#!/bin/sh
#
# @name 3DR Solo
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
#

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


# tuning
param set-default MC_PITCHRATE_P    0.11
param set-default MC_ROLLRATE_P     0.11
param set-default MPC_MANTHR_MIN    0.08
param set-default MPC_XY_VEL_MAX    3
param set-default MPC_Z_VEL_MAX_DN     2

# takeoff, land and RTL settings
param set-default MIS_TAKEOFF_ALT   4
param set-default RTL_LAND_DELAY    1
param set-default RTL_DESCEND_ALT   5
param set-default RTL_RETURN_ALT    15
param set-default MPC_TILTMAX_LND   8
param set-default MPC_LAND_SPEED    0.4
param set-default MPC_HOLD_MAX_Z    1.5
param set-default MPC_TKO_JMPSPD    2
param set-default MPC_TKO_SPEED     1.5

# setup
# main board rotation: pitch 180
param set-default SENS_BOARD_ROT    12
# solo external mag rotation
param set-default CAL_MAG0_ROT      38
# no safety switch
param set-default CBRK_IO_SAFETY    22027
# battery voltage not available yet
param set-default CBRK_SUPPLY_CHK   894281

# RC configuration
param set-default RC_MAP_MODE_SW    5
param set-default RC_MAP_PITCH      2
param set-default RC_MAP_ROLL       1
param set-default RC_MAP_THROTTLE   3
param set-default RC_MAP_YAW        4

param set-default RC1_DZ            10
param set-default RC1_MAX           1988
param set-default RC1_MIN           1003
param set-default RC1_REV           1
param set-default RC1_TRIM          1499
param set-default RC2_DZ            10
param set-default RC2_MAX           1987
param set-default RC2_MIN           1023
param set-default RC2_REV           -1
param set-default RC2_TRIM          1499
param set-default RC3_DZ            10
param set-default RC3_MAX           1877
param set-default RC3_MIN           1023
param set-default RC3_REV           1
param set-default RC3_TRIM          1023
param set-default RC4_DZ            10
param set-default RC4_MAX           1998
param set-default RC4_MIN           1012
param set-default RC4_REV           1
param set-default RC4_TRIM          1500
param set-default RC5_DZ            10
param set-default RC5_MAX           2000
param set-default RC5_MIN           1000
param set-default RC5_REV           1
param set-default RC5_TRIM          1500

# enable high-speed link on telem 1
param set-default MAV_0_RATE 80000
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600
set MIXER quad_x

set PWM_OUT 1234
set MIXER_AUX none