#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output MAIN1 Ailerons
# @output MAIN2 A-tail left
# @output MAIN3 Pusher motor
# @output MAIN4 A-tail right
# @output MAIN5 motor 1
# @output MAIN6 motor 2
# @output MAIN7 motor 3
# @output MAIN8 motor 4
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

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

set MAV_TYPE 22

param set-default BAT_N_CELLS 6

param set-default FW_AIRSPD_MAX   30
param set-default FW_AIRSPD_MIN   19
param set-default FW_AIRSPD_TRIM  23
param set-default FW_L1_R_SLEW_MAX 40
param set-default FW_LND_EARLYCFG 1
param set-default FW_MAN_P_MAX	30
param set-default FW_PR_I	0.1
param set-default FW_PSP_OFF	3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF	0.1
param set-default FW_RR_I	0.1
param set-default FW_RR_P	0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX	50
param set-default FW_THR_CRUISE 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX	15
param set-default FW_T_SINK_MIN	3
param set-default FW_YR_I	0.1
param set-default FW_YR_P	0.15

param set-default IMU_GYRO_CUTOFF 40

param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_I	0.2
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_I	0.2
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3

param set-default MIS_TAKEOFF_ALT	30

param set-default MPC_ACC_DOWN_MAX	2
param set-default MPC_ACC_HOR_MAX	2
param set-default MPC_ACC_UP_MAX	3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO	4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default MPC_POS_MODE 3
param set-default MPC_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED	1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_MAX_UP 2

param set-default NAV_ACC_RAD	3

param set-default SENS_BOARD_ROT 4

param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_FW_MOT_OFFID 5678
param set-default VT_F_TR_OL_TM 8
param set-default VT_IDLE_PWM_MC 1000
param set-default VT_MOT_ID 5678
param set-default VT_PSHER_RMP_DT 2
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2

# MAIN
set MIXER babyshark
param set-default PWM_MAIN_MIN5 1100
param set-default PWM_MAIN_MIN6 1100
param set-default PWM_MAIN_MIN7 1120
param set-default PWM_MAIN_MIN8 1100

param set-default PWM_MAIN_MAX5 1900
param set-default PWM_MAIN_MAX6 1900
param set-default PWM_MAIN_MAX7 1900
param set-default PWM_MAIN_MAX8 1900

param set-default PWM_MAIN_RATE5 400
param set-default PWM_MAIN_RATE6 400
param set-default PWM_MAIN_RATE7 400
param set-default PWM_MAIN_RATE8 400

param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS3 900 # pusher
param set-default PWM_MAIN_DIS4 1500
param set-default PWM_MAIN_DIS5 900
param set-default PWM_MAIN_DIS6 900
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900
