#!/bin/sh
#
# @name S500 with control allocation
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Silvan Fuhrer
#
# @board px4_fmu-v2 exclude
#

. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.ctrlalloc

if [ $AUTOCNF = yes ]
then
	param set MPC_USE_HTE 0

	param set VM_MASS 1.5
	param set VM_INERTIA_XX 0.03
	param set VM_INERTIA_YY 0.03
	param set VM_INERTIA_ZZ 0.05

	param set CA_AIRFRAME 0
	param set CA_METHOD 1
	param set CA_ACT0_MIN 0.0
	param set CA_ACT1_MIN 0.0
	param set CA_ACT2_MIN 0.0
	param set CA_ACT3_MIN 0.0
	param set CA_ACT0_MAX 1.0
	param set CA_ACT1_MAX 1.0
	param set CA_ACT2_MAX 1.0
	param set CA_ACT3_MAX 1.0

	param set CA_MC_R0_PX 0.177
	param set CA_MC_R0_PY 0.177
	param set CA_MC_R0_CT 6.5
	param set CA_MC_R0_KM 0.05
	param set CA_MC_R1_PX -0.177
	param set CA_MC_R1_PY -0.177
	param set CA_MC_R1_CT 6.5
	param set CA_MC_R1_KM 0.05
	param set CA_MC_R2_PX 0.177
	param set CA_MC_R2_PY -0.177
	param set CA_MC_R2_CT 6.5
	param set CA_MC_R2_KM -0.05
	param set CA_MC_R3_PX -0.177
	param set CA_MC_R3_PY 0.177
	param set CA_MC_R3_CT 6.5
	param set CA_MC_R3_KM -0.05

fi

set MIXER direct
set PWM_OUT 1234

set MIXER_AUX direct_aux
set PWM_AUX_OUT 1234