#!nsh
#
# @name Typhoon H480 SITL
#
# @type Hexarotor x
#

if [ $AUTOCNF == yes ]
then
	param set MAV_TYPE 13

	param set MC_PITCHRATE_P 0.1
	param set MC_ROLLRATE_P 0.05
	param set MPC_XY_VEL_I 0.2
	param set MPC_XY_VEL_P 0.15

	param set RTL_DESCEND_ALT 10.0
	param set RTL_LAND_DELAY 0

	param set TRIG_INTERFACE 3
	param set TRIG_MODE 4
	param set MNT_MODE_IN 0
	param set MAV_PROTO_VER 2
fi

mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530

pwm_out_sim mode_pwm16
mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
vmount start
camera_trigger start
