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#!nsh
#
# ARDrone
#
# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
fi
set FMU_MODE gpio
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
set MAV_TYPE 2
set VEHICLE_TYPE mc
param set BAT_V_SCALING 0.008381
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