#!/bin/sh
#
# @name SIH Standard VTOL
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#

. ${R}etc/init.d/rc.vtol_defaults

PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

param set-default EKF2_GPS_DELAY 0

param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5

param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0

# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15  # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3  # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4  # rudder

param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 201
param set-default PWM_MAIN_FUNC6 202
param set-default PWM_MAIN_FUNC7 203
param set-default PWM_MAIN_FUNC8 105

param set-default MAV_TYPE 22

# set SYS_HITL to 2 to start the SIH and avoid sensors startup
# param set-default SYS_HITL 2

param set-default SENS_DPRES_OFF 0.001

param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2

# sih as standard vtol
param set SIH_VEHICLE_TYPE 3