#!/bin/sh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

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

if [ $AUTOCNF = yes ]
then
	param set FW_AIRSPD_MAX   22
	param set FW_AIRSPD_MIN   14
	param set FW_AIRSPD_TRIM  16
	param set FW_L1_PERIOD    25
	param set FW_PR_P 0.060
	param set FW_P_RMAX_NEG   40
	param set FW_P_RMAX_POS   40
	param set FW_RR_FF    0.4
	param set FW_RR_P 0.04
	param set FW_R_RMAX   40

	param set MC_PITCHRATE_D 0.004
	param set MC_PITCHRATE_I 0
	param set MC_PITCHRATE_MAX 60
	param set MC_PITCHRATE_P 0.21
	param set MC_PITCH_P 4
	param set MC_ROLLRATE_D 0.004
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_MAX 60
	param set MC_ROLLRATE_P 0.24
	param set MC_ROLL_P 4
	param set MC_YAWRATE_I 0.02
	param set MC_YAWRATE_MAX 40
	param set MC_YAWRATE_P 0.18

	param set MIS_TAKEOFF_ALT 2.5
	param set MIS_YAW_TMT 20

	param set MPC_ACC_HOR_MAX 1
	param set MPC_HOLD_MAX_XY 0.5
	param set MPC_HOLD_MAX_Z  0.5
	param set MPC_LAND_SPEED  1
	param set MPC_MANTHR_MIN  0.05
	param set MPC_MAN_Y_MAX   120
	param set MPC_THR_MIN 0.07
	param set MPC_TILTMAX_AIR 35
	param set MPC_TILTMAX_LND 20
	param set MPC_TKO_SPEED   1
	param set MPC_XY_P    0.3
	param set MPC_XY_VEL_MAX  3
	param set MPC_XY_VEL_P_ACC 1
	param set MPC_Z_P 0.5
	param set MPC_Z_VEL_P_ACC 2
	param set MPC_YAWRAUTO_MAX 40

	param set NAV_ACC_RAD 3

	param set PWM_AUX_REV1    1
	param set PWM_AUX_REV2    1
	param set PWM_AUX_REV3    1
	param set PWM_AUX_REV4    1

	param set PWM_AUX_DIS5 950

	param set PWM_RATE 400

	param set VT_ARSP_TRANS   15
	param set VT_B_TRANS_DUR  4
	param set VT_F_TRANS_THR    0.6
	param set VT_IDLE_PWM_MC 1180
	param set VT_MOT_ID 1234
	param set VT_FW_MOT_OFFID 1234
	param set VT_TRANS_MIN_TM 5
	param set VT_TRANS_TIMEOUT    30
	param set VT_TYPE 2

fi

set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_AAERT

set PWM_OUT 1234