From e13b56f80640bbfe6168bf5d9d22a9dc5c57277b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 30 Jun 2022 18:07:10 +0200
Subject: [PATCH] Switch simulated solo to control allocation

---
 .../init.d-posix/airframes/1014_solo          | 26 ++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
index 45ef72836e..49ceeb9ba4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo
@@ -7,7 +7,31 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.145
+param set-default CA_ROTOR0_PY 0.145
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.145
+param set-default CA_ROTOR1_PY -0.145
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.145
+param set-default CA_ROTOR2_PY -0.145
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.145
+param set-default CA_ROTOR3_PY 0.145
+param set-default CA_ROTOR3_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 MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05
 
-set MIXER quad_x
+set MIXER skip
+set MIXER_AUX none