From a6de3b6865e489617004413b3722c64fe218a7c0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 27 May 2017 11:03:57 +1000
Subject: [PATCH] Tools: use heli params for most of heli-dual params

---
 .../default_params/copter-heli-dual.parm      | 83 +------------------
 Tools/autotest/pysim/vehicleinfo.py           |  3 +-
 2 files changed, 3 insertions(+), 83 deletions(-)

diff --git a/Tools/autotest/default_params/copter-heli-dual.parm b/Tools/autotest/default_params/copter-heli-dual.parm
index 9e06518254..17fb19337f 100644
--- a/Tools/autotest/default_params/copter-heli-dual.parm
+++ b/Tools/autotest/default_params/copter-heli-dual.parm
@@ -1,83 +1,2 @@
-BATT_MONITOR 4.0000
-COMPASS_OFS2_X 5.0000
-COMPASS_OFS2_Y 13.0000
-COMPASS_OFS2_Z -18.0000
-COMPASS_OFS3_X 1.0000
-COMPASS_OFS3_Y 1.0000
-COMPASS_OFS3_Z 1.0000
-COMPASS_OFS_X 2.8749
-COMPASS_OFS_Y -21.8262
-COMPASS_OFS_Z -21.8422
-FLTMODE1 7.0000
-FLTMODE2 9.0000
-FLTMODE3 6.0000
-FLTMODE4 3.0000
-FLTMODE5 5.0000
 FRAME_CLASS 11
-# we need small INS_ACC offsets so INS is recognised as being calibrated
-INS_ACCOFFS_X   0.001
-INS_ACCOFFS_Y   0.001
-INS_ACCOFFS_Z   0.001
-INS_ACCSCAL_X   1.001
-INS_ACCSCAL_Y   1.001
-INS_ACCSCAL_Z   1.001
-INS_ACC2OFFS_X   0.001
-INS_ACC2OFFS_Y   0.001
-INS_ACC2OFFS_Z   0.001
-INS_ACC2SCAL_X   1.001
-INS_ACC2SCAL_Y   1.001
-INS_ACC2SCAL_Z   1.001
-INS_ACC3OFFS_X   0.000
-INS_ACC3OFFS_Y   0.000
-INS_ACC3OFFS_Z   0.000
-INS_ACC3SCAL_X   1.000
-INS_ACC3SCAL_Y   1.000
-INS_ACC3SCAL_Z   1.000
-ATC_RAT_PIT_P 0.900
-ATC_RAT_PIT_I 11.250
-ATC_RAT_PIT_D 0.045
-ATC_RAT_PIT_IMAX 1.000
-ATC_RAT_PIT_VFF 0.200
-ATC_RAT_RLL_P 0.9000
-ATC_RAT_RLL_I 11.250
-ATC_RAT_RLL_D 0.045
-ATC_RAT_RLL_IMAX 1.0000
-ATC_RAT_RLL_VFF 0.200
-ATC_RAT_YAW_I 0.088
-ATC_RAT_YAW_D 0.018
-ATC_RAT_YAW_VFF 0.200000
-ATC_ANG_PIT_P 12.5368
-ATC_ANG_RLL_P 15.2386
-ATC_ANG_YAW_P 7.6965
-RC1_MAX         2000.000000
-RC1_MIN         1000.000000
-RC1_TRIM        1500.000000
-RC2_MAX         2000.000000
-RC2_MIN         1000.000000
-RC2_TRIM        1500.000000
-RC3_MAX         2000.000000
-RC3_MIN         1000.000000
-RC3_TRIM        1500.000000
-RC4_MAX         2000.000000
-RC4_MIN         1000.000000
-RC4_TRIM        1500.000000
-RC5_MAX         2000.000000
-RC5_MIN         1000.000000
-RC5_TRIM        1500.000000
-RC6_MAX         2000.000000
-RC6_MIN         1000.000000
-RC6_TRIM        1500.000000
-RC7_MAX         2000.000000
-RC7_MIN         1000.000000
-RC7_TRIM        1500.000000
-RC8_MAX         2000.000000
-RC8_MIN         1000.000000
-RC8_TRIM        1500.000000
-WP_YAW_BEHAVIOR 2
-IM_ACRO_COL_EXP 0.2
-IM_STAB_COL_1   400
-IM_STAB_COL_2   600
-IM_STAB_COL_3   700
-IM_STAB_COL_4   900
-
-
+ATC_PIRO_COMP   0   # should this line be removed?
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 2738dfde0d..6ac9a25b4d 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -87,7 +87,8 @@ class VehicleInfo(object):
             "heli-dual": {
                 "make_target": "sitl-heli-dual",
                 "waf_target": "bin/arducopter-heli",
-                "default_params_filename": "default_params/copter-heli-dual.parm",
+                "default_params_filename": ["default_params/copter-heli.parm",
+                                            "default_params/copter-heli-dual.parm"],
             },
             "heli-compound": {
                 "make_target": "sitl-heli-compound",