#!/bin/sh
#
# @name Reaper 500 Quad
#
# @type Quadrotor H
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 feed-through of RC AUX1 channel
# @output MAIN6 feed-through of RC AUX2 channel
#
# @maintainer Blankered
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults

param set-default MC_ROLLRATE_P 0.14
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCH_P 6
param set-default MC_PITCHRATE_P 0.14
param set-default MC_PITCHRATE_I 0.09
param set-default MC_PITCHRATE_D 0.004
param set-default MC_YAW_P 4

param set-default NAV_ACC_RAD 2

param set-default PWM_AUX_DISARM 950
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_MAX 1900
param set-default PWM_MAIN_RATE 50

param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10

set MIXER quad_h

set MIXER_AUX pass