2 files changed, 24 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 3cbbd555e..f4dedef15 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -11,25 +11,35 @@ if [ $DO_AUTOCONFIG == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 11
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
 	param set FW_LND_FLALT 5
 	param set FW_LND_HHDIST 15
 	param set FW_LND_HVIRT 13
 	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
-	param set FW_P_ROLLFF 2
-	param set FW_PR_FF 0.6
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.06
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
 	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.005
 	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.09
-	param set FW_THR_CRUISE 0.65
+	param set FW_RR_P 0.04
+	param set MT_TKF_PIT_MAX 30.0
+	param set MT_ACC_D 0.2
+	param set MT_ACC_P 0.6
+	param set MT_A_LP 0.5
+	param set MT_PIT_OFF 0.1
+	param set MT_PIT_I 0.1
+	param set MT_THR_OFF 0.65
+	param set MT_THR_I 0.35
+	param set MT_THR_P  0.2
+	param set MT_THR_FF 1.5
 fi
 
 set MIXER wingwing
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1c9ded6a8..8855539fe 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -280,6 +280,11 @@ then
 	nshterm /dev/ttyACM0 &
 
 	#
+	# Start the datamanager
+	#
+	dataman start
+
+	#
 	# Start the Commander (needs to be this early for in-air-restarts)
 	#
 	commander start
@@ -548,11 +553,6 @@ then
 	fi
 
 	#
-	# Start the datamanager
-	#
-	dataman start
-
-	#
 	# Start the navigator
 	#
 	navigator start