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

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

param set ATT_W_EXT_HDG 0.5
param set ATT_EXT_HDG_M 1

param set COM_DISARM_LAND 1.0

param set LPE_FLW_SCALE 1.0
param set LPE_FLW_R 0.2
param set LPE_FLW_RR 0.0
param set LPE_FLW_QMIN 10
param set LPE_VIS_DELAY 0.0
param set LPE_VIS_Z 0.1
param set LPE_FUSION 86

param set SENS_FLOW_ROT 0
param set SENS_FLOW_MINHGT 0.01
param set SENS_FLOW_MAXHGT 4.0
param set SENS_FLOW_MAXR 10.0

param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw
param set EKF2_OF_DELAY 0
param set EKF2_OF_QMIN 10
param set EKF2_OF_N_MIN 0.05
param set EKF2_OF_N_MAX 0.2
param set EKF2_HGT_MODE 2
param set EKF2_EVA_NOISE 0.1
param set EKF2_EVP_NOISE 0.1
param set EKF2_EV_DELAY 0