4500_clover

#!/bin/sh
#
# @name COEX Clover Simulator
#
# @type Quadrotor X
#

. ${R}etc/init.d-posix/airframes/10016_iris # base on iris

param set-default ATT_W_EXT_HDG 0.5
param set-default ATT_EXT_HDG_M 1 # 0 = none, 1 = vision, 2 = mocap

param set-default COM_DISARM_LAND 1.0
param set-default COM_RCL_EXCEPT 4 # enable offboard flights without rc

param set-default LPE_FLW_SCALE 1.0
param set-default LPE_FLW_R 0.2
param set-default LPE_FLW_RR 0.0
param set-default LPE_FLW_QMIN 10
param set-default LPE_VIS_DELAY 0.0
param set-default LPE_VIS_Z 0.1
param set-default LPE_FUSION 86 # flow + vis + land detector + gyro comp

param set-default SENS_FLOW_ROT 0
param set-default SENS_FLOW_MINHGT 0.0
param set-default SENS_FLOW_MAXHGT 4.0
param set-default SENS_FLOW_MAXR 10.0

param set-default EKF2_AID_MASK 26 # flow + vis pos + vis yaw
param set-default EKF2_OF_DELAY 0
param set-default EKF2_OF_QMIN 10
param set-default EKF2_OF_N_MIN 0.05
param set-default EKF2_OF_N_MAX 0.2
param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision
param set-default EKF2_EVA_NOISE 0.1
param set-default EKF2_EVP_NOISE 0.1
param set-default EKF2_EV_DELAY 0