#!nsh
#
# @name Generic Quadrotor X config
#
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
    # tuning
    param set MC_PITCHRATE_P    0.13
    param set MC_ROLLRATE_P     0.13
    param set MPC_MANTHR_MIN    0.08

    # takeoff. land and RTL settings
    param set MIS_TAKEOFF_ALT   5.0
    param set COM_DISARM_LAND   1
    param set RTL_LAND_DELAY    1
    param set MPC_HOLD_MAX_Z    1.5

    # enable high bandwidth mavlink by default
    param set SYS_COMPANION     921601
fi

set MIXER solo

set PWM_OUT 1234
set MIXER_AUX none