From f6d7fef7c280d6cac9e4cc3cd47505dffecd76cd Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Mon, 29 Aug 2016 21:55:28 -0400
Subject: [PATCH] Added more gains for dji matrice.

---
 ROMFS/px4fmu_common/init.d/4060_dji_matrice_100 | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
index cde9432b15..6eb666a6e5 100644
--- a/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/4060_dji_matrice_100
@@ -15,9 +15,17 @@ sh /etc/init.d/4001_quad_x
 
 if [ $AUTOCNF == yes ]
 then
+	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.001
+	param set MC_PITCH_P 6.5
 	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_I 0.05
 	param set MC_PITCHRATE_D 0.001
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
 	param set BAT_N_CELLS 6
+	param set PWM_MIN 1200
 fi