#!/bin/sh
#
# @name S500 with control allocation
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Silvan Fuhrer
#
# @board px4_fmu-v2 exclude
#

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

set MIXER skip
set MIXER_AUX none

param set-default SYS_CTRL_ALLOC 1

param set-default CA_AIRFRAME 0

param set-default CA_MC_R_COUNT 4
param set-default CA_MC_R0_PX 0.177
param set-default CA_MC_R0_PY 0.177
param set-default CA_MC_R0_KM 0.05
param set-default CA_MC_R1_PX -0.177
param set-default CA_MC_R1_PY -0.177
param set-default CA_MC_R1_KM 0.05
param set-default CA_MC_R2_PX 0.177
param set-default CA_MC_R2_PY -0.177
param set-default CA_MC_R2_KM -0.05
param set-default CA_MC_R3_PX -0.177
param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_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