path: root/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

#!nsh
#
# TBS Caipirinha
#
# Thomas Gubler <thomas@px4.io>
#

sh /etc/init.d/rc.fw_defaults

if [ $DO_AUTOCONFIG == yes ]
then
	
	# TODO: these are the X5 default parameters, update them to the caipi

	param set FW_AIRSPD_MIN 15
	param set FW_AIRSPD_TRIM 20
	param set FW_AIRSPD_MAX 40
	param set FW_ATT_TC 0.3
	param set FW_L1_DAMPING 0.74
	param set FW_L1_PERIOD 15
	param set FW_PR_FF 0.3
	param set FW_PR_I 0
	param set FW_PR_IMAX 0.2
	param set FW_PR_P 0.03
	param set FW_P_ROLLFF 0
	param set FW_RR_FF 0.3
	param set FW_RR_I 0
	param set FW_RR_IMAX 0.2
	param set FW_RR_P 0.03
	param set FW_R_LIM 60
	param set FW_R_RMAX 0
fi

set MIXER FMU_Q