sitl.params

# MAV rangefinder
1	1	RNGFND1_TYPE	10	2
1	1	RNGFND1_MAX_CM	5000	4
1	1	RNGFND1_MIN_CM	50	4
1	1	RNGFND1_POS_X	-0.18	9
1	1	RNGFND1_POS_Y	0.0	9
1	1	RNGFND1_POS_Z	-0.095	9

# Default SITL barometer noise is too high, adjust
1	1	SIM_BARO_RND	0.01	9

# Minimum surftrak depth is 1m
1	1	SURFTRAK_DEPTH	-100	4

# Also log PSCx
1	1	LOG_BITMASK	180222	4

# Terrain failsafe kicks in if the rangefinder fails, set action to 1 (hold) instead of 0 (disarm)
1	1	FS_TERRAIN_ENAB	1	4

# Defaults, KPa = 4, KPv = 2, some wiggle at 0.3s delay
# PSC_JERK_Z applies to all modes, including SURFTRAK, AUTO and GUIDED
# PILOT_ACCEL_Z applies to SURFTRAK
# WPNAV_ACCEL_Z applies to AUTO and GUIDED
# 1	1	PSC_JERK_Z	8.0	9
# 1	1	PILOT_ACCEL_Z	200	4
# 1	1	WPNAV_ACCEL_Z	250.0	9

# KPa = 1.6, KPv = 0.8, reasonable results at 0.3s delay
1	1	PSC_JERK_Z	8.0	9
1	1	PILOT_ACCEL_Z	500	4
1	1	WPNAV_ACCEL_Z	500.0	9

# Auto speed up & down should be the same
1	1	WPNAV_SPEED_DN	50.0	9
1	1	WPNAV_SPEED_UP	50.0	9