#!/bin/sh
#
# @name Generic Hexarotor + geometry
#
# @type Hexarotor +
# @class Copter
#
# @output MAIN1 motor1
# @output MAIN2 motor2
# @output MAIN3 motor3
# @output MAIN4 motor4
# @output MAIN5 motor5
# @output MAIN6 motor6
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#

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

# MAV_TYPE_HEXAROTOR 13
param set-default MAV_TYPE 13

param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.5
param set-default CA_ROTOR0_PY 0.0
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.5
param set-default CA_ROTOR1_PY 0.0
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.43
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX 0.25
param set-default CA_ROTOR3_PY 0.43
param set-default CA_ROTOR4_PX 0.25
param set-default CA_ROTOR4_PY -0.43
param set-default CA_ROTOR5_PX -0.25
param set-default CA_ROTOR5_PY 0.43
param set-default CA_ROTOR5_KM -0.05

set MIXER hexa_+

# Need to set all 8 channels
set PWM_OUT 12345678