px4_autopilot/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

#!nsh
#
# @name 3DR Iris Quadrotor
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
	# TODO tune roll/pitch separately
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.004
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.15
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 2.5
	param set MC_YAWRATE_P 0.25
	param set MC_YAWRATE_I 0.25
	param set MC_YAWRATE_D 0.0

	param set BAT_V_DIV 12.27559
	param set BAT_A_PER_V 15.39103
fi

set MIXER quad_w

set PWM_OUT 1234