#!/bin/sh
#
# @name 6DoF Omnicopter SITL
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jalim@ethz.ch>
#

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

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}

param set-default CA_AIRFRAME 0

param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255

param set-default CA_ROTOR0_PX 0.14435
param set-default CA_ROTOR0_PY -0.14435
param set-default CA_ROTOR0_PZ -0.14435
param set-default CA_ROTOR0_KM 0.05 # CCW
param set-default CA_ROTOR0_AX -0.788675
param set-default CA_ROTOR0_AY -0.211325
param set-default CA_ROTOR0_AZ -0.57735

param set-default CA_ROTOR1_PX -0.14435
param set-default CA_ROTOR1_PY -0.14435
param set-default CA_ROTOR1_PZ -0.14435
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_AX 0.211325
param set-default CA_ROTOR1_AY -0.788675
param set-default CA_ROTOR1_AZ 0.57735

param set-default CA_ROTOR2_PX 0.14435
param set-default CA_ROTOR2_PY 0.14435
param set-default CA_ROTOR2_PZ -0.14435
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR2_AX -0.211325
param set-default CA_ROTOR2_AY 0.788675
param set-default CA_ROTOR2_AZ 0.57735

param set-default CA_ROTOR3_PX -0.14435
param set-default CA_ROTOR3_PY 0.14435
param set-default CA_ROTOR3_PZ -0.14435
param set-default CA_ROTOR3_KM 0.05
param set-default CA_ROTOR3_AX 0.788675
param set-default CA_ROTOR3_AY 0.211325
param set-default CA_ROTOR3_AZ -0.57735

param set-default CA_ROTOR4_PX 0.14435
param set-default CA_ROTOR4_PY -0.14435
param set-default CA_ROTOR4_PZ 0.14435
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 0.788675
param set-default CA_ROTOR4_AY 0.211325
param set-default CA_ROTOR4_AZ -0.57735

param set-default CA_ROTOR5_PX -0.14435
param set-default CA_ROTOR5_PY -0.14435
param set-default CA_ROTOR5_PZ 0.14435
param set-default CA_ROTOR5_KM 0.05
param set-default CA_ROTOR5_AX -0.211325
param set-default CA_ROTOR5_AY 0.788675
param set-default CA_ROTOR5_AZ 0.57735

param set-default CA_ROTOR6_PX 0.14435
param set-default CA_ROTOR6_PY 0.14435
param set-default CA_ROTOR6_PZ 0.14435
param set-default CA_ROTOR6_KM 0.05
param set-default CA_ROTOR6_AX 0.211325
param set-default CA_ROTOR6_AY -0.788675
param set-default CA_ROTOR6_AZ 0.57735

param set-default CA_ROTOR7_PX -0.14435
param set-default CA_ROTOR7_PY 0.14435
param set-default CA_ROTOR7_PZ 0.14435
param set-default CA_ROTOR7_KM 0.05
param set-default CA_ROTOR7_AX -0.788675
param set-default CA_ROTOR7_AY -0.211325
param set-default CA_ROTOR7_AZ -0.57735

param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_FUNC5 105
param set-default SIM_GZ_EC_FUNC6 106
param set-default SIM_GZ_EC_FUNC7 107
param set-default SIM_GZ_EC_FUNC8 108

param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MIN2 0
param set-default SIM_GZ_EC_MIN3 0
param set-default SIM_GZ_EC_MIN4 0
param set-default SIM_GZ_EC_MIN5 0
param set-default SIM_GZ_EC_MIN6 0
param set-default SIM_GZ_EC_MIN7 0
param set-default SIM_GZ_EC_MIN8 0

param set-default SIM_GZ_EC_MAX1 1100
param set-default SIM_GZ_EC_MAX2 1100
param set-default SIM_GZ_EC_MAX3 1100
param set-default SIM_GZ_EC_MAX4 1100
param set-default SIM_GZ_EC_MAX5 1100
param set-default SIM_GZ_EC_MAX6 1100
param set-default SIM_GZ_EC_MAX7 1100
param set-default SIM_GZ_EC_MAX8 1100
# disable MC desaturation which improves attitude tracking
param set-default CA_METHOD 0

# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0