#!/bin/sh
#
# @name QuadRanger
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
	param set FW_THR_CRUISE 65
	param set FW_PR_P 0.08
	param set FW_PR_FF 0.5
	param set FW_RR_P 0.05
	param set FW_RR_FF 0.6

	param set MIS_YAW_TMT 10

	param set MC_ROLL_P 7
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.1
	param set MC_ROLLRATE_D 0.004
	param set MC_ROLLRATE_FF 0
	param set MC_PITCH_P 7
	param set MC_PITCHRATE_P 0.15
	param set MC_PITCHRATE_I 0.1
	param set MC_PITCHRATE_D 0.004
	param set MC_PITCHRATE_FF 0
	param set MC_YAW_P 3.5
	param set MC_YAWRATE_P 0.6
	param set MC_YAWRATE_I 0.04
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_FF 0
	param set MC_YAWRATE_MAX 40

	param set MPC_ACC_HOR_MAX 2
	param set MPC_Z_VEL_MAX_DN 1.5
	param set MPC_TKO_SPEED 1.5
	param set MPC_LAND_SPEED 0.8
	param set MPC_YAWRAUTO_MAX 40

	param set PWM_AUX_DIS5 950
	param set PWM_AUX_REV1 1
	param set PWM_AUX_REV2 1
	param set PWM_MAIN_RATE 400

	param set VT_ARSP_TRANS 15
	param set VT_ARSP_BLEND 8
	param set VT_B_TRANS_DUR 4
	param set VT_F_TRANS_THR 0.75
	param set VT_IDLE_PWM_MC 1080
	param set VT_MOT_ID 1234
	param set VT_FW_MOT_OFFID 1234
	param set VT_TYPE 2
fi

set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_AAERT

set PWM_OUT 1234