From 2ccfbe290aa7ea7acb7803a988418a2de5ea65dd Mon Sep 17 00:00:00 2001
From: stibipet <stibinger@fly4future.com>
Date: Mon, 10 Jun 2024 15:25:15 +0200
Subject: [PATCH] update striver sitl airframe

---
 .../airframes/4430_gz_ssrc_strivermini        | 28 ++++++-------------
 1 file changed, 9 insertions(+), 19 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini
index 1d7521de9c27..affea76da0bd 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini
@@ -39,22 +39,23 @@ param set-default COM_PREARM_MODE 2
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 0.37
-param set-default CA_ROTOR0_PY -0.42
-param set-default CA_ROTOR0_PZ 0.07
+param set-default CA_ROTOR0_PY 0.42
+param set-default CA_ROTOR0_PZ -0.07
 param set-default CA_ROTOR1_PX -0.37
-param set-default CA_ROTOR1_PY 0.42
-param set-default CA_ROTOR1_PZ 0.07
+param set-default CA_ROTOR1_PY -0.42
+param set-default CA_ROTOR1_PZ -0.07
 param set-default CA_ROTOR2_PX 0.37
-param set-default CA_ROTOR2_PY 0.42
+param set-default CA_ROTOR2_PY -0.42
 param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR2_PZ 0.07
+param set-default CA_ROTOR2_PZ -0.07
 param set-default CA_ROTOR3_PX -0.37
-param set-default CA_ROTOR3_PY -0.42
+param set-default CA_ROTOR3_PY 0.42
 param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR3_PZ 0.07
+param set-default CA_ROTOR3_PZ -0.07
 param set-default CA_ROTOR4_AX 1.0
 param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.4
+param set-default CA_ROTOR4_KM -0.05
 
 param set-default CA_SV_CS_COUNT 5
 param set-default CA_SV_CS0_TYPE 1
@@ -128,17 +129,6 @@ param set-default VT_F_TRANS_THR 1
 # VTOL takeoff
 param set-default VTO_LOITER_ALT 20
 
-param set-default MC_AIRMODE 1
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
 # # QuadChute altitude (transition to quad mode as a failsafe)
 # param set-default VT_FW_MIN_ALT 5