#!/bin/sh
#
# @name Generic Quadplane VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Aileron 1
# @output AUX2 Aileron 2
# @output AUX3 Elevator
# @output AUX4 Rudder
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
#

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

param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4

param set-default PWM_AUX_DIS5 950

param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_AAERT

set PWM_OUT 1234