From 319ada56d9d952e2e4947124e45b94d036a31acb Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Tue, 11 Apr 2017 23:26:27 -0500
Subject: [PATCH] working take_off routine

---
 groundStation/scripts/bypass_kill_switch.sh | 14 ++++++++++---
 groundStation/scripts/take_off.sh           | 22 ++++++++++++---------
 2 files changed, 24 insertions(+), 12 deletions(-)
 mode change 100644 => 100755 groundStation/scripts/take_off.sh

diff --git a/groundStation/scripts/bypass_kill_switch.sh b/groundStation/scripts/bypass_kill_switch.sh
index 183df7b8e..afd5e6b35 100755
--- a/groundStation/scripts/bypass_kill_switch.sh
+++ b/groundStation/scripts/bypass_kill_switch.sh
@@ -4,10 +4,18 @@ if [ -z "$1" ]; then
 		echo "No argument supplied"
 		exit 0
 fi
-cd ..
+#cd ..
+
+
+./setsource 35 1 38 0
+./setsource 35 2 38 0
+./setsource 35 3 38 0
+
+./setsource 35 0 13 0
+
 while true ; do
-	./setparam 37 0 $1
+	./setparam 13 0 $(( $1 + 1 ))
 	sleep 0.4
-	./setparam 37 0 $(( $1 - 1 ))
+	./setparam 13 0 $(( $1 - 1 ))
 	sleep 0.4
 done
diff --git a/groundStation/scripts/take_off.sh b/groundStation/scripts/take_off.sh
old mode 100644
new mode 100755
index ae559c6b4..70b964229
--- a/groundStation/scripts/take_off.sh
+++ b/groundStation/scripts/take_off.sh
@@ -1,11 +1,15 @@
 #! /bin/bash
 
-./setsource "T trim add" "summand 1" "zero" 0
-./setparam "Throttle trim" *wind up value here*
-
-sleep(1);
-
-./setsource "T trim add" "summand 1" "Altitude PID" "Correction"
-./setparam "Throttle trim" *hover value here*
-
-./setparam "Alt Setpoint" 0 -0.3
+#./setsource "T trim add" "summand 1" "zero" 0
+./setsource 14 0 38 0
+#./setparam "Throttle trim" 0 135000
+./setparam 13 0 135000
+
+sleep 2
+
+#./setsource "T trim add" "summand 1" "Altitude PID" "Correction"
+./setsource 14 0 8 0
+#./setparam "Throttle trim" 0 145000 
+./setparam 13 0 150000
+#./setparam "Alt Setpoint" 0 -0.3
+./setparam 11 0 -0.5
-- 
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