#!nsh
#
# @name E-flite Convergence
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @output MAIN1 Motor right
# @output MAIN2 Motor left
# @output MAIN3 Motor back
# @output MAIN4 empty
# @output MAIN5 Tilt servo right
# @output MAIN6 Tilt servo left
# @output MAIN7 Elevon right
# @output MAIN8 Elevon left
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF == yes ]
then
    param set VT_MOT_COUNT 3
    param set VT_FW_MOT_OFFID 3
    param set VT_IDLE_PWM_MC 1150
    param set VT_TYPE 1

    param set VT_B_TRANS_DUR  1.0
    param set VT_FW_DIFTHR_EN 1
    param set VT_FW_DIFTHR_SC 0.17
    param set VT_FW_PERM_STAB 0
    param set VT_F_TRANS_DUR  1.2
    param set VT_F_TR_OL_TM   4.0
    param set VT_TILT_FW  1.0
    param set VT_TILT_MC  0.0
    param set VT_TILT_TRANS   0.45
    param set VT_TRANS_MIN_TM 1.2
    param set VT_TRANS_P2_DUR 1.3

    param set FW_L1_PERIOD 17
    param set FW_MAN_R_MAX 50.0
    param set FW_ACRO_X_MAX   270
    param set FW_ACRO_Y_MAX   270
    param set FW_ACRO_Z_MAX   180
    param set FW_PR_FF    0.5
    param set FW_PR_P 0.08
    param set FW_PSP_OFF  5.0
    param set FW_P_LIM_MAX    30
    param set FW_P_LIM_MIN    -30
    param set FW_P_RMAX_NEG   60
    param set FW_P_RMAX_POS   60
    param set FW_RR_FF    0.33
    param set FW_RR_P 0.11
    param set FW_YR_FF    0.3
    param set FW_YR_P 0.05
    param set MC_PITCHRATE_D  0.003
    param set MC_PITCHRATE_P  0.15
    param set MC_PITCH_P  6.0
    param set MC_ROLLRATE_D   0.003
    param set MC_ROLLRATE_P   0.15
    param set MC_ROLL_P   6.0
    param set MC_YAWRATE_MAX  120
    param set MC_YAWRATE_P    0.27
    param set MC_YAW_FF   0.35
    param set MC_YAW_P    2.5

    param set MC_YAWRATE_P 0.3
    param set MPC_LAND_SPEED 1.2
    param set MPC_TKO_SPEED 2.5
    param set MPC_Z_VEL_MAX_UP 3.0

    param set CBRK_AIRSPD_CHK 162128
    param set FW_ARSP_MODE 2

    param set SENS_BOARD_ROT 8
fi

set MIXER vtol_convergence
set PWM_OUT 1234
set PWM_RATE 400

set MAV_TYPE 21