#!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 0.08
	param set MC_ROLLRATE_I 0.25
	param set MC_ROLLRATE_D 0.001
	param set MC_PITCH_P 8.0
	param set MC_PITCHRATE_P 0.08
	param set MC_PITCHRATE_I 0.25
	param set MC_PITCHRATE_D 0.001
	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_ROLLRATE_MAX 1600.0
	param set MC_PITCHRATE_MAX 1600.0
	param set MC_YAWRATE_MAX 1000.0

	param set MPC_MANTHR_MIN 0.0
	param set MPC_MAN_TILT_MAX 60

	# use thrust curve factor (instead of TPA)
	param set THR_MDL_FAC 0.3

	param set PWM_MIN 1075
	# enable one-shot
	param set PWM_RATE 0

	# enable high-rate logging profile (helps with tuning)
	param set SDLOG_PROFILE 19

	# disable RC filtering
	param set RC_FLT_CUTOFF 0.00000

	param set CBRK_IO_SAFETY 22027
fi