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  /**
   * @file tailsitter_params.c
   * Parameters for vtol attitude controller.
   *
   * @author Roman Bapst <bapstroman@gmail.com>
   * @author David Vorsin     <davidvorsin@gmail.com>
   */
  
  #include <systemlib/param/param.h>
  
  /**
   * Duration of front transition phase 2
   *
   * Time in seconds it should take for the rotors to rotate forward completely from the point
   * when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
   *
   * @unit s
   * @min 0.1
   * @max 5.0
   * @increment 0.01
   * @decimal 3
   * @group VTOL Attitude Control
  
  PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);*/
  
  /**
   * Back transition thrust
   *
   * Back transition thrust. 0 means disable this parameter.
   *
   * @unit norm
   * @min 0.0
   * @max 1.0
   * @decimal 2
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_B_TRANS_THR, 0.0f); // apple 
  
  /**
   * pitch angle to switch to FW. 
   *
   * pitch angle to switch to FW. 0 means disable this parameter and use default parameter
   *
   * @unit norm
   * @min 0.0
   * @max 90.0
   * @decimal 2
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_PITCH_F_TRANS, 0.0f); // apple
  
  /**
   * pitch angle to switch to MC 
   *
   * pitch angle to switch to MC. 0 means disable this parameter and use default parameter
   *
   * @unit norm
   * @min 0.0
   * @max 60.0
   * @decimal 2
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_PITCH_B_TRANS, 0.0f); // apple
  
  /**
   * The proportion of VTOL rudder output
   *
   * The proportion of VTOL rudder output. 0 means disable this parameter.
   *
   * @unit norm
   * @min 0.0
   * @max 1.0
   * @decimal 2
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_FW_YAW_SCALE, 0.0f); 
  
  /**
   * Throttle during front transition
   *
   * @unit norm
   * @min 0.0 
   * @max 1.0
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_THR_TRANS_MAX, 0.25f);
  
  /**
   * speed during back transition
   *
   * @unit norm
   * @min 0.0
   * @max 20.0
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_BACK_VEL, 5.0f);
  
  /**
   * descend during back transition
   *
   * @unit norm
   * @min 0.0
   * @max 20.0
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_BACK_DESCEND, 3.0f);
  
  /**
   * alt during back transition
   *
   * @unit norm
   * @min 0.0
   * @max 100.0
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_BACK_ALT, 10.0f);
  
  /**
   * distance during back transition
   *
   * @unit norm
   * @min 0.0
   * @max 100.0
   * @increment 0.1
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_BACK_DIST, 10.0f);
  
  /**
   * VTOL weathervane front
   *
   * @boolean
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_INT32(VT_WEATHERVANE_F, 0);
  
  
  /**
   * distance parameter for freefall phase
   *
   * @unit m/s
   * @min 0.0
   * @max 1.0
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_FREFALL_SLOPE, 0.3f);
  
  /**
   * distance parameter for back transition phase1
   *
   * @unit m/s
   * @min 0.0
   * @max 1.0
   * @group VTOL Attitude Control
   */
  PARAM_DEFINE_FLOAT(VT_BACK_P1_DCOF, 0.1f);
  