path: root/ROMFS/px4fmu_common/init.d/4010_dji_f330

#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
	# Set all params here, then disable autoconfig
	param set SYS_AUTOCONFIG 0

	param set MC_ATTRATE_D 0.004
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_P 0.12
	param set MC_ATT_D 0.0
	param set MC_ATT_I 0.0
	param set MC_ATT_P 7.0
	param set MC_YAWPOS_D 0.0
	param set MC_YAWPOS_I 0.0
	param set MC_YAWPOS_P 2.0
	param set MC_YAWRATE_D 0.005
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_P 0.3
	param set NAV_TAKEOFF_ALT 3.0
	param set MPC_TILT_MAX 0.5
	param set MPC_THR_MAX 0.7
	param set MPC_THR_MIN 0.3
	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

	param save
fi

#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
	# Start MAVLink (depends on orb)
	mavlink start
	usleep 5000

	sh /etc/init.d/rc.io
else
	# Start MAVLink (on UART1 / ttyS0)
	mavlink start -d /dev/ttyS0
	usleep 5000
	fmu mode_pwm
	param set BAT_V_SCALING 0.004593
	set EXIT_ON_END yes
fi

sh /etc/init.d/rc.mc_interface

#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor