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#!nsh
#
# Team Blacksheep Discovery Quadcopter
#
# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO review MC_YAWRATE_I
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.07
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.0017
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.0025
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.28
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
set MIXER FMU_quad_w
set PWM_OUTPUTS 1234
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