#!/bin/sh
#
# @name UVify IFO
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @maintainer Hyon Lim <lim@uvify.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#

set VEHICLE_TYPE mc
set MIXER quad_x
set PWM_OUT 1234


# Attitude & rate gains
param set-default MC_ROLLRATE_D 0.0013
param set-default MC_PITCHRATE_D 0.0016

param set-default MC_YAW_FF 0.5

param set-default MPC_MANTHR_MAX 0.9
param set-default MPC_MANTHR_MIN 0.08

# Filter settings
param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100

# System
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_RATE 0

param set-default SENS_BOARD_ROT 10

# EKF2
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_MODE 1

# Position control
param set-default MPC_Z_P 1
param set-default MPC_Z_VEL_P_ACC 4
param set-default MPC_Z_VEL_I_ACC 0.4

param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.3

param set-default MIS_TAKEOFF_ALT 1.1
param set-default MPC_XY_P 1.7
param set-default MPC_XY_VEL_P_ACC 2.6
param set-default MPC_XY_VEL_I_ACC 1.2
param set-default MPC_XY_VEL_D_ACC 0.2
param set-default MPC_TKO_RAMP_T 1
param set-default MPC_TKO_SPEED 1.1
param set-default MPC_VEL_MANUAL 3

param set-default BAT1_SOURCE 0
param set-default BAT1_N_CELLS 4
param set-default BAT1_V_DIV 10.14
param set-default BAT1_A_PER_V 18.18
param set-default COM_DISARM_LAND 2

# Filter settings
param set-default IMU_GYRO_CUTOFF 90
param set-default IMU_DGYRO_CUTOFF 70

# Don't try to be intelligent on RC loss: just cut the motors
param set-default NAV_RCL_ACT 6

# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
# onboard
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600

# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
# normal
param set-default MAV_1_MODE 0
param set-default SER_TEL2_BAUD 57600