#!nsh
#
# @name QuadRanger
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
	param set VT_TYPE 2
	param set VT_MOT_COUNT 4
	param set VT_F_TRANS_THR 0.75

	param set PWM_AUX_REV1 1
	param set PWM_AUX_REV2 1

	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.1
	param set MC_ROLLRATE_D 0.004
	param set MC_ROLLRATE_FF 0.0
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.15
	param set MC_PITCHRATE_I 0.1
	param set MC_PITCHRATE_D 0.004
	param set MC_PITCHRATE_FF 0.0
	param set MC_YAW_P 3.5
	param set MC_YAW_FF 0.7
	param set MC_YAWRATE_P 0.6
	param set MC_YAWRATE_I 0.04
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_FF 0.0
	param set MC_YAWRATE_MAX 40.0
	param set MC_YAWRAUTO_MAX 40.0

	param set MPC_ACC_HOR_MAX 2.0
	param set MPC_Z_VEL_MAX_DN 1.5
	param set MPC_TKO_SPEED 1.5
	param set MPC_LAND_SPEED 0.8

	param set FW_THR_CRUISE 65.0
	param set FW_PR_P 0.08
	param set FW_PR_FF 0.5
	param set FW_RR_P 0.05
	param set FW_RR_FF 0.6

	param set MIS_YAW_TMT 10

	param set VT_ARSP_TRANS 15.0
	param set VT_ARSP_BLEND 8.0
	param set VT_B_TRANS_DUR 4.0

	param set VT_MOT_COUNT 4
	param set VT_IDLE_PWM_MC 1080
	param set VT_TYPE 2
fi

set MIXER quad_x
set PWM_OUT 1234
set PWM_RATE 400

set MIXER_AUX vtol_AAERT
set PWM_ACHDIS 5
set PWM_AUX_DISARMED 950

set MAV_TYPE 22