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#!nsh
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"
# Use generic quad X PWM as base
sh /etc/init.d/4001_quad_x_pwm
if [ $DO_AUTOCONFIG == yes ]
then
#
# Default parameters for this platform
#
param set MC_ATT_P 7.0
param set MC_ATT_I 0.0
param set MC_ATT_D 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_D 0.004
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
# TODO add default MPC parameters
fi
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900
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