#!nsh
#
# @name BirdsEyeView Aerobotics FireFly6
#
# @type VTOL Tiltrotor
#
# @maintainer Roman Bapst <roman@px4.io>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.17
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_D 0.004
	param set MC_ROLLRATE_FF 0.0
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.14
	param set MC_PITCHRATE_I 0.002
	param set MC_PITCHRATE_D 0.004
	param set MC_PITCHRATE_FF 0.0
	param set MC_YAW_P 3.8
	param set MC_YAW_FF 0.5
	param set MC_YAWRATE_P 0.22
	param set MC_YAWRATE_I 0.02
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_FF 0.0

	param set VT_TILT_MC 0.08
	param set VT_TILT_TRANS 0.5
	param set VT_TILT_FW 0.9
fi

set MIXER firefly6
set PWM_OUT 12345678

set MIXER_AUX firefly6
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000

set MAV_TYPE 21

param set VT_MOT_COUNT 6
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1