#!/bin/sh
#
# @name BirdsEyeView Aerobotics FireFly6
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Roman Bapst <roman@uaventure.com>
#
# @output MAIN1 Front right motor bottom
# @output MAIN2 Front right motor top
# @output MAIN3 Back motor bottom
# @output MAIN4 Back motor top
# @output MAIN5 Front left motor bottom
# @output MAIN6 Front left motor top
# @output AUX1 Tilt servo
# @output AUX2 Elevon 1
# @output AUX3 Elevon 2
# @output AUX4 Gear
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

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

set MAV_TYPE 21

param set-default MC_ROLL_P 7
param set-default MC_ROLLRATE_P 0.19
param set-default MC_ROLLRATE_I 0.002
param set-default MC_ROLLRATE_D 0.005
param set-default MC_ROLLRATE_FF 0
param set-default MC_PITCH_P 7
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.002
param set-default MC_PITCHRATE_D 0.004
param set-default MC_PITCHRATE_FF 0
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0

param set-default VT_FW_MOT_OFFID 34
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_MOT_ID 123456
param set-default VT_FW_MOT_OFFID 56
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_TILT_FW 0.9
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1

# MAIN
set MIXER firefly6
param set-default PWM_MAIN_MIN1 1100
param set-default PWM_MAIN_MIN2 1100
param set-default PWM_MAIN_MIN3 1100
param set-default PWM_MAIN_MIN4 1100
param set-default PWM_MAIN_MIN5 1100
param set-default PWM_MAIN_MIN6 1100

param set-default PWM_MAIN_MAX1 1900
param set-default PWM_MAIN_MAX2 1900
param set-default PWM_MAIN_MAX3 1900
param set-default PWM_MAIN_MAX4 1900
param set-default PWM_MAIN_MAX5 1900
param set-default PWM_MAIN_MAX6 1900

param set-default PWM_MAIN_RATE1 400
param set-default PWM_MAIN_RATE2 400
param set-default PWM_MAIN_RATE3 400
param set-default PWM_MAIN_RATE4 400
param set-default PWM_MAIN_RATE5 400
param set-default PWM_MAIN_RATE6 400

param set-default PWM_MAIN_DIS1 900
param set-default PWM_MAIN_DIS2 900
param set-default PWM_MAIN_DIS3 900
param set-default PWM_MAIN_DIS4 900
param set-default PWM_MAIN_DIS5 900
param set-default PWM_MAIN_DIS6 900

# AUX
set MIXER_AUX firefly6
param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS3 1500
param set-default PWM_MAIN_DIS4 2000 # Landing gear
