From e688b40939122ac6bb24d777d8d4666793390d47 Mon Sep 17 00:00:00 2001
From: Mehmet Killioglu <mehmet.killioglu@unikie.com>
Date: Thu, 21 Dec 2023 09:59:37 +0200
Subject: [PATCH] SITL airframe for ssrc_fog_x fixed

CA_ROTOR and PWM_MAIN_FUNC params added to init.d-posix/4400 airframe
to make actuator outputs working for sitl
---
 .../init.d-posix/airframes/4400_ssrc_fog_x    | 71 +++++++++++--------
 1 file changed, 42 insertions(+), 29 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4400_ssrc_fog_x b/ROMFS/px4fmu_common/init.d-posix/airframes/4400_ssrc_fog_x
index 7013727882b4..73ed0882fe41 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4400_ssrc_fog_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4400_ssrc_fog_x
@@ -13,32 +13,45 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set IMU_GYRO_CUTOFF 60
-	param set IMU_DGYRO_CUTOFF 30
-	param set MC_ROLLRATE_P 0.14
-	param set MC_PITCHRATE_P 0.14
-	param set MC_ROLLRATE_I 0.3
-	param set MC_PITCHRATE_I 0.3
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCHRATE_D 0.004
-
-	param set BAT_N_CELLS 4
-
-	param set MAV_0_CONFIG 0
-	param set RTPS_MAV_CONFIG 101
-	param set SER_TEL1_BAUD 460800
-
-	# Disable Multi-EKF
-	param set EKF2_MULTI_IMU 0
-	param set SENS_IMU_MODE 1
-	param set EKF2_MULTI_MAG 0
-	param set SENS_MAG_MODE 1
-
-	# Logger used only while flying
-	param set SDLOG_MODE 0
-fi
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+param set MC_ROLLRATE_P 0.14
+param set MC_PITCHRATE_P 0.14
+param set MC_ROLLRATE_I 0.3
+param set MC_PITCHRATE_I 0.3
+param set MC_ROLLRATE_D 0.004
+param set MC_PITCHRATE_D 0.004
+
+param set BAT_N_CELLS 4
+
+# Control allocator parameters
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.175
+param set-default CA_ROTOR0_PY 0.175
+param set-default CA_ROTOR1_PX -0.175
+param set-default CA_ROTOR1_PY -0.175
+param set-default CA_ROTOR2_PX 0.175
+param set-default CA_ROTOR2_PY -0.175
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.175
+param set-default CA_ROTOR3_PY 0.175
+param set-default CA_ROTOR3_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 MAV_0_CONFIG 0
+param set RTPS_MAV_CONFIG 101
+param set SER_TEL1_BAUD 3000000
+
+# Disable Multi-EKF
+param set EKF2_MULTI_IMU 0
+param set SENS_IMU_MODE 1
+param set EKF2_MULTI_MAG 0
+param set SENS_MAG_MODE 1
+
+# Logger used only while flying
+param set SDLOG_MODE 0