#!nsh
#
# ARDrone
#

echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"

# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if [ $DO_AUTOCONFIG == yes ]
then
    # Set all params here, then disable autoconfig
    param set MC_ROLL_P 5.0
    param set MC_ROLLRATE_P 0.13
    param set MC_ROLLRATE_I 0.0
    param set MC_ROLLRATE_D 0.0
    param set MC_PITCH_P 5.0
    param set MC_PITCHRATE_P 0.13
    param set MC_PITCHRATE_I 0.0
    param set MC_PITCHRATE_D 0.0
    param set MC_YAW_P 1.0
    param set MC_YAW_D 0.1
    param set MC_YAWRATE_P 0.15
    param set MC_YAWRATE_I 0.0
    param set MC_YAWRATE_D 0.0
    param set MC_YAW_FF 0.15
fi

set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip