#!/bin/sh
#
# @name UVify IFO
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
# @maintainer Hyon Lim <lim@uvify.com>
#

set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234

if [ $AUTOCNF = yes ]
then
	# Attitude & rate gains
	#param set MC_ROLL_P 7
	param set MC_ROLLRATE_P 0.15
	#param set MC_ROLLRATE_I 0.9
	param set MC_ROLLRATE_D 0.0013

	#param set MC_PITCH_P 7
	param set MC_PITCHRATE_P 0.15
	#param set MC_PITCHRATE_I 1.1
	param set MC_PITCHRATE_D 0.0016

	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.2
	#param set MC_YAWRATE_I 0.15
	param set MC_YAWRATE_D 0

	#param set MC_ROLL_TC 0.19
	#param set MC_PITCH_TC 0.16

	# Manual mode settings: Unleash Draco R's power :)
	#param set MPC_MAN_TILT_MAX 70
	#param set MC_PITCHRATE_MAX 1600
	#param set MC_ROLLRATE_MAX 1600
	#param set MC_YAWRATE_MAX 700
	param set MPC_MANTHR_MIN 0.08
	#param set MPC_MAN_TILT_MAX 35
	#param set MPC_TILTMAX_AIR 20

	# Filter settings
	param set IMU_GYRO_CUTOFF 100

	# Thrust curve (avoids the need for TPA)
	#param set THR_MDL_FAC 0.25

	# Obsolete
	#param set PWM_MAX 1950
	#param set PWM_MIN 1100
	#param set PWM_RATE 0

	# Sensors
	param set SENS_BOARD_ROT 10
	# Yaw 180
	param set SENS_FLOW_ROT 4
	# TFMini on TELEM3
	param set SENS_TFMINI_CFG 103

	# Smart Battery
	param set SENS_EN_BATT 1

	# EKF2
	param set EKF2_AID_MASK 3
	param set EKF2_GND_EFF_DZ 6
	param set EKF2_HGT_MODE 1
	param set EKF2_MIN_RNG 0.3
	param set EKF2_RNG_AID 1

	# Flow
	param set EKF2_OF_QMIN 70

	# Position control
	param set MPC_Z_P 1.1
	param set MPC_Z_VEL_P_ACC 6
	param set MPC_Z_VEL_I_ACC 1

	param set MPC_THR_MIN 0.06
	param set MPC_THR_HOVER 0.44

	param set MIS_TAKEOFF_ALT 1.1
	param set MPC_XY_P 1.7
	param set MPC_XY_VEL_P_ACC 2.6
	param set MPC_XY_VEL_I_ACC 1.2
	param set MPC_XY_VEL_D_ACC 0.2
	param set MPC_TKO_RAMP_T 1
	param set MPC_TKO_SPEED 1.1
	param set MPC_VEL_MANUAL 3

	param set BAT_SOURCE 0
	param set BAT_N_CELLS 4
	param set BAT_V_DIV 10.14
	param set BAT_A_PER_V 18.18
	#param set CBRK_IO_SAFETY 22027
	param set COM_ARM_EKF_AB 0.005
	param set COM_DISARM_LAND 2

	# Filter settings
	param set IMU_GYRO_CUTOFF 90

	# Don't try to be intelligent on RC loss: just cut the motors
	param set NAV_RCL_ACT 6

	# enable to use high-rate logging for better rate tracking analysis
	# param set SDLOG_PROFILE 19

	# TELEM1 ttyS1 - Wifi module
	param set MAV_0_CONFIG 101
	param set MAV_0_RATE 0
	param set MAV_0_MODE 2	# onboard
	param set SER_TEL1_BAUD 921600

	# TELEM2 ttyS2 - Sub 1-Ghz
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 0	# normal
	param set SER_TEL2_BAUD 57600

	# DSHOT
	param set DSHOT_CONFIG 600

	# EKF OF POSITION
	param set EKF2_OF_POS_X 0.06
	param set EKF2_OF_POS_Y 0.03
	param set EKF2_OF_POS_Z -0.07

	# Failsafe
	param set COM_LOW_BAT_ACT 3
fi
