#!/bin/sh
#
# @name UVify Draco-R
#
# @type Hexarotor x
# @class Copter
#
# @maintainer Hyon Lim <lim@uvify.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
#

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

# MAV_TYPE_HEXAROTOR 13
param set-default MAV_TYPE 13

###############################################
# Attitude & rate gains
###############################################
# Roll
param set-default MC_ROLLRATE_I 0.05
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_ROLLRATE_MAX 800
# Pitch
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_MAX 800
# Yaw
param set-default MC_YAWRATE_MAX 700

###############################################
# Multirotor Position Gains
###############################################
param set-default MPC_ACC_HOR 8
param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.3
# altitude control gains
param set-default MPC_Z_VEL_I_ACC 0.4
# position control gains
# etc gains
param set-default MPC_TKO_RAMP_T 0.4
param set-default MPC_VEL_MANUAL 5

# Filter settings
param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100

# Thrust curve (avoids the need for TPA)
param set-default THR_MDL_FAC 0.25

# System
param set-default PWM_MAIN_DIS5 980
param set-default PWM_MAIN_DIS6 980

param set-default MIS_TAKEOFF_ALT 1.1

#####################################
# EKF
#####################################
# Enable optical flow and GPS
param set-default EKF2_MAG_TYPE 1
param set-default EKF2_OF_QMIN 80

# default horizontal stablization sensors
param set-default SENS_EN_PMW3901 1
param set-default SENS_EN_PX4FLOW 1
param set-default SENS_EN_LL40LS 2
param set-default SENS_FLOW_ROT 2

param set-default COM_DISARM_LAND 3

# Battery
param set-default BAT1_SOURCE 0
param set-default BAT1_N_CELLS 4
param set-default BAT1_V_DIV 10.133

# TELEM1 ttyS1
param set-default MAV_0_CONFIG 101
param set-default MAV_0_MODE 0
param set-default MAV_0_FORWARD 1
param set-default SER_TEL1_BAUD 57600

# TELEM2 ttyS2
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 2
param set-default MAV_1_FORWARD 1
param set-default MAV_1_RATE 800000
param set-default SER_TEL2_BAUD 921600


param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -0.5
param set-default CA_ROTOR2_PX 0.43
param set-default CA_ROTOR2_PY -0.25
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.43
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR4_PX 0.43
param set-default CA_ROTOR4_PY 0.25
param set-default CA_ROTOR5_PX -0.43
param set-default CA_ROTOR5_PY -0.25
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 PWM_MAIN_TIM0 -1
param set-default PWM_MAIN_TIM1 -1
param set-default PWM_MAIN_TIM2 -1