#!/bin/sh
#
# @name E-flite Convergence
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @output MAIN1 Motor right
# @output MAIN2 Motor left
# @output MAIN3 Motor back
# @output MAIN4 empty
# @output MAIN5 Tilt servo right
# @output MAIN6 Tilt servo left
# @output MAIN7 Elevon right
# @output MAIN8 Elevon left
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


param set-default CBRK_AIRSPD_CHK 162128

param set-default FW_ARSP_MODE 1

param set-default FW_L1_PERIOD 17
param set-default FW_MAN_R_MAX 50
param set-default FW_ACRO_X_MAX   270
param set-default FW_ACRO_Y_MAX   270
param set-default FW_ACRO_Z_MAX   180
param set-default FW_PR_FF    0.5
param set-default FW_PR_P 0.08
param set-default FW_PSP_OFF  5
param set-default FW_P_LIM_MAX    30
param set-default FW_P_LIM_MIN    -30
param set-default FW_P_RMAX_NEG   60
param set-default FW_P_RMAX_POS   60
param set-default FW_RR_FF    0.33
param set-default FW_RR_P 0.11
param set-default FW_YR_FF    0.3
param set-default FW_YR_P 0.05

param set-default MC_PITCHRATE_D  0.003
param set-default MC_PITCHRATE_P  0.15
param set-default MC_PITCH_P  6
param set-default MC_ROLLRATE_D   0.003
param set-default MC_ROLLRATE_P   0.15
param set-default MC_ROLL_P   6
param set-default MC_YAWRATE_MAX  120
param set-default MC_YAWRATE_P    0.27
param set-default MC_YAW_P    2.5

param set-default MC_YAWRATE_P 0.3
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TKO_SPEED 2.5
param set-default MPC_Z_VEL_MAX_UP 3

param set-default PWM_MAIN_RATE 400

param set-default SENS_BOARD_ROT 8

param set-default VT_B_TRANS_DUR  1
param set-default VT_F_TRANS_DUR  1.2
param set-default VT_F_TR_OL_TM   4
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.17
param set-default VT_FW_MOT_OFFID 3
param set-default VT_FW_PERM_STAB 0
param set-default VT_IDLE_PWM_MC 1200
param set-default VT_MOT_ID 123
param set-default VT_TILT_FW  1
param set-default VT_TILT_MC  0
param set-default VT_TILT_TRANS   0.45
param set-default VT_TRANS_MIN_TM 1.2
param set-default VT_TRANS_P2_DUR 1.3
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 1
set MAV_TYPE 21

set MIXER vtol_convergence

set PWM_OUT 1234
