path: root/ROMFS/px4fmu_common/init.d/4011_dji_f450

#!nsh

echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"

if [ $DO_AUTOCONFIG == yes ]
then
	#
	# Default parameters for this platform
	#
	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
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