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#!nsh
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#
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# @name Generic quad delta VTOL
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# @type Standard VTOL
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# @maintainer Simon Wilks <simon@uaventure.com>
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# @output MAIN1 Front right motor: CCW
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# @output MAIN2 Back left motor: CCW
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# @output MAIN3 Front left motor: CW
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# @output MAIN4 Back right motor: CW
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# @output AUX1 Right elevon
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# @output AUX2 Left elevon
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# @output AUX3 Motor
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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_TYPE 2
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param set VT_MOT_COUNT 4
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param set VT_TRANS_THR 0.75
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param set MC_ROLL_P 6.5
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param set MC_ROLLRATE_P 0.15
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param set MC_ROLLRATE_I 0.01
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param set MC_ROLLRATE_D 0.003
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param set MC_ROLLRATE_FF 0.0
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param set MC_PITCH_P 6.5
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param set MC_PITCHRATE_P 0.15
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param set MC_PITCHRATE_I 0.01
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param set MC_PITCHRATE_D 0.003
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param set MC_PITCHRATE_FF 0.0
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param set MC_YAW_P 3.5
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param set MC_YAW_FF 0.5
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAWRATE_FF 0.0
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param set MC_YAWRATE_MAX 20
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param set MC_YAWRAUTO_MAX 20
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param set MPC_XY_P 0.8
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param set MPC_XY_VEL_P 0.1
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param set MPC_ACC_HOR_MAX 2.0
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param set VT_MOT_COUNT 4
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param set VT_IDLE_PWM_MC 1080
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param set VT_TYPE 2
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fi
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set MIXER vtol_quad_x
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set PWM_OUT 1234
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set PWM_RATE 400
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set MIXER_AUX vtol_delta
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set PWM_ACHDIS 3
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set PWM_AUX_DISARMED 950
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set MAV_TYPE 22
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