From 2bb3d395cf29f8f14cdc561580544f22bead7f7a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 6 Feb 2017 15:02:55 +1100
Subject: [PATCH] autotest: setup for firefly6 quadplane parameters

---
 Tools/autotest/default_params/firefly.parm | 20 ++++++++++++++------
 Tools/autotest/sim_vehicle.py              |  2 +-
 2 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 55c30489b2..9c05f9f140 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -41,7 +41,7 @@ KFF_RDDRMIX      0.500000
 LIM_PITCH_MAX    3000
 LIM_PITCH_MIN    -3000
 LIM_ROLL_CD      6500
-NAVL1_PERIOD     14
+NAVL1_PERIOD     8
 PTCH2SRV_D       0.309954
 PTCH2SRV_I       0.425000
 PTCH2SRV_IMAX    4000
@@ -67,14 +67,22 @@ THR_MAX          100
 TRIM_ARSPD_CM    2500
 LOG_BITMASK      65534
 # map channel 13 out for tilt
-RC13_FUNCTION    41
-RC13_MIN         1000
-RC13_MAX         2000
 Q_ENABLE         1
+Q_FRAME_CLASS    5
+Q_FRAME_TYPE     11
 Q_ASSIST_SPEED   10
-Q_FRAME_CLASS    4
-Q_TILT_MASK      23
+Q_TILT_MASK      54
 Q_TILT_MAX       60
+Q_TILT_RATE      15
 Q_RTL_MODE       1
 Q_VFWD_GAIN      0.1
 Q_WVANE_GAIN     0.3
+SERVO9_FUNCTION  41
+SERVO9_MIN       1000
+SERVO9_MAX       2000
+SERVO3_FUNCTION  33
+SERVO4_FUNCTION  34
+SERVO5_FUNCTION  35
+SERVO6_FUNCTION  36
+SERVO7_FUNCTION  37
+SERVO8_FUNCTION  38
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 854086aec7..af99fd7b0e 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -274,7 +274,7 @@ _options_for_frame = {
         "default_params_filename": "default_params/copter.parm",
     },
     "firefly": {
-        "waf_target": "bin/arducopter-firefly",
+        "waf_target": "bin/arduplane",
         "default_params_filename": "default_params/firefly.parm",
     },
     # HELICOPTER