#!/bin/sh
#
# @name BlueROV2 (Heavy Configuration)
#
# @type Vectored 6 DOF UUV
# @class Underwater Robot
#
# @output Motor1 motor 1 CCW, bow starboard horizontal, , propeller CCW
# @output Motor2 motor 2 CCW, bow port horizontal, propeller CCW
# @output Motor3 motor 3 CCW, stern starboard horizontal, propeller CW
# @output Motor4 motor 4 CCW, stern port horizontal, propeller CW
# @output Motor5 motor 5 CCW, bow starboard vertical, propeller CCW
# @output Motor6 motor 6 CCW, bow port vertical, propeller CW
# @output Motor7 motor 7 CCW, stern starboard vertical, propeller CW
# @output Motor8 motor 8 CCW, stern port vertical, propeller CCW
#
# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


# disable circuit breaker for airspeed sensor
param set-default CBRK_AIRSPD_CHK 162128
# companion computer is connected via USB permanently
param set-default CBRK_USB_CHK 197848
param set-default CBRK_IO_SAFETY 22027

param set-default COM_PREARM_MODE 0

param set-default MAV_1_CONFIG 102

param set-default BAT1_A_PER_V 37.8798
param set-default BAT1_CAPACITY 18000
param set-default BAT1_V_DIV 11.0
param set-default BAT1_N_CELLS 4
param set-default BAT_V_OFFS_CURR 0.33

param set-default CA_AIRFRAME 7

param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AY -1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PX 0.5000
param set-default CA_ROTOR0_PY 0.3000
param set-default CA_ROTOR0_PZ 0.2000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AY 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PX 0.5000
param set-default CA_ROTOR1_PY -0.3000
param set-default CA_ROTOR1_PZ 0.2000
param set-default CA_ROTOR2_AX 1.0000
param set-default CA_ROTOR2_AY 1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -0.5000
param set-default CA_ROTOR2_PY 0.3000
param set-default CA_ROTOR2_PZ 0.2000
param set-default CA_ROTOR3_AX 1.0000
param set-default CA_ROTOR3_AY -1.0000
param set-default CA_ROTOR3_AZ 0.0000
param set-default CA_ROTOR3_KM 0.0000
param set-default CA_ROTOR3_PX -0.5000
param set-default CA_ROTOR3_PY -0.3000
param set-default CA_ROTOR3_PZ 0.2000
param set-default CA_ROTOR4_AZ -1.0000
param set-default CA_ROTOR4_KM 0.0000
param set-default CA_ROTOR4_PX 0.5000
param set-default CA_ROTOR4_PY 0.5000
param set-default CA_ROTOR5_AZ 1.0000
param set-default CA_ROTOR5_KM 0.0000
param set-default CA_ROTOR5_PX 0.5000
param set-default CA_ROTOR5_PY -0.5000
param set-default CA_ROTOR6_AZ 1.0000
param set-default CA_ROTOR6_KM 0.0000
param set-default CA_ROTOR6_PX -0.5000
param set-default CA_ROTOR6_PY 0.5000
param set-default CA_ROTOR7_KM 0.0000
param set-default CA_ROTOR7_PX -0.5000
param set-default CA_ROTOR7_PY -0.5000

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_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
