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

sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/rc.ctrlalloc

if [ $AUTOCNF = yes ]
then
	param set MPC_XY_VEL_I_ACC 4
	param set MPC_XY_VEL_P_ACC 3

	param set RTL_DESCEND_ALT 10
	param set RTL_LAND_DELAY 0

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

	param set MPC_USE_HTE 0

	param set VM_MASS 2.66
	param set VM_INERTIA_XX 0.06
	param set VM_INERTIA_YY 0.06
	param set VM_INERTIA_ZZ 0.10

	param set CA_AIRFRAME 0
	param set CA_METHOD 1
	param set CA_ACT0_MIN 0.0
	param set CA_ACT1_MIN 0.0
	param set CA_ACT2_MIN 0.0
	param set CA_ACT3_MIN 0.0
	param set CA_ACT4_MIN 0.0
	param set CA_ACT5_MIN 0.0
	param set CA_ACT0_MAX 1.0
	param set CA_ACT1_MAX 1.0
	param set CA_ACT2_MAX 1.0
	param set CA_ACT3_MAX 1.0
	param set CA_ACT4_MAX 1.0
	param set CA_ACT5_MAX 1.0

	param set CA_MC_R0_PX 0.0
	param set CA_MC_R0_PY 1.0
	param set CA_MC_R0_CT 9.5
	param set CA_MC_R0_KM -0.05
	param set CA_MC_R1_PX 0.0
	param set CA_MC_R1_PY -1.0
	param set CA_MC_R1_CT 9.5
	param set CA_MC_R1_KM 0.05
	param set CA_MC_R2_PX 0.866025
	param set CA_MC_R2_PY -0.5
	param set CA_MC_R2_CT 9.5
	param set CA_MC_R2_KM -0.05
	param set CA_MC_R3_PX -0.866025
	param set CA_MC_R3_PY 0.5
	param set CA_MC_R3_CT 9.5
	param set CA_MC_R3_KM 0.05
	param set CA_MC_R4_PX 0.866025
	param set CA_MC_R4_PY 0.5
	param set CA_MC_R4_CT 9.5
	param set CA_MC_R4_KM 0.05
	param set CA_MC_R5_PX -0.866025
	param set CA_MC_R5_PY -0.5
	param set CA_MC_R5_CT 9.5
	param set CA_MC_R5_KM -0.05
fi

set MAV_TYPE 13

# set MIXER hexa_x
set MIXER direct