#!nsh
#
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
#
# Roman Bapst <bapstroman@gmail.com>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_D 0.003
	param set MC_ROLLRATE_FF 0.0
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.12
	param set MC_PITCHRATE_I 0.002
	param set MC_PITCHRATE_D 0.003
	param set MC_PITCHRATE_FF 0.0
	param set MC_YAW_P 2.8
	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
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_IDLE_PWM_MC 1080
param set VT_TYPE 1