#!nsh
#
# @name Sparkle Tech Ranger VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.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_IDLE_PWM_MC 1180
    param set MAV_TYPE    22
    param set VT_ARSP_TRANS   15.0
    param set VT_B_TRANS_DUR  4.0
    param set VT_TRANS_MIN_TM 5.0
    param set VT_F_TRANS_THR    0.6
    param set VT_TRANS_TIMEOUT    30.0

    param set FW_AIRSPD_MAX   22.0
    param set FW_AIRSPD_MIN   14.0
    param set FW_AIRSPD_TRIM  16.0
    param set FW_L1_PERIOD    25.0
    param set FW_PR_P 0.060
    param set FW_P_RMAX_NEG   40.0
    param set FW_P_RMAX_POS   40.0
    param set FW_RR_FF    0.4
    param set FW_RR_P 0.04
    param set FW_R_RMAX   40.0

    param set MC_PITCHRATE_D  0.004
    param set MC_PITCHRATE_I  0.0
    param set MC_PITCHRATE_MAX    60.0
    param set MC_PITCHRATE_P  0.21
    param set MC_PITCH_P  4.0
    param set MC_ROLLRATE_D   0.004
    param set MC_ROLLRATE_I   0.002
    param set MC_ROLLRATE_MAX 60.0
    param set MC_ROLLRATE_P   0.24
    param set MC_ROLL_P   4.0
    param set MC_YAWRATE_I    0.02
    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRATE_P    0.18
    param set MC_YAWRATE_MAX  40.0
    param set MC_YAWRAUTO_MAX 40.0

    param set MIS_TAKEOFF_ALT 2.5
    param set MIS_YAW_TMT 20.0

    param set MPC_ACC_HOR_MAX 1.0
    param set MPC_HOLD_MAX_XY 0.5
    param set MPC_HOLD_MAX_Z  0.5
    param set MPC_LAND_SPEED  1.0
    param set MPC_MANTHR_MIN  0.05
    param set MPC_MAN_Y_MAX   120.0
    param set MPC_THR_MIN 0.07
    param set MPC_TILTMAX_AIR 35.0
    param set MPC_TILTMAX_LND 20.0
    param set MPC_TKO_SPEED   1.0
    param set MPC_XY_P    0.3
    param set MPC_XY_VEL_MAX  3.0
    param set MPC_XY_VEL_P    0.05
    param set MPC_Z_P 0.5
    param set MPC_Z_VEL_P 0.1

    param set NAV_ACC_RAD 3.0

    param set PWM_AUX_REV1    1
    param set PWM_AUX_REV2    1
    param set PWM_AUX_REV3    1
    param set PWM_AUX_REV4    1
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