#!nsh
#
# @name Generic 250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/4001_quad_x

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 8.0
	param set MC_ROLLRATE_P 0.19
	param set MC_ROLLRATE_I 0.1
	param set MC_ROLLRATE_D 0.0055
	param set MC_PITCH_P 8.0
	param set MC_PITCHRATE_P 0.19
	param set MC_PITCHRATE_I 0.1
	param set MC_PITCHRATE_D 0.0055
	param set MC_YAW_P 4.0
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0
	param set MC_YAW_FF 0.5
	param set MC_ROLLRATE_MAX 720.0
	param set MC_PITCHRATE_MAX 720.0
	param set MC_YAWRATE_MAX 400.0
	param set MC_ACRO_R_MAX 360.0
	param set MC_ACRO_P_MAX 360.0
	param set MC_TPA_BREAK_P 0.5
	param set MC_TPA_RATE_P 0.5

	param set PWM_MIN 1075

	param set MPC_THR_MIN 0.06
	param set MPC_MANTHR_MIN 0.06

	param set ATT_BIAS_MAX 0.0

	param set CBRK_IO_SAFETY 22027
fi