#!/bin/sh
#
# @name Lumenier QAV-R (raceblade) 5" arms
#
# @type Quadrotor x
# @class Copter
#
# @maintainer James Goppert <james.goppert@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	param set MC_ROLL_P 8
	param set MC_ROLLRATE_P 0.08
	param set MC_ROLLRATE_I 0.16
	param set MC_ROLLRATE_D 0.003
	param set MC_PITCH_P 8
	param set MC_PITCHRATE_P 0.1
	param set MC_PITCHRATE_I 0.2
	param set MC_PITCHRATE_D 0.003
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.15
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0

	param set MPC_THR_MIN 0.06
	param set MPC_MANTHR_MIN 0.06

	param set PWM_MIN 1075
fi