path: root/ROMFS/px4fmu_common/init.d/rc.mc_defaults

#!nsh

set VEHICLE_TYPE mc

if [ $DO_AUTOCONFIG == yes ]
then
    #
    # Default parameters for this platform
    #
    param set MC_ROLL_P 7.0
    param set MC_ROLLRATE_P 0.12
    param set MC_ROLLRATE_I 0.0
    param set MC_ROLLRATE_D 0.004
    param set MC_PITCH_P 7.0
    param set MC_PITCHRATE_P 0.12
    param set MC_PITCHRATE_I 0.0
    param set MC_PITCHRATE_D 0.004
    param set MC_YAW_P 2.0
    param set MC_YAWRATE_P 0.3
    param set MC_YAWRATE_I 0.2
    param set MC_YAWRATE_D 0.005
    
    param set MPC_THR_MAX 1.0
    param set MPC_THR_MIN 0.1
    param set MPC_XY_P 1.0
    param set MPC_XY_VEL_P 0.1
    param set MPC_XY_VEL_I 0.02
    param set MPC_XY_VEL_D 0.01
    param set MPC_XY_VEL_MAX 5
    param set MPC_XY_FF 0.5
    param set MPC_Z_P 1.0
    param set MPC_Z_VEL_P 0.1
    param set MPC_Z_VEL_I 0.02
    param set MPC_Z_VEL_D 0.0
    param set MPC_Z_VEL_MAX 3
    param set MPC_Z_FF 0.5
    param set MPC_TILT_MAX 1.0
    param set MPC_LAND_SPEED 1.0
    param set MPC_LAND_TILT 0.3
fi

set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000