#!nsh
#
# @name 3DR Iris Quadrotor
#
# @type Quadrotor Wide
#
# @maintainer Anton Babushkin <anton@px4.io>
#

sh /etc/init.d/rc.mc_defaults

if [ $AUTOCNF == yes ]
then
	# TODO tune roll/pitch separately
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.004
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.15
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_D 0.004
	param set MC_YAW_P 2.5
	param set MC_YAWRATE_P 0.25
	param set MC_YAWRATE_I 0.25
	param set MC_YAWRATE_D 0.0

	param set BAT_V_DIV 12.27559
	param set BAT_A_PER_V 15.39103
fi

set MIXER quad_dc

set PWM_OUT 1234
