#!/bin/sh
#
# @name Nimbus Main FTS module
#
# @type Quadrotor x
# @class Copter
#
# @maintainer GG <germano.girardi@neosystems.it>
#

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

param set SYS_MC_EST_GROUP 2
ekf2 start &

param set-default MAV_TYPE 37

# GEOFENCE SETTINGS
param set-default GF_ACTION 1
param set-default GF_ALTMODE 0
param set-default GF_COUNT -1
param set-default GF_MAX_HOR_DIST 0.0000
param set-default GF_MAX_VER_DIST 0.0000
param set-default GF_PREDICT 0
param set-default GF_SOURCE 1

########################## GPS FAILSAFE REQUIREMENTS ######################################

# REQUIRED PRECISION ON GPS POSITION ESTIMATION, METERS
param set-default EKF2_REQ_EPH 20
param set-default EKF2_REQ_EPV 20
# REQUIRED NUMBER OF SATELLITES
param set-default EKF2_REQ_NSATS 5