#!nsh
#
# @name Spedix S250AQ
#
# @board px4fmu-v1 exclude
# @board px4fmu-v2 exclude
#
# @type Quadrotor asymmetric
#
# @output MAIN1 motor1 (front right: CCW)
# @output MAIN2 motor2 (back left: CCW)
# @output MAIN3 motor3 (front left: CW)
# @output MAIN4 motor4 (back right: CW)
#
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Mark Whitehorn <kd0aij@gmail.com>
#

sh /etc/init.d/rc.mc_defaults

set MIXER quad_s250aq
set MAV_TYPE 2

set PWM_OUT 1234

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_D 0.3
	param set MC_TPA_BREAK_I 1.0
	param set MC_TPA_BREAK_P 0.3
	param set MC_TPA_RATE_D 1.0
	param set MC_TPA_RATE_I 0.0
	param set MC_TPA_RATE_P 1.0


	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