#!/bin/sh
#
# @name ThunderFly TF-R1 UAV Rover
# @type Rover
# @class Rover
#
# @url https://github.com/ThunderFly-aerospace/TF-R1/
# @maintainer ThunderFly s.r.o.
#

sh /etc/init.d/rc.rover_defaults

if [ $AUTOCNF = yes ]
then
	param set GND_L1_DIST 5
	param set GND_SP_CTRL_MODE 1
	param set GND_SPEED_D 3
	param set GND_SPEED_I 0.001
	param set GND_SPEED_IMAX 0.125
	param set GND_SPEED_P 0.25
	param set GND_SPEED_THR_SC 1
	param set GND_SPEED_TRIM 15
	param set GND_SPEED_MAX 25
	param set GND_THR_CRUISE 0.3
	param set GND_THR_IDLE 0
	param set GND_THR_MAX 0.5
	param set GND_THR_MIN 0

	param set MIS_LTRMIN_ALT 0.01
	param set MIS_TAKEOFF_ALT 0.01
	param set NAV_ACC_RAD 0.5
	param set NAV_LOITER_RAD 2

	param set CBRK_AIRSPD_CHK 162128

	param set GND_MAX_ANG 0.6
	param set GND_WHEEL_BASE 3.0

fi

set MAV_TYPE 10

set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
