#!/bin/sh
#
# @name BetaFPV Beta75X 2S Brushless Whoop
#
# @type Quadrotor H
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @maintainer Beat Kueng <beat-kueng@gmx.net>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
	param set CBRK_SUPPLY_CHK 894281
	param set CBRK_USB_CHK 197848

	param set IMU_GYRO_CUTOFF 100
	param set IMU_DGYRO_CUTOFF 60

	param set MC_AIRMODE 2
	param set MC_PITCHRATE_D 0.0010
	param set MC_PITCHRATE_I 0.5
	param set MC_PITCHRATE_MAX 600
	param set MC_PITCHRATE_P 0.0750
	param set MC_PITCH_P 6
	param set MC_ROLLRATE_D 0.0010
	param set MC_ROLLRATE_I 0.4
	param set MC_ROLLRATE_MAX 600
	param set MC_ROLLRATE_P 0.0750
	param set MC_YAWRATE_I 0.3
	param set MC_YAWRATE_MAX 400
	param set MC_YAWRATE_P 0.12
	param set MC_YAW_P 4

	param set MPC_MANTHR_MIN 0
	param set MPC_MAN_TILT_MAX 60

	param set MOT_ORDERING 1
	param set DSHOT_CONFIG 600

	param set RC_FLT_CUTOFF 0

	param set SYS_HAS_BARO 0
	param set SYS_HAS_MAG 0

	param set BAT_N_CELLS 2
fi

# The Whoop uses reversed props
set MIXER quad_h
set PWM_OUT 1234