#!/bin/sh
#
# @name PX4 Vision DevKit Platform
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	# System parameters
	# use FMU motor outputs for less delay in the rate control loop
	param set SYS_USE_IO 0

	# Commander Parameters
	param set COM_OBS_AVOID 1
	param set COM_DISARM_LAND 0.5

	# EKF2 parameters
	param set EKF2_AID_MASK 35
	param set EKF2_IMU_POS_X 0.02
	param set EKF2_GPS_POS_X 0.055
	param set EKF2_GPS_POS_Z -0.15
	param set EKF2_HGT_MODE 0
	param set EKF2_MIN_RNG 0.03
	param set EKF2_OF_POS_X 0.055
	param set EKF2_OF_POS_Y 0.02
	param set EKF2_OF_POS_Z 0.065
	param set EKF2_REQ_HDRIFT 0.3
	param set EKF2_REQ_SACC 1
	param set EKF2_REQ_VDRIFT 0.3
	param set EKF2_RNG_AID 1
	param set EKF2_RNG_A_HMAX 8
	param set EKF2_RNG_A_VMAX 2
	param set EKF2_RNG_POS_X 0.055
	param set EKF2_RNG_POS_Y -0.01
	param set EKF2_RNG_POS_Z 0.065
	param set EKF2_PCOEF_XP -0.25
	param set EKF2_PCOEF_YN -0.55
	param set EKF2_PCOEF_YP -0.55

	# MAVLink parameters
	param set MAV_0_CONFIG 101
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 80000
	param set MAV_1_MODE 9
	param set SER_TEL1_BAUD 921600

	# Vehicle attitude PID tuning
	param set MC_ACRO_EXPO 0
	param set MC_ACRO_EXPO_Y 0
	param set MC_ACRO_P_MAX 200
	param set MC_ACRO_R_MAX 200
	param set MC_ACRO_SUPEXPO 0
	param set MC_ACRO_SUPEXPOY 0
	param set MC_ACRO_Y_MAX 150
	param set IMU_DGYRO_CUTOFF 30
	param set MC_PITCHRATE_D 0.0015
	param set MC_PITCHRATE_I 0.2
	param set MC_PITCHRATE_K 1
	param set MC_PITCHRATE_P 0.15
	param set MC_ROLLRATE_D 0.0015
	param set MC_ROLLRATE_I 0.2
	param set MC_ROLLRATE_K 1
	param set MC_ROLLRATE_P 0.15
	param set MC_YAWRATE_P 0.3

	# Position Control Tuning
	param set CP_DIST 6
	param set MPC_ACC_DOWN_MAX 5
	param set MPC_ACC_HOR_MAX 10
	param set MPC_ACC_UP_MAX 4
	param set MPC_MANTHR_MIN 0
	param set MPC_MAN_Y_MAX 120
	param set MPC_TILTMAX_AIR 45
	param set MPC_THR_HOVER 0.3
	param set MPC_THR_MIN 0.12
	param set MPC_TKO_SPEED 1
	param set MPC_VEL_MANUAL 5
	param set MPC_XY_CRUISE 5
	param set MPC_XY_VEL_MAX 5
	param set MPC_XY_VEL_P_ACC 1.58
	param set MPC_XY_TRAJ_P 0.3
	param set MPC_Z_TRAJ_P 0.3
	param set MPC_Z_VEL_P_ACC 5
	param set MPC_Z_VEL_I_ACC 3
	param set MPC_LAND_ALT1 3
	param set MPC_LAND_ALT2 1

	# Navigator Parameters
	param set NAV_ACC_RAD 2

	# PWM and RC Parameters
	param set PWM_MAX 1950
	param set PWM_MIN 1075

	# use oneshot motor output protocol
	param set PWM_RATE 0

	# RTL Parameters
	param set RTL_DESCEND_ALT 5
	param set RTL_LAND_DELAY 0
	param set RTL_RETURN_ALT 5
	param set RTL_CONE_ANG 45

	# Logging Parameters
	param set SDLOG_PROFILE 131

	# Sensors Parameters
	param set SENS_BOARD_ROT 0
	param set SENS_CM8JL65_CFG 104
	param set SENS_FLOW_MAXHGT 25
	param set SENS_FLOW_MINHGT 0.5
	param set SENS_FLOW_ROT 0
	param set IMU_GYRO_CUTOFF 100
	param set SENS_EN_PMW3901 1

	# Power Parameters
	param set BAT_N_CELLS 4
	param set BAT_A_PER_V 36.364
	param set BAT_V_DIV 18.182

	# Circuit breakers
	param set CBRK_IO_SAFETY 22027

	param set THR_MDL_FAC 0.3
fi