airframe

#!/bin/sh
#
# @name EOLab SAR
#
# @type Quadrotor x
# @class Copter
#
# @output Motor1 motor 1
# @output Motor2 motor 2
# @output Motor3 motor 3
# @output Motor4 motor 4

#
# @maintainer Harley Lara <contact@harleylara.com>
# @url https://drones.eolab.de/sar/README.html
#


. ${R}etc/init.d/rc.mc_defaults
. ${R}etc/init.d/rc.radiomaster_tx16s # radio params

# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4

param set-default CA_ROTOR0_PX 0.084853
param set-default CA_ROTOR0_PY 0.084853

param set-default CA_ROTOR1_PX -0.084853
param set-default CA_ROTOR1_PY -0.084853

param set-default CA_ROTOR2_PX 0.084853
param set-default CA_ROTOR2_PY -0.084853
param set-default CA_ROTOR2_KM -0.05

param set-default CA_ROTOR3_PX -0.084853
param set-default CA_ROTOR3_PY 0.084853
param set-default CA_ROTOR3_KM -0.05

# mapping pins to motors
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103

param set-default PWM_AUX_FUNC4 104

# -3: DShot600
param set-default PWM_AUX_TIM0 -3