#!/bin/sh
#
# @name Esky (Big) Lama v4
#
# @type Coaxial Helicopter
# @class Copter
#
# @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
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults
set MIXER coax

if [ $AUTOCNF = yes ]
then
	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_YAWRATE_P 0.1
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_FF 0

	param set NAV_ACC_RAD 2

	param set PWM_AUX_RATE 50
	param set PWM_MAIN_DISARM 900
	param set PWM_MAIN_MIN 1075
	param set PWM_MAIN_MAX 1950
	param set PWM_MAIN_RATE 400

	param set RTL_RETURN_ALT 30
	param set RTL_DESCEND_ALT 10
fi

# This is the gimbal pass mixer
set MIXER_AUX pass

# use PWM parameters for throttle channel
set PWM_AUX_OUT 1234
set PWM_OUT 34