#!nsh
#
# Team Blacksheep Discovery Quadcopter
#
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	# TODO review MC_YAWRATE_I
	param set MC_ROLL_P 8.0
	param set MC_ROLLRATE_P 0.07
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.0017
	param set MC_PITCH_P 8.0
	param set MC_PITCHRATE_P 0.1
	param set MC_PITCHRATE_I 0.1
	param set MC_PITCHRATE_D 0.0025
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.28
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0
fi

set MIXER quad_w

set PWM_OUT 1234
set PWM_MIN 1200

set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000