#!/bin/sh
#
# @name HexarotorX SITL for SIH
#
# @type Hexarotor x
# @class Copter
#
# @maintainer Matthias Grob <maetugr@gmail.com>
#

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

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

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

param set SIH_VEHICLE_TYPE 4

# Symmetric hexacopter X clockwise motor numbering
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.866
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.866
param set-default CA_ROTOR2_PY 0.5
param set-default CA_ROTOR3_PX -0.866
param set-default CA_ROTOR3_PY -0.5
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0
param set-default CA_ROTOR4_PY -1
param set-default CA_ROTOR5_PX 0.866
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_KM -0.05

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 105
param set-default PWM_MAIN_FUNC6 106

param set-default EKF2_GPS_DELAY 0