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 1

param set-default FW_PR_FF 0
param set-default FW_PSP_OFF 2
param set-default MC_AIRMODE 1
param set-default FW_THR_TRIM 0.6

param set-default VT_ARSP_TRANS 10
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_TYPE 0

param set-default WV_EN 0