From 965d5b3b95dec1a1241f76e4cdec10bbbd10b82a Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Fri, 18 Oct 2024 09:42:05 -0800
Subject: [PATCH] dexi: parameters for airframe file (#23780)

* added missing parameters for dexi airframe

* dexi: EKF2_HGT_REF and MC_YAWRATE_MAX
---
 .../init.d/airframes/4601_droneblocks_dexi_5           | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
index d599af5b38..38ffa06896 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
@@ -42,12 +42,16 @@ param set-default CA_ROTOR3_PX -0.0762
 param set-default CA_ROTOR3_PY 0.09525
 param set-default CA_ROTOR3_KM -0.05
 
+param set-default PWM_MAIN_TIM0 -3
+param set-default DSHOT_TEL_CFG 104
+
 param set-default EKF2_MIN_RNG 0.01
 param set-default EKF2_OF_POS_X 0.043
 param set-default EKF2_OF_POS_Y 0.011
 param set-default EKF2_OF_QMIN_GND 1
 param set-default EKF2_RNG_POS_X 0.043
 param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_A_HMAX 25.0
 
 param set-default IMU_GYRO_DNF_EN 2
 
@@ -78,3 +82,9 @@ param set-default SENS_FLOW_MINHGT 0.0
 param set-default SER_TEL2_BAUD 3000000
 
 param set-default UXRCE_DDS_CFG 102
+
+param set-default EKF2_HGT_REF 2
+
+# I saw a very sketchy extreme yaw setpoint that I cant explain
+# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
+param set-default MC_YAWRATE_MAX 100