kakutef7, kopis airframe: enable dshot & telemetry

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -25,32 +25,31 @@ then
 	param set IMU_GYRO_CUTOFF 120
 	param set MC_DTERM_CUTOFF 0
 
-	param set MC_ROLLRATE_P 0.036
+	param set MC_ROLLRATE_P 0.075
 	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.0006
+	param set MC_ROLLRATE_D 0.0015
 	param set MC_ROLLRATE_MAX 1600
 	param set MC_ROLL_P 10
 
-	param set MC_PITCHRATE_P 0.036
+	param set MC_PITCHRATE_P 0.075
 	param set MC_PITCHRATE_I 0.32
-	param set MC_PITCHRATE_D 0.0004
+	param set MC_PITCHRATE_D 0.0015
 	param set MC_PITCHRATE_MAX 1600
 	param set MC_PITCH_P 10
 
 	param set MC_YAWRATE_MAX 1000
-	param set MC_YAWRATE_P 0.04
+	param set MC_YAWRATE_P 0.15
 	param set MC_YAW_P 4
 
 	param set MOT_ORDERING 1
 	param set MPC_MANTHR_MIN 0
 	param set MPC_MAN_TILT_MAX 60
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
+
+	param set DSHOT_CONFIG 1200
 
 	param set OSD_ATXXXX_CFG 1
 
-	param set THR_MDL_FAC 0.7
+	param set THR_MDL_FAC 0.35
 
 	param set MPC_THR_CURVE 1
 	param set MPC_THR_HOVER 0.12

boards/holybro/kakutef7/init/rc.board_extras

@@ -8,5 +8,6 @@ then
 	atxxxx start
 fi
 
-
+# DShot telemetry is always on UART7
+dshot telemetry /dev/ttyS5