#!nsh
#
# @name BirdsEyeView Aerobotics FireFly6
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Roman Bapst <roman@uaventure.com>
#
# @output MAIN1 Front right motor bottom
# @output MAIN2 Front right motor top
# @output MAIN3 Back motor bottom
# @output MAIN4 Back motor top
# @output MAIN5 Front left motor bottom
# @output MAIN6 Front left motor top
# @output AUX1 Tilt servo
# @output AUX2 Elevon 1
# @output AUX3 Elevon 2
# @output AUX4 Gear
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.19
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_D 0.005
	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 4.0
	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

	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
fi

set MIXER firefly6
set PWM_OUT 12345678
set PWM_RATE 400

set MIXER_AUX firefly6

set MAV_TYPE 21