path: root/ROMFS/px4fmu_common/init.d/4008_ardrone

#!nsh
#
# ARDrone
#

echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"

# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
    # Set all params here, then disable autoconfig
    param set MC_ATTRATE_D 0
    param set MC_ATTRATE_I 0
    param set MC_ATTRATE_P 0.13
    param set MC_ATT_D 0
    param set MC_ATT_I 0.3
    param set MC_ATT_P 5
    param set MC_YAWPOS_D 0.1
    param set MC_YAWPOS_I 0.15
    param set MC_YAWPOS_P 1
    param set MC_YAWRATE_D 0
    param set MC_YAWRATE_I 0
    param set MC_YAWRATE_P 0.15

    param set SYS_AUTOCONFIG 0
    param save
fi

set FMU_MODE gpio_serial
set OUTPUT_MODE fmu
set ARDRONE yes