#!nsh

# Maintainers: Lorenz Meier <lm@inf.ethz.ch>

echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"

# Use generic quad X PWM as base
sh /etc/init.d/4001_quad_x_pwm

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_ATT_D 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_YAWPOS_P 2.0
	param set MC_YAWPOS_I 0.0
	param set MC_YAWPOS_D 0.0
	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
 
# DJI ESC range
set PWM_DISARMED 900
set PWM_MIN 1200
set PWM_MAX 1900