From 8486ca5766adb5287b7b7edc758712b6027f9c48 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 17 Dec 2021 11:33:30 +0100
Subject: [PATCH] airframes: sitl cloudship: switch to dynamic control
 allocation

---
 .../init.d-posix/airframes/2507_cloudship     | 30 +++++++++++++++++--
 1 file changed, 28 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
index 09bfb9b528..33be5fa870 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@@ -11,5 +11,31 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
-set MIXER cloudship
-set PWM_OUT 1234
+param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 103
+
+set MIXER skip