From 52951801c9ac63787b8a46e1c0679a2f65774b94 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Thu, 24 Dec 2015 10:55:23 +0100
Subject: [PATCH] updated solo config for master

---
 ROMFS/px4fmu_common/init.d/4030_solo | 74 +++++++++++++++++++++++-----
 1 file changed, 63 insertions(+), 11 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4030_solo b/ROMFS/px4fmu_common/init.d/4030_solo
index 507c4ef0cb..5fbdcc8e48 100644
--- a/ROMFS/px4fmu_common/init.d/4030_solo
+++ b/ROMFS/px4fmu_common/init.d/4030_solo
@@ -4,11 +4,7 @@
 #
 # @type Quadrotor x
 #
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
+# @maintainer Andreas Antener <andreas@uaventure.com>
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -16,21 +12,77 @@ sh /etc/init.d/rc.mc_defaults
 if [ $AUTOCNF == yes ]
 then
     # tuning
-    param set MC_PITCHRATE_P    0.13
-    param set MC_ROLLRATE_P     0.13
+    param set MC_PITCHRATE_P    0.11
+    param set MC_ROLLRATE_P     0.11
     param set MPC_MANTHR_MIN    0.08
+    param set MPC_XY_VEL_MAX    3.0
+    param set MPC_Z_VEL_MAX     2.0
 
-    # takeoff. land and RTL settings
-    param set MIS_TAKEOFF_ALT   5.0
+    # INAV: higher GPS weights for better altitude control
+    param set INAV_W_Z_BARO     0.3
+    param set INAV_W_Z_GPS_P    0.8
+    param set INAV_W_Z_GPS_V    0.8
+
+    # takeoff, land and RTL settings
+    param set MIS_TAKEOFF_ALT   4.0
     param set COM_DISARM_LAND   1
     param set RTL_LAND_DELAY    1
+    param set RTL_DESCEND_ALT   5.0
+    param set RTL_RETURN_ALT    15.0
+    param set MPC_TILTMAX_LND   8.0
+    param set MPC_LAND_SPEED    0.4
     param set MPC_HOLD_MAX_Z    1.5
+    param set MPC_TKO_JMPSPD    2.0
+    param set MPC_TKO_SPEED     1.5
 
-    # enable high bandwidth mavlink by default
-    param set SYS_COMPANION     921601
+    # setup
+    # main board rotation: pitch 180
+    param set SENS_BOARD_ROT    12
+    # solo external mag rotation
+    param set CAL_MAG0_ROT      30
+    # no safety switch
+    param set CBRK_IO_SAFETY    22027
+    # battery voltage not available yet
+    param set CBRK_SUPPLY_CHK   894281
+
+    # RC configuration
+    param set RC_MAP_MODE_SW    5
+    param set RC_MAP_PITCH      2
+    param set RC_MAP_ROLL       1
+    param set RC_MAP_THROTTLE   3
+    param set RC_MAP_YAW        4
+
+    param set RC1_DZ            10
+    param set RC1_MAX           1988
+    param set RC1_MIN           1003
+    param set RC1_REV           1
+    param set RC1_TRIM          1499
+    param set RC2_DZ            10
+    param set RC2_MAX           1987
+    param set RC2_MIN           1023
+    param set RC2_REV           -1
+    param set RC2_TRIM          1499
+    param set RC3_DZ            10
+    param set RC3_MAX           1877
+    param set RC3_MIN           1023
+    param set RC3_REV           1
+    param set RC3_TRIM          1023
+    param set RC4_DZ            10
+    param set RC4_MAX           1998
+    param set RC4_MIN           1012
+    param set RC4_REV           1
+    param set RC4_TRIM          1500
+    param set RC5_DZ            10
+    param set RC5_MAX           2000
+    param set RC5_MIN           1000
+    param set RC5_REV           1
+    param set RC5_TRIM          1500
 fi
 
 set MIXER solo
 
 set PWM_OUT 1234
 set MIXER_AUX none
+
+# enable high-speed link on telem 1
+set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"