#!/bin/sh
#
# @name Vertical Technologies DeltaQuad
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Right elevon
# @output MAIN6 Left elevon
# @output MAIN7 Pusher motor
# @output MAIN8 Pusher reverse channel
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


param set-default BAT_CAPACITY 23000
param set-default BAT_N_CELLS 4
param set-default BAT_R_INTERNAL 0.0025

param set-default CBRK_AIRSPD_CHK 162128
param set-default CBRK_IO_SAFETY 22027

param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default EKF2_TAU_VEL 0.5
param set-default EKF2_GPS_P_GATE 10
param set-default EKF2_GPS_V_GATE 10

param set-default FW_ARSP_MODE 1
param set-default FW_L1_PERIOD 25
param set-default FW_PR_FF 0.7
param set-default FW_PR_I 0.18
param set-default FW_PR_P 0.15
param set-default FW_P_TC 0.5
param set-default FW_PSP_OFF 5
param set-default FW_R_LIM 35
param set-default FW_RR_FF 0.9
param set-default FW_RR_I 0.08
param set-default FW_RR_P 0.18
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_T_VERT_ACC 6
param set-default FW_THR_CRUISE 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_MAN_P_MAX 30
param set-default FW_P_LIM_MAX 15
param set-default FW_P_LIM_MIN -25
param set-default FW_P_RMAX_NEG 45
param set-default FW_P_RMAX_POS 45
param set-default FW_R_RMAX 50
param set-default FW_THR_MIN 0.55
param set-default FW_BAT_SCALE_EN 1
param set-default FW_THR_ALT_SCL 2.7
param set-default FW_T_RLL2THR 20

param set-default LNDMC_ALT_MAX 9999
param set-default LNDMC_XY_VEL_MAX 1
param set-default LNDMC_Z_VEL_MAX 0.7

param set-default MC_ROLL_P 6.5
param set-default MC_ROLLRATE_P 0.16
param set-default MC_ROLLRATE_I 0.01
param set-default MC_ROLLRATE_D 0.003
param set-default MC_ROLLRATE_FF 0
param set-default MC_ROLLRATE_MAX 80
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0.15
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.003
param set-default MC_PITCHRATE_FF 0
param set-default MC_PITCHRATE_MAX 80
param set-default MC_YAW_P 3.5
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0
param set-default MC_YAWRATE_FF 0
param set-default MC_YAWRATE_MAX 20
param set-default MC_AIRMODE 1

param set-default MIS_DIST_1WP 100
param set-default MIS_DIST_WPS 100000
param set-default MIS_TAKEOFF_ALT 15

param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 2
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_LAND_SPEED 1.2
param set-default MPC_TILTMAX_LND 35
param set-default MPC_Z_VEL_MAX_UP 1.5
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_HOLD_MAX_XY 0.5
param set-default MPC_HOLD_MAX_Z 0.5
param set-default MPC_TKO_RAMP_T 0.8
param set-default MPC_XY_CRUISE 5
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TILTMAX_LND 25
param set-default MPC_YAWRAUTO_MAX 20

param set-default NAV_DLL_ACT 0
param set-default NAV_LOITER_RAD 100

param set-default PWM_AUX_DISARM 950

param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900
param set-default PWM_MAIN_DIS8 900

param set-default PWM_MAIN_RATE 400

param set-default SENS_BOARD_ROT 18

# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 5000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 57600

param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
param set-default VT_F_TRANS_THR 1
param set-default VT_DWN_PITCH_MAX 8
param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_WV_LND_EN 1
param set-default VT_WV_LTR_EN 1
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_IDLE_PWM_MC 1025
param set-default VT_B_REV_OUT 0.5
param set-default VT_B_TRANS_THR 0.7
param set-default VT_FW_PERM_STAB 1
param set-default VT_TRANS_TIMEOUT 22
param set-default VT_F_TRANS_RAMP 4

param set-default COM_RC_OVERRIDE 0
set MAV_TYPE 22

set MIXER deltaquad
set MIXER_AUX pass

set PWM_OUT 1234
set PWM_AUX_OUT 12345