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#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
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
set PWM_RATE 400
set PWM_MIN 1200
set PWM_MAX 1900
set PWM_DISARMED 900
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