#!/bin/sh
#
# @name matlab songbird
#
# @type VTOL
#

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

PX4_SIMULATOR=${PX4_SIMULATOR:=matlab}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=songbird}

# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
# shellcheck disable=SC1091

SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"

#
# Main SITL startup script
#
# build/px4_sitl_songbird/tmp/rootfs$ ../../bin/px4 -s etc/init.d-posix/13015_sitl_songbird ../../../../ROMFS/px4fmu_common/

set RUN_MINIMAL_SHELL           no

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

# TODO: Enable motor failure detection when the
# VTOL no longer reports 0A for all ESCs in SITL
param set-default FD_ACT_EN 0
param set-default FD_ACT_MOT_TOUT 500

param set-default CA_AIRFRAME	31
param set-default MAV_TYPE	21
param set-default VT_TYPE	3

param set-default COM_PREARM_MODE 2

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.375
param set-default CA_ROTOR0_PY 0.475
param set-default CA_ROTOR0_PZ 0

param set-default CA_ROTOR1_AX 0
param set-default CA_ROTOR1_AY 0
param set-default CA_ROTOR1_AZ -1
param set-default CA_ROTOR1_CT 6.5
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.375
param set-default CA_ROTOR1_PY -0.475
param set-default CA_ROTOR1_PZ 0
param set-default CA_ROTOR1_TILT 1
param set-default CA_ROTOR2_AX 0
param set-default CA_ROTOR2_AY 0
param set-default CA_ROTOR2_AZ -1
param set-default CA_ROTOR2_CT 6.5
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR2_PX 0.375
param set-default CA_ROTOR2_PY -0.475
param set-default CA_ROTOR2_PZ 0
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR3_AX 0
param set-default CA_ROTOR3_AY 0
param set-default CA_ROTOR3_AZ -1
param set-default CA_ROTOR3_CT 6.5
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR3_PX -0.375
param set-default CA_ROTOR3_PY 0.475

param set-default CA_ROTOR0_TILT 2

param set-default ASPD_BETA_GATE 1
param set-default ASPD_BETA_NOISE 0.150000005960464478
param set-default ASPD_DO_CHECKS 7
param set-default ASPD_FALLBACK_GW 0
param set-default ASPD_FS_INNOV 5.000000000000000000
param set-default ASPD_FS_INTEG 10.000000000000000000
param set-default ASPD_FS_T_START -1
param set-default ASPD_FS_T_STOP 2
param set-default ASPD_PRIMARY 1
param set-default ASPD_SCALE_1 1.000000000000000000
param set-default ASPD_SCALE_2 1.000000000000000000
param set-default ASPD_SCALE_3 1.000000000000000000
param set-default ASPD_SCALE_APPLY 2
param set-default ASPD_SCALE_NSD 0.000099999997473788
param set-default ASPD_TAS_GATE 4
param set-default ASPD_TAS_NOISE 1.399999976158142090
param set-default ASPD_WERR_THR 0.550000011920928955
param set-default ASPD_WIND_NSD 0.100000001490116119
param set-default ATT_EN 0
param set-default BAT1_CAPACITY -1.000000000000000000
param set-default BAT1_N_CELLS 4
param set-default BAT1_R_INTERNAL 0.004999999888241291
param set-default BAT1_SOURCE 0
param set-default BAT1_V_CHARGED 4.050000190734863281
param set-default BAT1_V_EMPTY 3.599999904632568359
param set-default BAT_AVRG_CURRENT 15.000000000000000000
param set-default BAT_CRIT_THR 0.070000000298023224
param set-default BAT_EMERGEN_THR 0.050000000745058060
param set-default BAT_LOW_THR 0.150000005960464478
param set-default CA_FAILURE_MODE 0
param set-default CA_METHOD 2
param set-default CA_R0_SLEW 0.000000000000000000
param set-default CA_R10_SLEW 0.000000000000000000
param set-default CA_R11_SLEW 0.000000000000000000
param set-default CA_R1_SLEW 0.000000000000000000
param set-default CA_R2_SLEW 0.000000000000000000
param set-default CA_R3_SLEW 0.000000000000000000
param set-default CA_R4_SLEW 0.000000000000000000
param set-default CA_R5_SLEW 0.000000000000000000
param set-default CA_R6_SLEW 0.000000000000000000
param set-default CA_R7_SLEW 0.000000000000000000
param set-default CA_R8_SLEW 0.000000000000000000
param set-default CA_R9_SLEW 0.000000000000000000
param set-default CA_ROTOR0_AX 0.000000000000000000
param set-default CA_ROTOR0_AY 0.000000000000000000
param set-default CA_ROTOR0_AZ -1.000000000000000000
param set-default CA_ROTOR0_CT 6.500000000000000000
param set-default CA_ROTOR0_KM 0.050000000745058060
param set-default CA_ROTOR10_AX 0.000000000000000000
param set-default CA_ROTOR10_AY 0.000000000000000000
param set-default CA_ROTOR10_AZ -1.000000000000000000
param set-default CA_ROTOR10_CT 6.500000000000000000
param set-default CA_ROTOR10_KM 0.050000000745058060
param set-default CA_ROTOR10_PX 0.000000000000000000
param set-default CA_ROTOR10_PY 0.000000000000000000
param set-default CA_ROTOR10_PZ 0.000000000000000000
param set-default CA_ROTOR10_TILT 0
param set-default CA_ROTOR11_AX 0.000000000000000000
param set-default CA_ROTOR11_AY 0.000000000000000000
param set-default CA_ROTOR11_AZ -1.000000000000000000
param set-default CA_ROTOR11_CT 6.500000000000000000
param set-default CA_ROTOR11_KM 0.050000000745058060
param set-default CA_ROTOR11_PX 0.000000000000000000
param set-default CA_ROTOR11_PY 0.000000000000000000
param set-default CA_ROTOR11_PZ 0.000000000000000000
param set-default CA_ROTOR11_TILT 0
param set-default CA_ROTOR3_PZ 0.000000000000000000
param set-default CA_ROTOR3_TILT 2
param set-default CA_ROTOR4_AX 0.000000000000000000
param set-default CA_ROTOR4_AY 0.000000000000000000
param set-default CA_ROTOR4_AZ -1.000000000000000000
param set-default CA_ROTOR4_CT 6.500000000000000000
param set-default CA_ROTOR4_KM 0.050000000745058060
param set-default CA_ROTOR4_PX 0.000000000000000000
param set-default CA_ROTOR4_PY 0.000000000000000000
param set-default CA_ROTOR4_PZ 0.000000000000000000
param set-default CA_ROTOR4_TILT 0
param set-default CA_ROTOR5_AX 0.000000000000000000
param set-default CA_ROTOR5_AY 0.000000000000000000
param set-default CA_ROTOR5_AZ -1.000000000000000000
param set-default CA_ROTOR5_CT 6.500000000000000000
param set-default CA_ROTOR5_KM 0.050000000745058060
param set-default CA_ROTOR5_PX 0.000000000000000000
param set-default CA_ROTOR5_PY 0.000000000000000000
param set-default CA_ROTOR5_PZ 0.000000000000000000
param set-default CA_ROTOR5_TILT 0
param set-default CA_ROTOR6_AX 0.000000000000000000
param set-default CA_ROTOR6_AY 0.000000000000000000
param set-default CA_ROTOR6_AZ -1.000000000000000000
param set-default CA_ROTOR6_CT 6.500000000000000000
param set-default CA_ROTOR6_KM 0.050000000745058060
param set-default CA_ROTOR6_PX 0.000000000000000000
param set-default CA_ROTOR6_PY 0.000000000000000000
param set-default CA_ROTOR6_PZ 0.000000000000000000
param set-default CA_ROTOR6_TILT 0
param set-default CA_ROTOR7_AX 0.000000000000000000
param set-default CA_ROTOR7_AY 0.000000000000000000
param set-default CA_ROTOR7_AZ -1.000000000000000000
param set-default CA_ROTOR7_CT 6.500000000000000000
param set-default CA_ROTOR7_KM 0.050000000745058060
param set-default CA_ROTOR7_PX 0.000000000000000000
param set-default CA_ROTOR7_PY 0.000000000000000000
param set-default CA_ROTOR7_PZ 0.000000000000000000
param set-default CA_ROTOR7_TILT 0
param set-default CA_ROTOR8_AX 0.000000000000000000
param set-default CA_ROTOR8_AY 0.000000000000000000
param set-default CA_ROTOR8_AZ -1.000000000000000000
param set-default CA_ROTOR8_CT 6.500000000000000000
param set-default CA_ROTOR8_KM 0.050000000745058060
param set-default CA_ROTOR8_PX 0.000000000000000000
param set-default CA_ROTOR8_PY 0.000000000000000000
param set-default CA_ROTOR8_PZ 0.000000000000000000
param set-default CA_ROTOR8_TILT 0
param set-default CA_ROTOR9_AX 0.000000000000000000
param set-default CA_ROTOR9_AY 0.000000000000000000
param set-default CA_ROTOR9_AZ -1.000000000000000000
param set-default CA_ROTOR9_CT 6.500000000000000000
param set-default CA_ROTOR9_KM 0.050000000745058060
param set-default CA_ROTOR9_PX 0.000000000000000000
param set-default CA_ROTOR9_PY 0.000000000000000000
param set-default CA_ROTOR9_PZ 0.000000000000000000
param set-default CA_ROTOR9_TILT 0
param set-default CA_R_REV 0
param set-default CA_SV0_SLEW 0.000000000000000000
param set-default CA_SV1_SLEW 0.000000000000000000
param set-default CA_SV2_SLEW 0.000000000000000000
param set-default CA_SV3_SLEW 0.000000000000000000
param set-default CA_SV4_SLEW 0.000000000000000000
param set-default CA_SV5_SLEW 0.000000000000000000
param set-default CA_SV6_SLEW 0.000000000000000000
param set-default CA_SV7_SLEW 0.000000000000000000
param set-default CA_SV_CS0_FLAP 0.000000000000000000
param set-default CA_SV_CS0_SPOIL 0.000000000000000000
param set-default CA_SV_CS0_TRIM 0.000000000000000000
param set-default CA_SV_CS0_TRQ_P 0.000000000000000000
param set-default CA_SV_CS0_TRQ_R -1.000000000000000000
param set-default CA_SV_CS0_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_FLAP 0.000000000000000000
param set-default CA_SV_CS1_SPOIL 0.000000000000000000
param set-default CA_SV_CS1_TRIM 0.000000000000000000
param set-default CA_SV_CS1_TRQ_P 0.000000000000000000
param set-default CA_SV_CS1_TRQ_R 1.000000000000000000
param set-default CA_SV_CS1_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_FLAP 0.000000000000000000
param set-default CA_SV_CS2_SPOIL 0.000000000000000000
param set-default CA_SV_CS2_TRIM 0.000000000000000000
param set-default CA_SV_CS2_TRQ_P -1.000000000000000000
param set-default CA_SV_CS2_TRQ_R 0.000000000000000000
param set-default CA_SV_CS2_TRQ_Y 1.000000000000000000
param set-default CA_SV_CS2_TYPE 7
param set-default CA_SV_CS3_FLAP 0.000000000000000000
param set-default CA_SV_CS3_SPOIL 0.000000000000000000
param set-default CA_SV_CS3_TRIM 0.000000000000000000
param set-default CA_SV_CS3_TRQ_P 1.000000000000000000
param set-default CA_SV_CS3_TRQ_R 0.000000000000000000
param set-default CA_SV_CS3_TRQ_Y -1.000000000000000000
param set-default CA_SV_CS3_TYPE 8
param set-default CA_SV_CS4_FLAP 0.000000000000000000
param set-default CA_SV_CS4_SPOIL 0.000000000000000000
param set-default CA_SV_CS4_TRIM 0.000000000000000000
param set-default CA_SV_CS4_TRQ_P 0.000000000000000000
param set-default CA_SV_CS4_TRQ_R 0.000000000000000000
param set-default CA_SV_CS4_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS4_TYPE 0
param set-default CA_SV_CS5_FLAP 0.000000000000000000
param set-default CA_SV_CS5_SPOIL 0.000000000000000000
param set-default CA_SV_CS5_TRIM 0.000000000000000000
param set-default CA_SV_CS5_TRQ_P 0.000000000000000000
param set-default CA_SV_CS5_TRQ_R 0.000000000000000000
param set-default CA_SV_CS5_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS5_TYPE 0
param set-default CA_SV_CS6_FLAP 0.000000000000000000
param set-default CA_SV_CS6_SPOIL 0.000000000000000000
param set-default CA_SV_CS6_TRIM 0.000000000000000000
param set-default CA_SV_CS6_TRQ_P 0.000000000000000000
param set-default CA_SV_CS6_TRQ_R 0.000000000000000000
param set-default CA_SV_CS6_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS6_TYPE 0
param set-default CA_SV_CS7_FLAP 0.000000000000000000
param set-default CA_SV_CS7_SPOIL 0.000000000000000000
param set-default CA_SV_CS7_TRIM 0.000000000000000000
param set-default CA_SV_CS7_TRQ_P 0.000000000000000000
param set-default CA_SV_CS7_TRQ_R 0.000000000000000000
param set-default CA_SV_CS7_TRQ_Y 0.000000000000000000
param set-default CA_SV_CS7_TYPE 0
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_TL0_CT 3
param set-default CA_SV_TL0_MAXA 90.000000000000000000
param set-default CA_SV_TL0_MINA 0.000000000000000000
param set-default CA_SV_TL0_TD 0
param set-default CA_SV_TL1_CT 3
param set-default CA_SV_TL1_MAXA 90.000000000000000000
param set-default CA_SV_TL1_MINA 0.000000000000000000
param set-default CA_SV_TL1_TD 0
param set-default CA_SV_TL2_CT 1
param set-default CA_SV_TL2_MAXA 90.000000000000000000
param set-default CA_SV_TL2_MINA 0.000000000000000000
param set-default CA_SV_TL2_TD 0
param set-default CA_SV_TL3_CT 1
param set-default CA_SV_TL3_MAXA 90.000000000000000000
param set-default CA_SV_TL3_MINA 0.000000000000000000
param set-default CA_SV_TL3_TD 0
param set-default CA_SV_TL_COUNT 2
param set-default CBRK_BUZZER 0
param set-default CBRK_FLIGHTTERM 121212
param set-default CBRK_IO_SAFETY 22027
param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_USB_CHK 197848
param set-default CBRK_VTOLARMING 0
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_ARMABLE 1
param set-default COM_ARM_AUTH_ID 10
param set-default COM_ARM_AUTH_MET 0
param set-default COM_ARM_AUTH_REQ 0
param set-default COM_ARM_AUTH_TO 1.000000000000000000
param set-default COM_ARM_BAT_MIN 0.000000000000000000
param set-default COM_ARM_CHK_ESCS 0
param set-default COM_ARM_HFLT_CHK 1
param set-default COM_ARM_IMU_ACC 0.699999988079071045
param set-default COM_ARM_IMU_GYR 0.250000000000000000
param set-default COM_ARM_MAG_ANG 60
param set-default COM_ARM_MAG_STR 2
param set-default COM_ARM_MIS_REQ 0
param set-default COM_ARM_ODID 0
param set-default COM_ARM_SDCARD 1
param set-default COM_ARM_SWISBTN 0
param set-default COM_ARM_WO_GPS 1
param set-default COM_CPU_MAX -1.000000000000000000
param set-default COM_DISARM_LAND 2.000000000000000000
param set-default COM_DISARM_MAN 1
param set-default COM_DISARM_PRFLT 10.000000000000000000
param set-default COM_DL_LOSS_T 5
param set-default COM_FAIL_ACT_T 5.000000000000000000
param set-default COM_FLIGHT_UUID 0
param set-default COM_FLTMODE1 3
param set-default COM_FLTMODE2 2
param set-default COM_FLTMODE3 2
param set-default COM_FLTMODE4 2
param set-default COM_FLTMODE5 8
param set-default COM_FLTMODE6 8
param set-default COM_FLTT_LOW_ACT 0
param set-default COM_FLT_PROFILE 0
param set-default COM_FLT_TIME_MAX -1
param set-default COM_FORCE_SAFETY 0
param set-default COM_HLDL_LOSS_T 120
param set-default COM_HLDL_REG_T 0
param set-default COM_HOME_EN 1
param set-default COM_HOME_IN_AIR 0
param set-default COM_IMB_PROP_ACT 0
param set-default COM_KILL_DISARM 5.000000000000000000
param set-default COM_LKDOWN_TKO 3.000000000000000000
param set-default COM_LOW_BAT_ACT 0
param set-default COM_MOT_TEST_EN 1
param set-default COM_OBC_LOSS_T 5.000000000000000000
param set-default COM_OBL_RC_ACT 0
param set-default COM_OF_LOSS_T 1.000000000000000000
param set-default COM_PARACHUTE 0
param set-default COM_POSCTL_NAVL 0
param set-default COM_POS_FS_EPH -1
param set-default COM_POS_LOW_EPH -1
param set-default COM_POWER_COUNT 1
param set-default COM_QC_ACT 0
param set-default COM_RCL_EXCEPT 0
param set-default COM_RC_ARM_HYST 1000
param set-default COM_RC_IN_MODE 1
param set-default COM_RC_LOSS_T 0.500000000000000000
param set-default COM_RC_OVERRIDE 1
param set-default COM_RC_STICK_OV 30.000000000000000000
param set-default COM_SPOOLUP_TIME 1.000000000000000000
param set-default COM_TAKEOFF_ACT 0
param set-default COM_THROW_EN 0
param set-default COM_THROW_SPEED 5.000000000000000000
param set-default COM_VEL_FS_EVH 1.000000000000000000
param set-default COM_WIND_MAX -1.000000000000000000
param set-default COM_WIND_MAX_ACT 0
param set-default COM_WIND_WARN -1.000000000000000000
param set-default CP_DELAY 0.400000005960464478
param set-default CP_DIST -1.000000000000000000
param set-default CP_GO_NO_DATA 0
param set-default CP_GUIDE_ANG 30.000000000000000000
param set-default EKF2_ABIAS_INIT 0.200000002980232239
param set-default EKF2_ABL_ACCLIM 25.000000000000000000
param set-default EKF2_ABL_GYRLIM 3.000000000000000000
param set-default EKF2_ABL_LIM 0.400000005960464478
param set-default EKF2_ABL_TAU 0.500000000000000000
param set-default EKF2_ACC_B_NOISE 0.003000000026077032
param set-default EKF2_ACC_NOISE 0.349999994039535522
param set-default EKF2_AGP_CTRL 1
param set-default EKF2_AGP_DELAY 0.000000000000000000
param set-default EKF2_AGP_GATE 3.000000000000000000
param set-default EKF2_AGP_NOISE 0.899999976158142090
param set-default EKF2_ANGERR_INIT 0.100000001490116119
param set-default EKF2_ARSP_THR 14.000000000000000000
param set-default EKF2_ASPD_MAX 25.000000000000000000
param set-default EKF2_ASP_DELAY 100.000000000000000000
param set-default EKF2_AVEL_DELAY 5.000000000000000000
param set-default EKF2_BARO_CTRL 1
param set-default EKF2_BARO_DELAY 0.000000000000000000
param set-default EKF2_BARO_GATE 5.000000000000000000
param set-default EKF2_BARO_NOISE 15.000000000000000000
param set-default EKF2_BCOEF_X 100.000000000000000000
param set-default EKF2_BCOEF_Y 100.000000000000000000
param set-default EKF2_BETA_GATE 5.000000000000000000
param set-default EKF2_BETA_NOISE 0.300000011920928955
param set-default EKF2_DECL_TYPE 3
param set-default EKF2_DELAY_MAX 200.000000000000000000
param set-default EKF2_DRAG_CTRL 0
param set-default EKF2_DRAG_NOISE 2.500000000000000000
param set-default EKF2_EAS_NOISE 1.399999976158142090
param set-default EKF2_EN 1
param set-default EKF2_EVA_NOISE 0.100000001490116119
param set-default EKF2_EVP_GATE 5.000000000000000000
param set-default EKF2_EVP_NOISE 0.100000001490116119
param set-default EKF2_EVV_GATE 3.000000000000000000
param set-default EKF2_EVV_NOISE 0.100000001490116119
param set-default EKF2_EV_CTRL 15
param set-default EKF2_EV_DELAY 0.000000000000000000
param set-default EKF2_EV_NOISE_MD 0
param set-default EKF2_EV_POS_X 0.000000000000000000
param set-default EKF2_EV_POS_Y 0.000000000000000000
param set-default EKF2_EV_POS_Z 0.000000000000000000
param set-default EKF2_EV_QMIN 0
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GBIAS_INIT 0.100000001490116119
param set-default EKF2_GND_EFF_DZ 4.000000000000000000
param set-default EKF2_GND_MAX_HGT 0.500000000000000000
param set-default EKF2_GPS_CHECK 245
param set-default EKF2_GPS_CTRL 7
param set-default EKF2_GPS_DELAY 110.000000000000000000
param set-default EKF2_GPS_POS_X 0.000000000000000000
param set-default EKF2_GPS_POS_Y 0.000000000000000000
param set-default EKF2_GPS_POS_Z 0.000000000000000000
param set-default EKF2_GPS_P_GATE 5.000000000000000000
param set-default EKF2_GPS_P_NOISE 0.500000000000000000
param set-default EKF2_GPS_V_GATE 5.000000000000000000
param set-default EKF2_GPS_V_NOISE 0.300000011920928955
param set-default EKF2_GRAV_NOISE 1.000000000000000000
param set-default EKF2_GSF_TAS 15.000000000000000000
param set-default EKF2_GYR_B_LIM 0.150000005960464478
param set-default EKF2_GYR_B_NOISE 0.001000000047497451
param set-default EKF2_GYR_NOISE 0.014999999664723873
param set-default EKF2_HDG_GATE 2.599999904632568359
param set-default EKF2_HEAD_NOISE 0.300000011920928955
param set-default EKF2_HGT_REF 1
param set-default EKF2_IMU_CTRL 7
param set-default EKF2_IMU_POS_X 0.000000000000000000
param set-default EKF2_IMU_POS_Y 0.000000000000000000
param set-default EKF2_IMU_POS_Z 0.000000000000000000
param set-default EKF2_MAG_ACCLIM 0.500000000000000000
param set-default EKF2_MAG_B_NOISE 0.000099999997473788
param set-default EKF2_MAG_CHECK 1
param set-default EKF2_MAG_CHK_INC 20.000000000000000000
param set-default EKF2_MAG_CHK_STR 0.200000002980232239
param set-default EKF2_MAG_DECL 4.332122325897216797
param set-default EKF2_MAG_DELAY 0.000000000000000000
param set-default EKF2_MAG_E_NOISE 0.001000000047497451
param set-default EKF2_MAG_GATE 3.000000000000000000
param set-default EKF2_MAG_NOISE 0.050000000745058060
param set-default EKF2_MAG_TYPE 0
param set-default EKF2_MCOEF 0.150000005960464478
param set-default EKF2_MIN_RNG 0.100000001490116119
param set-default EKF2_MULTI_IMU 3
param set-default EKF2_NOAID_NOISE 10.000000000000000000
param set-default EKF2_NOAID_TOUT 5000000
param set-default EKF2_OF_CTRL 0
param set-default EKF2_OF_DELAY 20.000000000000000000
param set-default EKF2_OF_GATE 3.000000000000000000
param set-default EKF2_OF_N_MAX 0.500000000000000000
param set-default EKF2_OF_N_MIN 0.150000005960464478
param set-default EKF2_OF_POS_X 0.000000000000000000
param set-default EKF2_OF_POS_Y 0.000000000000000000
param set-default EKF2_OF_POS_Z 0.000000000000000000
param set-default EKF2_OF_QMIN 1
param set-default EKF2_OF_QMIN_GND 0
param set-default EKF2_PCOEF_XN 0.000000000000000000
param set-default EKF2_PCOEF_XP 0.000000000000000000
param set-default EKF2_PCOEF_YN 0.000000000000000000
param set-default EKF2_PCOEF_YP 0.000000000000000000
param set-default EKF2_PCOEF_Z 0.000000000000000000
param set-default EKF2_PREDICT_US 10000
param set-default EKF2_REQ_EPH 3.000000000000000000
param set-default EKF2_REQ_EPV 5.000000000000000000
param set-default EKF2_REQ_GPS_H 10.000000000000000000
param set-default EKF2_REQ_HDRIFT 0.100000001490116119
param set-default EKF2_REQ_NSATS 6
param set-default EKF2_REQ_PDOP 2.500000000000000000
param set-default EKF2_REQ_SACC 0.500000000000000000
param set-default EKF2_REQ_VDRIFT 0.200000002980232239
param set-default EKF2_RNG_A_HMAX 5.000000000000000000
param set-default EKF2_RNG_A_IGATE 1.000000000000000000
param set-default EKF2_RNG_A_VMAX 1.000000000000000000
param set-default EKF2_RNG_CTRL 1
param set-default EKF2_RNG_DELAY 5.000000000000000000
param set-default EKF2_RNG_GATE 5.000000000000000000
param set-default EKF2_RNG_K_GATE 1.000000000000000000
param set-default EKF2_RNG_NOISE 0.100000001490116119
param set-default EKF2_RNG_PITCH 0.000000000000000000
param set-default EKF2_RNG_POS_X 0.000000000000000000
param set-default EKF2_RNG_POS_Y 0.000000000000000000
param set-default EKF2_RNG_POS_Z 0.000000000000000000
param set-default EKF2_RNG_QLTY_T 1.000000000000000000
param set-default EKF2_RNG_SFE 0.050000000745058060
param set-default EKF2_SEL_ERR_RED 0.200000002980232239
param set-default EKF2_SEL_IMU_ACC 1.000000000000000000
param set-default EKF2_SEL_IMU_ANG 15.000000000000000000
param set-default EKF2_SEL_IMU_RAT 7.000000000000000000
param set-default EKF2_SEL_IMU_VEL 2.000000000000000000
param set-default EKF2_SYNT_MAG_Z 0
param set-default EKF2_TAS_GATE 5.000000000000000000
param set-default EKF2_TAU_POS 0.250000000000000000
param set-default EKF2_TAU_VEL 0.250000000000000000
param set-default EKF2_TERR_GRAD 0.500000000000000000
param set-default EKF2_TERR_NOISE 5.000000000000000000
param set-default EKF2_WIND_NSD 0.050000000745058060
param set-default FD_ACT_MOT_C2T 2.000000000000000000
param set-default FD_ACT_MOT_THR 0.200000002980232239
param set-default FD_ESCS_EN 0
param set-default FD_EXT_ATS_EN 0
param set-default FD_EXT_ATS_TRIG 1900
param set-default FD_FAIL_P 60
param set-default FD_FAIL_P_TTRI 0.300000011920928955
param set-default FD_FAIL_R 60
param set-default FD_FAIL_R_TTRI 0.300000011920928955
param set-default FD_IMB_PROP_THR 30
param set-default FLW_TGT_ALT_M 0
param set-default FLW_TGT_DST 8.000000000000000000
param set-default FLW_TGT_FA 180.000000000000000000
param set-default FLW_TGT_HT 8.000000000000000000
param set-default FLW_TGT_MAX_VEL 5.000000000000000000
param set-default FLW_TGT_RS 0.100000001490116119
param set-default FW_ACRO_X_MAX 90.000000000000000000
param set-default FW_ACRO_YAW_EN 0
param set-default FW_ACRO_Y_MAX 90.000000000000000000
param set-default FW_ACRO_Z_MAX 45.000000000000000000
param set-default FW_AIRSPD_MAX 28.000000000000000000
param set-default FW_AIRSPD_MIN 17.500000000000000000
param set-default FW_AIRSPD_STALL 7.000000000000000000
param set-default FW_AIRSPD_TRIM 20.000000000000000000
param set-default FW_ARSP_SCALE_EN 1
param set-default FW_AT_APPLY 2
param set-default FW_AT_AXES 3
param set-default FW_AT_MAN_AUX 0
param set-default FW_AT_START 0
param set-default FW_AT_SYSID_AMP 1.000000000000000000
param set-default FW_AT_SYSID_F0 1.000000000000000000
param set-default FW_AT_SYSID_F1 20.000000000000000000
param set-default FW_AT_SYSID_TIME 10.000000000000000000
param set-default FW_AT_SYSID_TYPE 0
param set-default FW_BAT_SCALE_EN 0
param set-default FW_DTRIM_P_VMAX 0.000000000000000000
param set-default FW_DTRIM_P_VMIN 0.000000000000000000
param set-default FW_DTRIM_R_VMAX 0.000000000000000000
param set-default FW_DTRIM_R_VMIN 0.000000000000000000
param set-default FW_DTRIM_Y_VMAX 0.000000000000000000
param set-default FW_DTRIM_Y_VMIN 0.000000000000000000
param set-default FW_FLAPS_LND_SCL 1.000000000000000000
param set-default FW_FLAPS_TO_SCL 0.000000000000000000
param set-default FW_GND_SPD_MIN 5.000000000000000000
param set-default FW_GPSF_LT 30
param set-default FW_GPSF_R 15.000000000000000000
param set-default FW_LAUN_AC_T 0.050000000745058060
param set-default FW_LAUN_AC_THLD 30.000000000000000000
param set-default FW_LAUN_DETCN_ON 0
param set-default FW_LAUN_MOT_DEL 0.000000000000000000
param set-default FW_LND_ABORT 3
param set-default FW_LND_AIRSPD -1.000000000000000000
param set-default FW_LND_ANG 5.000000000000000000
param set-default FW_LND_EARLYCFG 0
param set-default FW_LND_FLALT 0.500000000000000000
param set-default FW_LND_FL_PMAX 15.000000000000000000
param set-default FW_LND_FL_PMIN 2.500000000000000000
param set-default FW_LND_FL_SINK 0.250000000000000000
param set-default FW_LND_FL_TIME 1.000000000000000000
param set-default FW_LND_NUDGE 2
param set-default FW_LND_TD_OFF 3.000000000000000000
param set-default FW_LND_TD_TIME -1.000000000000000000
param set-default FW_LND_THRTC_SC 1.000000000000000000
param set-default FW_LND_USETER 1
param set-default FW_MAN_P_MAX 45.000000000000000000
param set-default FW_MAN_P_SC 0.750000000000000000
param set-default FW_MAN_R_MAX 45.000000000000000000
param set-default FW_MAN_R_SC 1.000000000000000000
param set-default FW_MAN_YR_MAX 30.000000000000000000
param set-default FW_MAN_Y_SC 1.000000000000000000
param set-default FW_PN_R_SLEW_MAX 90.000000000000000000
param set-default FW_POS_STK_CONF 2
param set-default FW_PR_D 0.000000000000000000
param set-default FW_PR_FF 0.800000011920928955
param set-default FW_PR_I 0.019999999552965164
param set-default FW_PR_IMAX 0.400000005960464478
param set-default FW_PR_P 0.070000000298023224
param set-default FW_PSP_OFF 0.000000000000000000
param set-default FW_P_LIM_MAX 40.000000000000000000
param set-default FW_P_LIM_MIN -30.000000000000000000
param set-default FW_P_RMAX_NEG 60.000000000000000000
param set-default FW_P_RMAX_POS 60.000000000000000000
param set-default FW_P_TC 0.600000023841857910
param set-default FW_RLL_TO_YAW_FF 1.000000000000000000
param set-default FW_RR_D 0.000000000000000000
param set-default FW_RR_FF 0.500000000000000000
param set-default FW_RR_I 0.100000001490116119
param set-default FW_RR_IMAX 0.200000002980232239
param set-default FW_RR_P 0.250000000000000000
param set-default FW_R_LIM 42.500000000000000000
param set-default FW_R_RMAX 35.000000000000000000
param set-default FW_R_TC 0.699999988079071045
param set-default FW_SERVICE_CEIL -1.000000000000000000
param set-default FW_SPOILERS_LND 0.000000000000000000
param set-default FW_SPOILERS_MAN 0
param set-default FW_THR_ASPD_MAX 0.000000000000000000
param set-default FW_THR_ASPD_MIN 0.000000000000000000
param set-default FW_THR_IDLE 0.000000000000000000
param set-default FW_THR_MAX 0.699999988079071045
param set-default FW_THR_MIN 0.000000000000000000
param set-default FW_THR_SLEW_MAX 3.000000000000000000
param set-default FW_THR_TRIM 0.400000005960464478
param set-default FW_TKO_AIRSPD -1.000000000000000000
param set-default FW_TKO_PITCH_MIN 10.000000000000000000
param set-default FW_T_ALT_TC 7.000000000000000000
param set-default FW_T_CLMB_MAX 8.000000000000000000
param set-default FW_T_CLMB_R_SP 3.000000000000000000
param set-default FW_T_HRATE_FF 0.300000011920928955
param set-default FW_T_I_GAIN_PIT 0.050000000745058060
param set-default FW_T_PTCH_DAMP 0.100000001490116119
param set-default FW_T_RLL2THR 18.000000000000000000
param set-default FW_T_SEB_R_FF 1.000000000000000000
param set-default FW_T_SINK_MAX 8.000000000000000000
param set-default FW_T_SINK_MIN 4.500000000000000000
param set-default FW_T_SINK_R_SP 2.000000000000000000
param set-default FW_T_SPDWEIGHT 1.000000000000000000
param set-default FW_T_SPD_DEV_STD 0.200000002980232239
param set-default FW_T_SPD_PRC_STD 0.200000002980232239
param set-default FW_T_SPD_STD 0.070000000298023224
param set-default FW_T_STE_R_TC 0.400000005960464478
param set-default FW_T_TAS_TC 5.000000000000000000
param set-default FW_T_THR_DAMPING 0.449999988079071045
param set-default FW_T_THR_INTEG 0.019999999552965164
param set-default FW_T_VERT_ACC 7.000000000000000000
param set-default FW_USE_AIRSPD 1
param set-default FW_WIND_ARSP_SC 0.000000000000000000
param set-default FW_WING_HEIGHT 0.500000000000000000
param set-default FW_WING_SPAN 3.000000000000000000
param set-default FW_WR_FF 0.200000002980232239
param set-default FW_WR_I 0.100000001490116119
param set-default FW_WR_IMAX 1.000000000000000000
param set-default FW_WR_P 0.500000000000000000
param set-default FW_W_EN 0
param set-default FW_W_RMAX 30.000000000000000000
param set-default FW_YR_D 0.000000000000000000
param set-default FW_YR_FF 0.300000011920928955
param set-default FW_YR_I 0.009999999776482582
param set-default FW_YR_IMAX 0.200000002980232239
param set-default FW_YR_P 0.150000005960464478
param set-default FW_Y_RMAX 50.000000000000000000
param set-default GF_ACTION 1
param set-default GF_MAX_HOR_DIST 0.000000000000000000
param set-default GF_MAX_VER_DIST 0.000000000000000000
param set-default GF_PREDICT 0
param set-default GF_SOURCE 0
param set-default GND_SPEED_THR_SC 1.000000000000000000
param set-default HTE_ACC_GATE 3.000000000000000000
param set-default HTE_HT_ERR_INIT 0.100000001490116119
param set-default HTE_HT_NOISE 0.003599999938160181
param set-default HTE_THR_RANGE 0.200000002980232239
param set-default HTE_VXY_THR 2.000000000000000000
param set-default HTE_VZ_THR 2.000000000000000000
param set-default IMU_ACCEL_CUTOFF 30.000000000000000000
param set-default IMU_DGYRO_CUTOFF 30.000000000000000000
param set-default IMU_GYRO_CAL_EN 1
param set-default IMU_GYRO_CUTOFF 40.000000000000000000
param set-default IMU_GYRO_DNF_BW 15.000000000000000000
param set-default IMU_GYRO_DNF_EN 0
param set-default IMU_GYRO_DNF_HMC 3
param set-default IMU_GYRO_DNF_MIN 25.000000000000000000
param set-default IMU_GYRO_FFT_EN 1
param set-default IMU_GYRO_FFT_LEN 512
param set-default IMU_GYRO_FFT_MAX 150.000000000000000000
param set-default IMU_GYRO_FFT_MIN 30.000000000000000000
param set-default IMU_GYRO_FFT_SNR 10.000000000000000000
param set-default IMU_GYRO_NF0_BW 20.000000000000000000
param set-default IMU_GYRO_NF0_FRQ 0.000000000000000000
param set-default IMU_GYRO_NF1_BW 20.000000000000000000
param set-default IMU_GYRO_NF1_FRQ 0.000000000000000000
param set-default IMU_GYRO_RATEMAX 400
param set-default IMU_INTEG_RATE 250
param set-default LNDMC_ALT_GND 2.000000000000000000
param set-default LNDMC_ROT_MAX 20.000000000000000000
param set-default LNDMC_TRIG_TIME 1.000000000000000000
param set-default LNDMC_XY_VEL_MAX 1.500000000000000000
param set-default LNDMC_Z_VEL_MAX 0.250000000000000000
param set-default LND_FLIGHT_T_HI 1
param set-default LND_FLIGHT_T_LO 1912333059
param set-default LPE_EN 0
param set-default MAN_ARM_GESTURE 0
param set-default MAN_KILL_GEST_T -1.000000000000000000
param set-default MAV_COMP_ID 1
param set-default MAV_FWDEXTSP 1
param set-default MAV_HASH_CHK_EN 1
param set-default MAV_HB_FORW_EN 1
param set-default MAV_PROTO_VER 2
param set-default MAV_RADIO_TOUT 5
param set-default MAV_SIK_RADIO_ID 0
param set-default MAV_SYS_ID 1
param set-default MAV_USEHILGPS 0
param set-default MC_ACRO_EXPO 0.000000000000000000
param set-default MC_ACRO_EXPO_Y 0.000000000000000000
param set-default MC_ACRO_P_MAX 100.000000000000000000
param set-default MC_ACRO_R_MAX 100.000000000000000000
param set-default MC_ACRO_SUPEXPO 0.000000000000000000
param set-default MC_ACRO_SUPEXPOY 0.000000000000000000
param set-default MC_ACRO_Y_MAX 100.000000000000000000
param set-default MC_AIRMODE 1
param set-default MC_AT_APPLY 1
param set-default MC_AT_EN 1
param set-default MC_AT_RISE_TIME 0.140000000596046448
param set-default MC_AT_START 0
param set-default MC_AT_SYSID_AMP 0.699999988079071045
param set-default MC_BAT_SCALE_EN 0
param set-default MC_MAN_TILT_TAU 0.000000000000000000
param set-default MC_ORBIT_RAD_MAX 1000.000000000000000000
param set-default MC_PITCHRATE_D 0.003000000026077032
param set-default MC_PITCHRATE_FF 0.000000000000000000
param set-default MC_PITCHRATE_I 0.200000002980232239
param set-default MC_PITCHRATE_K 1.000000000000000000
param set-default MC_PITCHRATE_MAX 220.000000000000000000
param set-default MC_PITCHRATE_P 0.150000005960464478
param set-default MC_PITCH_P 6.500000000000000000
param set-default MC_PR_INT_LIM 0.300000011920928955
param set-default MC_ROLLRATE_D 0.003000000026077032
param set-default MC_ROLLRATE_FF 0.000000000000000000
param set-default MC_ROLLRATE_I 0.200000002980232239
param set-default MC_ROLLRATE_K 1.000000000000000000
param set-default MC_ROLLRATE_MAX 120.000000000000000000
param set-default MC_ROLLRATE_P 0.300000011920928955
param set-default MC_ROLL_P 5.000000000000000000
param set-default MC_RR_INT_LIM 0.300000011920928955
param set-default MC_SLOW_DEF_HVEL 3.000000000000000000
param set-default MC_SLOW_DEF_VVEL 1.000000000000000000
param set-default MC_SLOW_DEF_YAWR 45.000000000000000000
param set-default MC_SLOW_MAP_HVEL 0
param set-default MC_SLOW_MAP_VVEL 0
param set-default MC_SLOW_MAP_YAWR 0
param set-default MC_SLOW_MIN_HVEL 0.300000011920928955
param set-default MC_SLOW_MIN_VVEL 0.300000011920928955
param set-default MC_SLOW_MIN_YAWR 3.000000000000000000
param set-default MC_YAWRATE_D 0.000000000000000000
param set-default MC_YAWRATE_FF 0.000000000000000000
param set-default MC_YAWRATE_I 0.100000001490116119
param set-default MC_YAWRATE_K 1.000000000000000000
param set-default MC_YAWRATE_MAX 120.000000000000000000
param set-default MC_YAWRATE_P 0.200000002980232239
param set-default MC_YAW_P 1.600000023841857910
param set-default MC_YAW_WEIGHT 0.400000005960464478
param set-default MC_YR_INT_LIM 0.300000011920928955
param set-default MIS_DIST_1WP 900.000000000000000000
param set-default MIS_LND_ABRT_ALT 30
param set-default MIS_MNT_YAW_CTL 0
param set-default MIS_TAKEOFF_ALT 10.000000000000000000
param set-default MIS_TKO_LAND_REQ 2
param set-default MIS_YAW_ERR 12.000000000000000000
param set-default MIS_YAW_TMT 10.000000000000000000
param set-default MNT_MODE_IN -1
param set-default MPC_ACC_DECOUPLE 1
param set-default MPC_ACC_DOWN_MAX 3.000000000000000000
param set-default MPC_ACC_HOR 3.000000000000000000
param set-default MPC_ACC_HOR_MAX 2.000000000000000000
param set-default MPC_ACC_UP_MAX 4.000000000000000000
param set-default MPC_ALT_MODE 2
param set-default MPC_HOLD_DZ 0.100000001490116119
param set-default MPC_HOLD_MAX_XY 0.800000011920928955
param set-default MPC_HOLD_MAX_Z 0.600000023841857910
param set-default MPC_JERK_AUTO 4.000000000000000000
param set-default MPC_JERK_MAX 4.500000000000000000
param set-default MPC_LAND_ALT1 10.000000000000000000
param set-default MPC_LAND_ALT2 5.000000000000000000
param set-default MPC_LAND_ALT3 1.000000000000000000
param set-default MPC_LAND_CRWL 0.300000011920928955
param set-default MPC_LAND_RADIUS 1000.000000000000000000
param set-default MPC_LAND_RC_HELP 0
param set-default MPC_LAND_SPEED 0.699999988079071045
param set-default MPC_MANTHR_MIN 0.079999998211860657
param set-default MPC_MAN_TILT_MAX 35.000000000000000000
param set-default MPC_MAN_Y_MAX 90.000000000000000000
param set-default MPC_MAN_Y_TAU 0.079999998211860657
param set-default MPC_POS_MODE 4
param set-default MPC_THR_CURVE 0
param set-default MPC_THR_HOVER 0.500000000000000000
param set-default MPC_THR_MAX 1.000000000000000000
param set-default MPC_THR_MIN 0.119999997317790985
param set-default MPC_THR_XY_MARG 0.300000011920928955
param set-default MPC_TILTMAX_AIR 45.000000000000000000
param set-default MPC_TILTMAX_LND 12.000000000000000000
param set-default MPC_TKO_RAMP_T 3.000000000000000000
param set-default MPC_TKO_SPEED 1.500000000000000000
param set-default MPC_USE_HTE 1
param set-default MPC_VELD_LP 5.000000000000000000
param set-default MPC_VEL_MANUAL 5.000000000000000000
param set-default MPC_VEL_MAN_BACK -1.000000000000000000
param set-default MPC_VEL_MAN_SIDE -1.000000000000000000
param set-default MPC_XY_CRUISE 5.000000000000000000
param set-default MPC_XY_ERR_MAX 5.000000000000000000
param set-default MPC_XY_MAN_EXPO 0.600000023841857910
param set-default MPC_XY_P 0.800000011920928955
param set-default MPC_XY_TRAJ_P 0.500000000000000000
param set-default MPC_XY_VEL_ALL -10.000000000000000000
param set-default MPC_XY_VEL_D_ACC 0.100000001490116119
param set-default MPC_XY_VEL_I_ACC 4.000000000000000000
param set-default MPC_XY_VEL_MAX 8.000000000000000000
param set-default MPC_XY_VEL_P_ACC 3.000000000000000000
param set-default MPC_YAWRAUTO_ACC 60.000000000000000000
param set-default MPC_YAWRAUTO_MAX 45.000000000000000000
param set-default MPC_YAW_EXPO 0.600000023841857910
param set-default MPC_YAW_MODE 4
param set-default MPC_Z_MAN_EXPO 0.600000023841857910
param set-default MPC_Z_P 1.000000000000000000
param set-default MPC_Z_VEL_ALL -3.000000000000000000
param set-default MPC_Z_VEL_D_ACC 0.000000000000000000
param set-default MPC_Z_VEL_I_ACC 2.000000000000000000
param set-default MPC_Z_VEL_MAX_DN 1.500000000000000000
param set-default MPC_Z_VEL_MAX_UP 3.000000000000000000
param set-default MPC_Z_VEL_P_ACC 4.000000000000000000
param set-default MPC_Z_V_AUTO_DN 1.500000000000000000
param set-default MPC_Z_V_AUTO_UP 3.000000000000000000
param set-default NAV_ACC_RAD 5.000000000000000000
param set-default NAV_DLL_ACT 0
param set-default NAV_FORCE_VT 1
param set-default NAV_FW_ALTL_RAD 5.000000000000000000
param set-default NAV_FW_ALT_RAD 10.000000000000000000
param set-default NAV_LOITER_RAD 80.000000000000000000
param set-default NAV_MC_ALT_RAD 0.800000011920928955
param set-default NAV_MIN_LTR_ALT -1.000000000000000000
param set-default NAV_RCL_ACT 2
param set-default NAV_TRAFF_AVOID 1
param set-default NAV_TRAFF_A_HOR 500.000000000000000000
param set-default NAV_TRAFF_A_VER 500.000000000000000000
param set-default NAV_TRAFF_COLL_T 60
param set-default NPFG_DAMPING 0.699999988079071045
param set-default NPFG_EN_MIN_GSP 1
param set-default NPFG_GSP_MAX_TK 5.000000000000000000
param set-default NPFG_LB_PERIOD 1
param set-default NPFG_PERIOD 12.000000000000000000
param set-default NPFG_PERIOD_SF 1.500000000000000000
param set-default NPFG_ROLL_TC 0.500000000000000000
param set-default NPFG_SW_DST_MLT 0.319999992847442627
param set-default NPFG_TRACK_KEEP 1
param set-default NPFG_UB_PERIOD 1
param set-default NPFG_WIND_REG 1
param set-default PLD_BTOUT 5.000000000000000000
param set-default PLD_FAPPR_ALT 0.100000001490116119
param set-default PLD_HACC_RAD 0.200000002980232239
param set-default PLD_MAX_SRCH 3
param set-default PLD_SRCH_ALT 10.000000000000000000
param set-default PLD_SRCH_TOUT 10.000000000000000000
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC10 204
param set-default PWM_MAIN_FUNC11 0
param set-default PWM_MAIN_FUNC12 0
param set-default PWM_MAIN_FUNC13 0
param set-default PWM_MAIN_FUNC14 0
param set-default PWM_MAIN_FUNC15 0
param set-default PWM_MAIN_FUNC16 0
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 205
param set-default PWM_MAIN_FUNC6 206
param set-default PWM_MAIN_FUNC7 201
param set-default PWM_MAIN_FUNC8 202
param set-default PWM_MAIN_FUNC9 203
param set-default PWM_MAIN_REV 48
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC10 204
param set-default HIL_ACT_FUNC11 0
param set-default HIL_ACT_FUNC12 0
param set-default HIL_ACT_FUNC13 0
param set-default HIL_ACT_FUNC14 0
param set-default HIL_ACT_FUNC15 0
param set-default HIL_ACT_FUNC16 0
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 205
param set-default HIL_ACT_FUNC6 206
param set-default HIL_ACT_FUNC7 201
param set-default HIL_ACT_FUNC8 202
param set-default HIL_ACT_FUNC9 203
param set-default HIL_ACT_REV 48
param set-default RC10_DZ 0.000000000000000000
param set-default RC10_MAX 2000.000000000000000000
param set-default RC10_MIN 1000.000000000000000000
param set-default RC10_REV 1.000000000000000000
param set-default RC10_TRIM 1500.000000000000000000
param set-default RC11_DZ 0.000000000000000000
param set-default RC11_MAX 2000.000000000000000000
param set-default RC11_MIN 1000.000000000000000000
param set-default RC11_REV 1.000000000000000000
param set-default RC11_TRIM 1500.000000000000000000
param set-default RC12_DZ 0.000000000000000000
param set-default RC12_MAX 2000.000000000000000000
param set-default RC12_MIN 1000.000000000000000000
param set-default RC12_REV 1.000000000000000000
param set-default RC12_TRIM 1500.000000000000000000
param set-default RC13_DZ 0.000000000000000000
param set-default RC13_MAX 2000.000000000000000000
param set-default RC13_MIN 1000.000000000000000000
param set-default RC13_REV 1.000000000000000000
param set-default RC13_TRIM 1500.000000000000000000
param set-default RC14_DZ 0.000000000000000000
param set-default RC14_MAX 2000.000000000000000000
param set-default RC14_MIN 1000.000000000000000000
param set-default RC14_REV 1.000000000000000000
param set-default RC14_TRIM 1500.000000000000000000
param set-default RC15_DZ 0.000000000000000000
param set-default RC15_MAX 2000.000000000000000000
param set-default RC15_MIN 1000.000000000000000000
param set-default RC15_REV 1.000000000000000000
param set-default RC15_TRIM 1500.000000000000000000
param set-default RC16_DZ 0.000000000000000000
param set-default RC16_MAX 2000.000000000000000000
param set-default RC16_MIN 1000.000000000000000000
param set-default RC16_REV 1.000000000000000000
param set-default RC16_TRIM 1500.000000000000000000
param set-default RC17_DZ 0.000000000000000000
param set-default RC17_MAX 2000.000000000000000000
param set-default RC17_MIN 1000.000000000000000000
param set-default RC17_REV 1.000000000000000000
param set-default RC17_TRIM 1500.000000000000000000
param set-default RC18_DZ 0.000000000000000000
param set-default RC18_MAX 2000.000000000000000000
param set-default RC18_MIN 1000.000000000000000000
param set-default RC18_REV 1.000000000000000000
param set-default RC18_TRIM 1500.000000000000000000
param set-default RC1_DZ 10.000000000000000000
param set-default RC1_MAX 2000.000000000000000000
param set-default RC1_MIN 1000.000000000000000000
param set-default RC1_REV 1.000000000000000000
param set-default RC1_TRIM 1500.000000000000000000
param set-default RC2_DZ 10.000000000000000000
param set-default RC2_MAX 2000.000000000000000000
param set-default RC2_MIN 1000.000000000000000000
param set-default RC2_REV 1.000000000000000000
param set-default RC2_TRIM 1500.000000000000000000
param set-default RC3_DZ 10.000000000000000000
param set-default RC3_MAX 2000.000000000000000000
param set-default RC3_MIN 1000.000000000000000000
param set-default RC3_REV 1.000000000000000000
param set-default RC3_TRIM 1500.000000000000000000
param set-default RC4_DZ 10.000000000000000000
param set-default RC4_MAX 2000.000000000000000000
param set-default RC4_MIN 1000.000000000000000000
param set-default RC4_REV 1.000000000000000000
param set-default RC4_TRIM 1500.000000000000000000
param set-default RC5_DZ 10.000000000000000000
param set-default RC5_MAX 2000.000000000000000000
param set-default RC5_MIN 1000.000000000000000000
param set-default RC5_REV 1.000000000000000000
param set-default RC5_TRIM 1500.000000000000000000
param set-default RC6_DZ 10.000000000000000000
param set-default RC6_MAX 2000.000000000000000000
param set-default RC6_MIN 1000.000000000000000000
param set-default RC6_REV 1.000000000000000000
param set-default RC6_TRIM 1500.000000000000000000
param set-default RC7_DZ 10.000000000000000000
param set-default RC7_MAX 2000.000000000000000000
param set-default RC7_MIN 1000.000000000000000000
param set-default RC7_REV 1.000000000000000000
param set-default RC7_TRIM 1500.000000000000000000
param set-default RC8_DZ 10.000000000000000000
param set-default RC8_MAX 2000.000000000000000000
param set-default RC8_MIN 1000.000000000000000000
param set-default RC8_REV 1.000000000000000000
param set-default RC8_TRIM 1500.000000000000000000
param set-default RC9_DZ 0.000000000000000000
param set-default RC9_MAX 2000.000000000000000000
param set-default RC9_MIN 1000.000000000000000000
param set-default RC9_REV 1.000000000000000000
param set-default RC9_TRIM 1500.000000000000000000
param set-default RC_ARMSWITCH_TH 0.750000000000000000
param set-default RC_CHAN_CNT 0
param set-default RC_ENG_MOT_TH 0.750000000000000000
param set-default RC_FAILS_THR 0
param set-default RC_GEAR_TH 0.750000000000000000
param set-default RC_KILLSWITCH_TH 0.750000000000000000
param set-default RC_LOITER_TH 0.750000000000000000
param set-default RC_MAP_ARM_SW 9
param set-default RC_MAP_AUX1 0
param set-default RC_MAP_AUX2 0
param set-default RC_MAP_AUX3 0
param set-default RC_MAP_AUX4 0
param set-default RC_MAP_AUX5 0
param set-default RC_MAP_AUX6 0
param set-default RC_MAP_ENG_MOT 0
param set-default RC_MAP_FAILSAFE 0
param set-default RC_MAP_FLAPS 0
param set-default RC_MAP_FLTMODE 0
param set-default RC_MAP_FLTM_BTN 0
param set-default RC_MAP_GEAR_SW 0
param set-default RC_MAP_KILL_SW 0
param set-default RC_MAP_LOITER_SW 0
param set-default RC_MAP_MODE_SW 0
param set-default RC_MAP_OFFB_SW 0
param set-default RC_MAP_PARAM1 0
param set-default RC_MAP_PARAM2 0
param set-default RC_MAP_PARAM3 0
param set-default RC_MAP_PITCH 0
param set-default RC_MAP_RETURN_SW 0
param set-default RC_MAP_ROLL 0
param set-default RC_MAP_THROTTLE 0
param set-default RC_MAP_TRANS_SW 0
param set-default RC_MAP_YAW 0
param set-default RC_OFFB_TH 0.750000000000000000
param set-default RC_RETURN_TH 0.750000000000000000
param set-default RC_TRANS_TH 0.750000000000000000
param set-default RTL_APPR_FORCE 0
param set-default RTL_CONE_ANG 45
param set-default RTL_DESCEND_ALT 50.000000000000000000
param set-default RTL_LAND_DELAY 0.000000000000000000
param set-default RTL_LOITER_RAD 80.000000000000000000
param set-default RTL_MIN_DIST 20.000000000000000000
param set-default RTL_PLD_MD 0
param set-default RTL_RETURN_ALT 100.000000000000000000
param set-default RTL_TIME_FACTOR 1.100000023841857910
param set-default RTL_TIME_MARGIN 100
param set-default RTL_TYPE 0
param set-default RWTO_HDG 0
param set-default RWTO_MAX_THR 1.000000000000000000
param set-default RWTO_NPFG_PERIOD 5.000000000000000000
param set-default RWTO_NUDGE 1
param set-default RWTO_PSP 0.000000000000000000
param set-default RWTO_RAMP_TIME 2.000000000000000000
param set-default RWTO_ROT_AIRSPD -1.000000000000000000
param set-default RWTO_ROT_TIME 1.000000000000000000
param set-default RWTO_TKOFF 0
param set-default SDLOG_BOOT_BAT 0
param set-default SDLOG_DIRS_MAX 0
param set-default SDLOG_MISSION 0
param set-default SDLOG_MODE 0
param set-default SDLOG_PROFILE 131
param set-default SDLOG_UTC_OFFSET 0
param set-default SDLOG_UUID 1
param set-default SENS_BARO_QNH 1013.250000000000000000
param set-default SENS_BARO_RATE 20.000000000000000000
param set-default SENS_BOARD_ROT 0
param set-default SENS_BOARD_X_OFF 0.000000999999997475
param set-default SENS_BOARD_Y_OFF 0.000000000000000000
param set-default SENS_BOARD_Z_OFF 0.000000000000000000
param set-default SENS_DPRES_OFF 0.001000000047497451
param set-default SENS_GPS_MASK 7
param set-default SENS_GPS_PRIME 0
param set-default SENS_GPS_TAU 10.000000000000000000
param set-default SENS_IMU_AUTOCAL 1
param set-default SENS_IMU_CLPNOTI 1
param set-default SENS_IMU_MODE 0
param set-default SENS_MAG_AUTOCAL 1
param set-default SENS_MAG_AUTOROT 1
param set-default SENS_MAG_MODE 1
param set-default SENS_MAG_RATE 15.000000000000000000
param set-default SENS_MAG_SIDES 63
param set-default SIM_BAT_DRAIN 60.000000000000000000
param set-default SIM_BAT_ENABLE 1
param set-default SIM_BAT_MIN_PCT 50.000000000000000000
param set-default SYS_AUTOCONFIG 0
param set-default SYS_CAL_TDEL 24
param set-default SYS_CAL_TMAX 10
param set-default SYS_CAL_TMIN 5
param set-default SYS_FAC_CAL_MODE 0
param set-default SYS_FAILURE_EN 1
param set-default SYS_HAS_BARO 1
param set-default SYS_HAS_GPS 1
param set-default SYS_HAS_MAG 1
param set-default SYS_HAS_NUM_ASPD 1
param set-default SYS_HAS_NUM_DIST 0
param set-default SYS_HITL 0
param set-default SYS_STCK_EN 1
param set-default SYS_VEHICLE_RESP -0.400000005960464478
param set-default THR_MDL_FAC 0.000000000000000000
param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 0
param set-default TRIM_PITCH 0.000000000000000000
param set-default TRIM_ROLL 0.000000000000000000
param set-default TRIM_YAW 0.000000000000000000
param set-default UXRCE_DDS_DOM_ID 0
param set-default UXRCE_DDS_KEY 1
param set-default UXRCE_DDS_PTCFG 0
param set-default UXRCE_DDS_SYNCC 0
param set-default UXRCE_DDS_SYNCT 1
param set-default VTO_LOITER_ALT 80.000000000000000000
param set-default VT_ARSP_BLEND 10.000000000000000000
param set-default VT_ARSP_TRANS 16.000000000000000000
param set-default VT_BT_TILT_DUR 1.000000000000000000
param set-default VT_B_DEC_I 0.100000001490116119
param set-default VT_B_DEC_MSS 1.399999976158142090
param set-default VT_B_TRANS_DUR 10.000000000000000000
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_EN 4
param set-default VT_FWD_THRUST_SC 0.800000011920928955
param set-default VT_FW_DIFTHR_EN 0
param set-default VT_FW_DIFTHR_S_P 1.000000000000000000
param set-default VT_FW_DIFTHR_S_R 1.000000000000000000
param set-default VT_FW_DIFTHR_S_Y 0.100000001490116119
param set-default VT_FW_MIN_ALT 0.000000000000000000
param set-default VT_FW_QC_HMAX 0
param set-default VT_FW_QC_P 70
param set-default VT_FW_QC_R 150
param set-default VT_F_TRANS_DUR 5.000000000000000000
param set-default VT_F_TRANS_THR 0.899999976158142090
param set-default VT_F_TR_OL_TM 10.000000000000000000
param set-default VT_LND_PITCH_MIN -5.000000000000000000
param set-default VT_PITCH_MIN -5.000000000000000000
param set-default VT_QC_ALT_LOSS 0.000000000000000000
param set-default VT_QC_T_ALT_LOSS 20.000000000000000000
param set-default VT_SPOILER_MC_LD 0.000000000000000000
param set-default VT_TILT_FW 1.000000000000000000
param set-default VT_TILT_MC 0.000000000000000000
param set-default VT_TILT_TRANS 0.379999995231628418
param set-default VT_TRANS_MIN_TM 2.500000000000000000
param set-default VT_TRANS_P2_DUR 0.500000000000000000
param set-default VT_TRANS_TIMEOUT 12.000000000000000000
param set-default WEIGHT_BASE -1.000000000000000000
param set-default WEIGHT_GROSS -1.000000000000000000
param set-default WV_EN 1
param set-default WV_GAIN 1.000000000000000000
param set-default WV_ROLL_MIN 1.000000000000000000
param set-default WV_YRATE_MAX 40.000000000000000000

#gd_payload start -v

#mavlink start -d /dev/serial0 -f

# ekf2 start

#replay trystart
#mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u 14557

#rc_input start -d /dev/ttyUSB0
#rc_update start

#camera_trigger start

# commander lockdown off

# mavlink boot_complete
