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#!nsh
echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
#
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
px4io min 1200 1200 1200 1200
px4io max 1800 1800 1800 1800
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
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