#!nsh
#
# F450-sized quadrotor with CAN
#
# Pavel Kirienko <pavel@px4.io>
#

sh /etc/init.d/4001_quad_x

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.16
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.01
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.16
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_D 0.01
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.3
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0
fi

set OUTPUT_MODE uavcan_esc