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#!nsh
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#
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# @name Generic 250 Racer
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#
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# @type Quadrotor x
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#
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# @output MAIN1 motor1 (front right: CCW)
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# @output MAIN2 motor2 (back left: CCW)
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# @output MAIN3 motor3 (front left: CW)
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# @output MAIN4 motor4 (back right: CW)
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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# @output AUX4 feed-through of RC FLAPS channel
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#
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# @maintainer Mark Whitehorn <kd0aij@gmail.com>
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#
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sh /etc/init.d/4001_quad_x
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if [ $AUTOCNF == yes ]
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then
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param set MC_ROLL_P 8.0
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param set MC_ROLLRATE_P 0.19
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param set MC_ROLLRATE_I 0.1
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param set MC_ROLLRATE_D 0.0055
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param set MC_PITCH_P 8.0
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param set MC_PITCHRATE_P 0.19
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param set MC_PITCHRATE_I 0.1
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param set MC_PITCHRATE_D 0.0055
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param set MC_YAW_P 4.0
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param set MC_YAWRATE_P 0.2
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param set MC_YAWRATE_I 0.1
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param set MC_YAWRATE_D 0.0
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param set MC_YAW_FF 0.5
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param set MC_ROLLRATE_MAX 720.0
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param set MC_PITCHRATE_MAX 720.0
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param set MC_YAWRATE_MAX 400.0
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param set MC_ACRO_R_MAX 360.0
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param set MC_ACRO_P_MAX 360.0
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param set MC_TPA_BREAK_P 0.5
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param set MC_TPA_RATE_P 0.5
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param set PWM_MIN 1075
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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param set ATT_BIAS_MAX 0.0
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param set CBRK_IO_SAFETY 22027
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fi
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