OK so I wrote my own script file as follows.

In init.d folder, I added a file named “13014_vtol_tricopter” which includes following lines of code.

```
#!nsh
#
# @name VTOL EDF Flyingwing
# @type VTOL Tricopter
# @maintainer Kyuhyong You <kyuhyong@gmail.com>
# @output MAIN1 Motor 1
# @output MAIN2 Motor 2
# @output MAIN3 Motor 3
# @output MAIN4 Yaw servo
# @output AUX1 Elevon right
# @output AUX2 Elevon left
# @output AUX3 Tilt servo front
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set BAT_N_CELL 4
param set VT_MOT_COUNT 3
param set VT_FW_MOT_OFFID 3
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
param set VT_B_TRANS_DUR 1.0
param set VT_FW_DIFTHR_EN 1
param set VT_FW_DIFTHR_SC 0.17
param set VT_FW_PERM_STAB 0
param set VT_F_TRANS_DUR 1.2
param set VT_F_TR_OL_TM 4.0
param set VT_TILT_FW 1.0
param set VT_TILT_MC 0.0
param set VT_TILT_TRANS 0.45
param set VT_TRANS_MIN_TM 1.2
param set VT_TRANS_P2_DUR 1.3
param set FW_L1_PERIOD 17
param set FW_MAN_R_MAX 50.0
param set FW_ACRO_X_MAX 270
param set FW_ACRO_Y_MAX 270
param set FW_ACRO_Z_MAX 180
param set FW_PR_FF 0.5
param set FW_PR_P 0.08
param set FW_PSP_OFF 5.0
param set FW_P_LIM_MAX 30
param set FW_P_LIM_MIN -30
param set FW_P_RMAX_NEG 60
param set FW_P_RMAX_POS 60
param set FW_RR_FF 0.33
param set FW_RR_P 0.11
param set FW_YR_FF 0.3
param set FW_YR_P 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_P 0.15
param set MC_ROLL_P 6.0
param set MC_YAWRATE_MAX 120
param set MC_YAWRATE_P 0.27
param set MC_YAW_FF 0.35
param set MC_YAW_P 2.5
param set MC_YAWRATE_P 0.3
param set MPC_LAND_SPEED 1.2
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3.0
param set CBRK_AIRSPD_CHK 162128
param set FW_ARSP_MODE 2
param set SENS_BOARD_ROT 8
fi
set MIXER tri_y_yaw+
set PWM_OUT 1234
set PWM_RATE 400
set MIXER_AUX vtol_tricopter
set PWM_ACHDIS 3
set PWM_AUX_DISARMED 950
set MAV_TYPE 22
```

and in mixer folder. I added a file named “vtol_tricopter.aux.mix” which includes following lines of code.

```
Elevon 1 mixer
---------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 6500 6500 0 -10000 10000
Elevon 2 mixer
---------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 -6500 -6500 0 -10000 10000
Tilt Servo
--------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 5 10000 10000 0 -10000 10000
```

How do you think about this code?