#!nsh
#
# Team Blacksheep Discovery Long Range Quadcopter
# 
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
#
# Simon Wilks <simon@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	param set BAT_N_CELLS 6
	param set BAT_V_EMPTY 3.5

	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.08
	param set MC_ROLLRATE_I 0.02
	param set MC_ROLLRATE_D 0.003
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.13
	param set MC_PITCHRATE_I 0.02
	param set MC_PITCHRATE_D 0.005
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0

	param set MPC_XY_FF 0.2
	param set MPC_XY_VEL_MAX 2
fi

set MIXER quad_w

set PWM_OUT 1234
set PWM_MIN 1080