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#!nsh
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#
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# @name E-flite Convergence
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# @type VTOL Tiltrotor
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# @maintainer Andreas Antener <andreas@uaventure.com>
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# @output MAIN1 Motor right
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# @output MAIN2 Motor back
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# @output MAIN3 Motor left
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# @output MAIN4 empty
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# @output MAIN5 Tilt servo right
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# @output MAIN6 Tilt servo left
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# @output MAIN7 Elevon right
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# @output MAIN8 Elevon left
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#
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sh /etc/init.d/rc.vtol_defaults
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if [ $AUTOCNF == yes ]
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then
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param set VT_MOT_COUNT 3
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param set VT_FW_MOT_OFFID 3
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param set VT_IDLE_PWM_MC 1080
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param set VT_TYPE 1
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param set VT_TILT_MC 0.0
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param set VT_TILT_TRANS 0.35
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param set VT_TILT_FW 1.0
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param set VT_F_TRANS_DUR 2.0
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param set VT_TRANS_MIN_TM 3.0
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param set VT_F_TR_OL_TM 7.0
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param set VT_TRANS_P2_DUR 2.2
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param set VT_B_TRANS_DUR 1.0
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param set VT_FW_PERM_STAB 1
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param set FW_L1_PERIOD 16
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param set FW_MAN_R_MAX 50.0
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param set FW_PSP_OFF 4.0
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param set FW_P_LIM_MAX 30
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param set FW_P_LIM_MIN -30
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param set FW_RR_FF 0.35
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param set FW_RR_P 0.14
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param set MC_YAWRATE_P 0.3
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param set MPC_LAND_SPEED 1.2
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param set MPC_TKO_SPEED 2.5
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param set MPC_Z_VEL_MAX_UP 3.0
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param set CBRK_AIRSPD_CHK 162128
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param set FW_ARSP_MODE 2
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param set SENS_BOARD_ROT 8
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fi
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set MIXER vtol_convergence
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set PWM_OUT 1234
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set PWM_RATE 400
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set MAV_TYPE 21
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