#!nsh
#
# @name AR.Drone Frame
#
# @type Quadrotor x
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
    # Set all params here, then disable autoconfig
    param set MC_ROLL_P 6.0
    param set MC_ROLLRATE_P 0.14
    param set MC_ROLLRATE_I 0.1
    param set MC_ROLLRATE_D 0.002
    param set MC_PITCH_P 6.0
    param set MC_PITCHRATE_P 0.14
    param set MC_PITCHRATE_I 0.1
    param set MC_PITCHRATE_D 0.002
    param set MC_YAW_P 2.0
    param set MC_YAWRATE_P 0.2
    param set MC_YAWRATE_I 0.2
    param set MC_YAWRATE_D 0.0
    param set MC_YAW_FF 0.8

    param set BAT_V_DIV 34.32838
fi

set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2
