#!nsh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
#
# @maintainer Simon Wilks <simon@uaventure.com>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_PITCH_P 4.0
	param set MC_PITCHRATE_P 0.24
	param set MC_PITCHRATE_I 0.09
	param set MC_PITCHRATE_D 0.013
	param set MC_PITCHRATE_MAX 180.0

	param set MC_ROLL_P 4.0
	param set MC_ROLLRATE_P 0.16
	param set MC_ROLLRATE_I 0.07
	param set MC_ROLLRATE_D 0.009
	param set MC_ROLLRATE_MAX 180.0

	param set MC_YAW_P 3.0
	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 MPC_HOLD_MAX_XY 0.25
	param set MPC_THR_MIN 0.15
	param set MPC_Z_VEL_MAX 2.0

	param set BAT_N_CELLS 4
fi

set MIXER octo_cox_w

set PWM_OUT 12345678