From c9c62b860c28fb65f04dea9fdc6808ad635c7b81 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Thu, 21 Jul 2022 09:46:23 +0200
Subject: [PATCH] ROMFS: add generic tiltrotor VTOL (13200)

Add geometry for a quad tiltrotor VTOL, with only front motors tiltable,
two ailerons and a V-tail.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 .../airframes/13100_generic_vtol_tiltrotor    | 44 +++++++++++++++++++
 .../init.d/airframes/CMakeLists.txt           |  1 +
 2 files changed, 45 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
new file mode 100644
index 0000000000..a457a7ce76
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
@@ -0,0 +1,44 @@
+#!/bin/sh
+#
+# @name Generic Tiltrotor VTOL
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 3
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR0_TILT 2
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_TILT 1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 7
+param set-default CA_SV_CS2_TRQ_P 0.5
+param set-default CA_SV_CS2_TRQ_Y 0.5
+param set-default CA_SV_CS3_TYPE 8
+param set-default CA_SV_CS3_TRQ_P 0.5
+param set-default CA_SV_CS3_TRQ_Y -0.5
+param set-default CA_SV_TL_COUNT 2
+
+param set-default MAV_TYPE 21
+param set-default VT_TYPE 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index d99b2d8d25..c48755801f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -124,6 +124,7 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
+	13100_generic_vtol_tiltrotor
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark