#!nsh
#
# DJI Flame Wheel F450 Quadcopter
#
# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
#

if [ $DO_AUTOCONFIG == yes ]
then
	#
	# Default parameters for this platform
	#
	param set MC_ATT_P 7.0
	param set MC_ATT_I 0.0
	param set MC_YAW_P 2.0
	param set MC_YAW_I 0.0
	param set MC_ATTRATE_P 0.12
	param set MC_ATTRATE_I 0.0
	param set MC_ATTRATE_D 0.004
	param set MC_YAWRATE_P 0.3
	param set MC_YAWRATE_I 0.2
	param set MC_YAWRATE_D 0.005
	
	# TODO add default MPC parameters
fi

set VEHICLE_TYPE mc
set MIXER FMU_quad_x

set PWM_OUTPUTS 1234
set PWM_RATE 400
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900