#!nsh
#
# @name 3DR DIY Quad
#
# @type Quadrotor x
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	param set MC_ROLL_P 6.5
	param set MC_ROLLRATE_P 0.08
	param set MC_ROLLRATE_I 0.1
	param set MC_ROLLRATE_D 0.004
	param set MC_PITCH_P 6.0
	param set MC_PITCHRATE_P 0.16
	param set MC_PITCHRATE_I 0.09
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 4
fi

set MIXER quad_x

set PWM_OUT 1234

set PWM_MIN 1100
set PWM_MAX 1950
