#!/bin/sh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#

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

param set-default SYS_CTRL_ALLOC 1

param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0

param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3

param set-default RTL_DESCEND_ALT 10
param set-default RTL_LAND_DELAY 0

param set-default TRIG_INTERFACE 3
param set-default TRIG_MODE 4
param set-default MNT_MODE_IN 0
param set-default MAV_PROTO_VER 2

param set-default CA_AIRFRAME 0
param set-default CA_MC_R_COUNT 6

param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 1.0
param set-default CA_MC_R0_KM -0.05
param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -1.0
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.866025
param set-default CA_MC_R2_PY -0.5
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.866025
param set-default CA_MC_R3_PY 0.5
param set-default CA_MC_R3_KM 0.05
param set-default CA_MC_R4_PX 0.866025
param set-default CA_MC_R4_PY 0.5
param set-default CA_MC_R4_KM 0.05
param set-default CA_MC_R5_PX -0.866025
param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_KM -0.05

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106

set MAV_TYPE 13

set MIXER skip
set MIXER_AUX none
