#!nsh
#
# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
#
# @type Coaxial Helicopter
# 
# @output MAIN1 Left swashplate servomotor, pitch axis
# @output MAIN2 Right swashplate servomotor, roll axis
# @output MAIN3 Upper rotor (CCW)
# @output MAIN4 Lower rotor (CW)
#
# @maintainer Emmanuel Roussel
#

set VEHICLE_TYPE mc

if [ $AUTOCNF == yes ]
then
	param set PE_VELNE_NOISE 0.5
	param set PE_VELD_NOISE 0.35
	param set PE_POSNE_NOISE 0.5
	param set PE_POSD_NOISE 1.25

	param set NAV_ACC_RAD 2.0
	param set RTL_RETURN_ALT 30.0
	param set RTL_DESCEND_ALT 10.0

	param set PWM_DISARMED 900
	param set PWM_MIN 1075
	param set PWM_MAX 1950

	param set MC_ROLL_P 6.5
	param set MC_ROLLRATE_P 0.17
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.005
	param set MC_ROLLRATE_FF 0
	param set MC_PITCH_P 6.5
	param set MC_PITCHRATE_P 0.17
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_D 0.005
	param set MC_PITCHRATE_FF 0
	param set MC_YAW_P 2
	param set MC_YAW_FF 0.5
	param set MC_YAWRATE_P 0.1
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_FF 0
fi

set MIXER coax
# use PWM parameters for throttle channel
set PWM_OUT 34
set PWM_RATE 400
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX

# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000