#!nsh
#
# @name Caipiroshka Duo Tailsitter
#
# @type VTOL Duo Tailsitter
#
# @output MAIN1 motor left
# @output MAIN2 motor right
# @output MAIN5 elevon left
# @output MAIN6 elevon right
#
# @maintainer Roman Bapst <roman@px4.io>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 6.0
	param set MC_ROLLRATE_P 0.12
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_D 0.003
	param set MC_ROLLRATE_FF 0.0
	param set MC_PITCH_P 4.5
	param set MC_PITCHRATE_P 0.3
	param set MC_PITCHRATE_I 0.002
	param set MC_PITCHRATE_D 0.003
	param set MC_PITCHRATE_FF 0.0
	param set MC_YAW_P 3.8
	param set MC_YAW_FF 0.5
	param set MC_YAWRATE_P 0.22
	param set MC_YAWRATE_I 0.02
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_FF 0.0

	param set VT_MOT_COUNT 2
	param set VT_IDLE_PWM_MC  1080
	param set VT_TYPE 0
	param set MAV_TYPE 19
fi

set MIXER caipirinha_vtol

set PWM_OUT 1234
