#!nsh
#
# @name Lumenier QAV250
#
# @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 Mark Whitehorn <kd0aij@gmail.com>
#

sh /etc/init.d/4001_quad_x

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 6.0
	param set MC_ROLLRATE_P 0.14
	param set MC_ROLLRATE_I 0.23
	param set MC_ROLLRATE_D 0.0025
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.235
	param set MC_PITCHRATE_I 0.17
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 4
	param set MC_YAWRATE_P 0.3
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_D 0.0
	param set MC_YAW_FF 0.5
	param set PWM_MIN 1075
	param set MPC_THR_MIN 0.06
	param set MPC_MANTHR_MIN 0.06
	param set CBRK_IO_SAFETY 22027
	param set ATT_BIAS_MAX 0.0
fi