#!nsh
#
# @name Reaper 500 Quad
#
# @type Quadrotor x
#
# @maintainer Blankered
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
    param set MC_ROLL_P 6.5
    param set MC_ROLLRATE_P 0.14
    param set MC_ROLLRATE_I 0.1
    param set MC_ROLLRATE_D 0.004
    param set MC_PITCH_P 6.0
    param set MC_PITCHRATE_P 0.14
    param set MC_PITCHRATE_I 0.09
    param set MC_PITCHRATE_D 0.004
    param set MC_YAW_P 4

    param set NAV_ACC_RAD 2.0
    param set RTL_RETURN_ALT 30.0
    param set RTL_DESCEND_ALT 10.0
fi

set MIXER quad_h

set PWM_RATE 50
set PWM_OUT 1234
set PWM_MIN 1100
set PWM_MAX 1900
set PWM_DISARMED 1500

set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set PWM_AUX_DISARMED 950