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

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


param set-default MPC_USE_HTE 0

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

param set-default CA_AIRFRAME 0
param set-default CA_METHOD 1
param set-default CA_ACT0_MIN 0.0
param set-default CA_ACT1_MIN 0.0
param set-default CA_ACT2_MIN 0.0
param set-default CA_ACT3_MIN 0.0
param set-default CA_ACT4_MIN 0.0
param set-default CA_ACT5_MIN 0.0

param set-default CA_ACT0_MAX 1.0
param set-default CA_ACT1_MAX 1.0
param set-default CA_ACT2_MAX 1.0
param set-default CA_ACT3_MAX 1.0
param set-default CA_ACT4_MAX 1.0
param set-default CA_ACT5_MAX 1.0

param set-default CA_MC_R0_PX 0.0
param set-default CA_MC_R0_PY 0.275
param set-default CA_MC_R0_CT 6.5
param set-default CA_MC_R0_KM -0.05

param set-default CA_MC_R1_PX 0.0
param set-default CA_MC_R1_PY -0.275
param set-default CA_MC_R1_CT 6.5
param set-default CA_MC_R1_KM 0.05

param set-default CA_MC_R2_PX 0.238
param set-default CA_MC_R2_PY -0.1375
param set-default CA_MC_R2_CT 6.5
param set-default CA_MC_R2_KM -0.05

param set-default CA_MC_R3_PX -0.238
param set-default CA_MC_R3_PY 0.1375
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM 0.05

param set-default CA_MC_R4_PX 0.238
param set-default CA_MC_R4_PY 0.1375
param set-default CA_MC_R4_CT 6.5
param set-default CA_MC_R4_KM 0.05

param set-default CA_MC_R5_PX -0.238
param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05

set MIXER direct
set PWM_OUT 123456

set MIXER_AUX direct_aux
set PWM_AUX_OUT 123456
