#!nsh
#
# Steadidrone QU4D
#
# Thomas Gubler <thomas@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	# TODO tune roll/pitch separately
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.13
	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 0.13
	param set MC_PITCHRATE_I 0.0
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 0.5
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.0
	param set MC_YAWRATE_D 0.0

	param set BAT_N_CELLS 4
fi

set MIXER quad_w

set PWM_MIN 1210
set PWM_MAX 2100

set PWM_OUT 1234