path: root/ROMFS/px4fmu_common/init.d/10016_3dr_iris

#!nsh

# Maintainers: Anton Babushkin <anton.babushkin@me.com>

echo "[init] 3DR Iris Quad"

# Use generic wide arm quad X PWM as base
sh /etc/init.d/10001_quad_w

if [ $DO_AUTOCONFIG == yes ]
then
	#
	# Default parameters for this platform
	#
	param set MC_ATT_P 9.0
	param set MC_ATT_I 0.0
	param set MC_ATT_D 0.0
	param set MC_ATTRATE_P 0.13
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_D 0.004
	param set MC_YAWPOS_P 0.5
	param set MC_YAWPOS_I 0.15
	param set MC_YAWPOS_D 0.0
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.0
	param set MC_YAWRATE_D 0.0
	
	param set MPC_TILT_MAX 0.5
	param set MPC_THR_MAX 0.8
	param set MPC_THR_MIN 0.2
	param set MPC_XY_D 0
	param set MPC_XY_P 0.5
	param set MPC_XY_VEL_D 0
	param set MPC_XY_VEL_I 0
	param set MPC_XY_VEL_MAX 3
	param set MPC_XY_VEL_P 0.2
	param set MPC_Z_D 0
	param set MPC_Z_P 1
	param set MPC_Z_VEL_D 0
	param set MPC_Z_VEL_I 0.1
	param set MPC_Z_VEL_MAX 2
	param set MPC_Z_VEL_P 0.20
fi