#!/bin/sh
#
# @name UVify Draco-R
#
# @type Hexarotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
#
# @maintainer Hyon Lim <lim@uvify.com>
#

set VEHICLE_TYPE mc
set MIXER hexa_x
set PWM_OUT 123456

if [ $AUTOCNF = yes ]
then
	# Attitude & rate gains
	param set MC_ROLL_P 6.50000
	param set MC_ROLLRATE_P 0.15000
	param set MC_ROLLRATE_I 0.05000
	param set MC_ROLLRATE_D 0.00130

	param set MC_PITCH_P 6.50000
	param set MC_PITCHRATE_P 0.15000
	param set MC_PITCHRATE_I 0.05000
	param set MC_PITCHRATE_D 0.00160

	param set MC_YAW_P 2.80000
	param set MC_YAWRATE_P 0.20000
	param set MC_YAWRATE_I 0.10000
	param set MC_YAWRATE_D 0.00000
	param set MC_YAW_FF 0.00000

	#param set MC_ROLL_TC 0.19
	#param set MC_PITCH_TC 0.16

	# Manual mode settings: Unleash Draco R's power :)
	param set MPC_MAN_TILT_MAX 70.00000
	param set MPC_MANTHR_MAX 0.90000
	param set MPC_MANTHR_MIN 0.08000
	param set MPC_MAN_TILT_MAX 35.0000
	param set MPC_TILTMAX_AIR 45.0000
	param set MPC_POS_MODE 2
	param set MPC_AUTO_MODE 1
	param set MPC_ACC_HOR 8.0000

	param set MC_PITCHRATE_MAX 800.00000
	param set MC_ROLLRATE_MAX 800.00000
	param set MC_YAWRATE_MAX 700.00000

	# Disable RC filtering
	param set RC_FLT_CUTOFF 0.00000

	# Filter settings
	param set MC_DTERM_CUTOFF 90.00000
	param set IMU_GYRO_CUTOFF 100.00000

	# Thrust curve (avoids the need for TPA)
	param set THR_MDL_FAC 0.25

	# System
	param set PWM_MAX 1950
	param set PWM_MIN 1100
	param set PWM_MAIN_DIS5 980
	param set PWM_MAIN_DIS6 980

	param set SYS_FMU_TASK 1
	param set SENS_BOARD_ROT 2

	param set COM_ARM_MAG 0.2000

	# Sensors
	param set SENS_EN_LL40LS 2
	param set SENS_FLOW_ROT 2

	# Position control
	param set MPC_Z_P 1.00000
	param set MPC_Z_VEL_P 0.20000
	param set MPC_Z_VEL_I 0.02000
	param set MPC_Z_VEL_D 0.00000

	param set MPC_THR_MIN 0.06000
	param set MPC_THR_MAX 0.40000
	param set MPC_THR_HOVER 0.3000

	param set MIS_TAKEOFF_ALT 1.1000

	param set MPC_XY_P 0.9500
	param set MPC_XY_VEL_P 0.0900
	param set MPC_XY_VEL_I 0.0200
	param set MPC_XY_VEL_D 0.0100

	param set MPC_TKO_RAMP_T 0.4000
	param set MPC_TKO_SPEED 1.5000
	param set MPC_VEL_MANUAL 10.0000

	# EKF
	# Set baro first
	param set EKF2_HGT_MODE 1
	# Enable optical flow and GPS
	param set EKF2_AID_MASK 1
	param set EKF2_RNG_AID 0
	param set EKF2_MAG_TYPE 1
	param set EKF2_OF_QMIN 80.0000

	#
	param set CBRK_IO_SAFETY 22027
	param set SYS_COMPANION 921600
	param set COM_DISARM_LAND 3

	#PWM
	# ONESHOT
	param set PWM_RATE 0

	# gimbal
	#param set MNT_DO_STAB 1
	#param set MNT_MAN_PITCH 1
	#param set MNT_MAN_ROLL 2
	#param set MNT_MODE_IN 1
	param set BAT_SOURCE 0
	param set BAT_N_CELLS 4
	param set BAT_V_DIV 10.133

	# TELEM1 ttyS1
	param set MAV_0_CONFIG 101
	param set MAV_0_MODE 1	# onboard
	param set MAV_0_FORWARD 1
	param set SER_TEL1_BAUD 57600

	# TELEM2 ttyS2
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 2
	param set MAV_1_RATE 800000
	param set MAV_1_FORWARD 1
	param set SER_TEL2_BAUD 921600
fi

#set PWM_OUT 12345678

#set MIXER_AUX mount_2axes
#set PWM_AUX_OUT 78
#set PWM_AUX_RATE 50
#set OUTPUT_AUX_DEV /dev/pwm_output0
#set OUTPUT_AUX_TO_MAIN yes
#set MIXER_APPEND yes

#if mixer append /dev/pwm_output0 /etc/mixers/mount_2axes.aux.mix
#then
#	echo "INFO [6002] Mixer append success"
#else
#	echo "ERROR [6002] Mixer append failed"
#fi

#if pwm rate -c 78 -r 50 -d /dev/pwm_output0
#then
#	echo "INFO [6002] PWM RATE CHANGE SUCCESS"
#else
#	echo "INFO [6002] PWM RATE CHANGE FAILED"
#fi