path: root/ROMFS/px4fmu_common/init.d/1001_rc_quad.hil

#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on HIL Quad"

if [ $DO_AUTOCONFIG == yes ]
then
	#
	# Default parameters for this platform
	#
	param set MC_ATTRATE_P 0.12
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_D 0.004
	param set MC_ATT_P 7.0
	param set MC_ATT_I 0.0
	param set MC_ATT_D 0.0
	param set MC_YAWPOS_P 2.0
	param set MC_YAWPOS_I 0.0
	param set MC_YAWPOS_D 0.0
	param set MC_YAWRATE_P 0.3
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_D 0.005
	
	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

set FRAME_TYPE mc
set FRAME_GEOMETRY x
set FRAME_COUNT 4