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#!/bin/sh
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#
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# @name Blade 130X
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#
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# @type Helicopter
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# @class Copter
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#
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# @maintainer Bart Slinger <bartslinger@gmail.com>
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#
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# @output MAIN1 main motor
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# @output MAIN2 front swashplate servo
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# @output MAIN3 right swashplate servo
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# @output MAIN4 left swashplate servo
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# @output MAIN5 tail-rotor servo
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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# Configure as helicopter (number 4 defined in commander_helper.cpp)
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set MAV_TYPE 4
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set MIXER blade130
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#set PWM_OUT 1234
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param set-default ATT_BIAS_MAX 0
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param set-default CBRK_IO_SAFETY 22027
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param set-default MC_ROLL_P 5
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param set-default MC_ROLLRATE_P 0
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param set-default MC_ROLLRATE_I 0
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param set-default MC_ROLLRATE_D 0
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param set-default MC_ROLLRATE_FF 0.15
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param set-default MC_PITCH_P 6.5
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param set-default MC_PITCHRATE_P 0
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param set-default MC_PITCHRATE_I 0
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param set-default MC_PITCHRATE_D 0
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param set-default MC_PITCHRATE_FF 0.15
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param set-default MC_YAW_P 3
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param set-default MC_YAWRATE_P 0.1
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param set-default MC_YAWRATE_I 0
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param set-default MC_YAWRATE_D 0
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param set-default MC_ROLLRATE_MAX 720
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param set-default MC_PITCHRATE_MAX 720
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param set-default MC_YAWRATE_MAX 400
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param set-default MC_ACRO_R_MAX 360
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param set-default MC_ACRO_P_MAX 360
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param set-default MPC_THR_MIN 0.06
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param set-default MPC_MANTHR_MIN 0.06
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param set-default PWM_MAIN_MIN 1075
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