#!/bin/sh
#
# @name Team Blacksheep Discovery Endurance
#
# @type Quadrotor Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
# @output AUX4 feed-through of RC FLAPS channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. /etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
	param set BAT_N_CELLS 6
	param set BAT_V_EMPTY 3.5

	param set MC_ROLL_P 7
	param set MC_ROLLRATE_P 0.08
	param set MC_ROLLRATE_I 0.02
	param set MC_ROLLRATE_D 0.003
	param set MC_PITCH_P 7
	param set MC_PITCHRATE_P 0.13
	param set MC_PITCHRATE_I 0.02
	param set MC_PITCHRATE_D 0.005
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0

	param set MPC_XY_VEL_MAX 2

	param set PWM_MIN 1080
fi

set MIXER quad_w

set PWM_OUT 1234
