#!nsh
#
# ARDrone
#

# Just use the default multicopter settings.
sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
    # Set all params here, then disable autoconfig
    param set MC_ATTRATE_D 0
    param set MC_ATTRATE_I 0
    param set MC_ATTRATE_P 0.13
    param set MC_ATT_D 0
    param set MC_ATT_I 0.3
    param set MC_ATT_P 5
    param set MC_YAWPOS_D 0.1
    param set MC_YAWPOS_I 0.15
    param set MC_YAWPOS_P 1
    param set MC_YAWRATE_D 0
    param set MC_YAWRATE_I 0
    param set MC_YAWRATE_P 0.15

    param set SYS_AUTOCONFIG 0
    param save
fi

set FMU_MODE gpio

#
# Force some key parameters to sane values
# MAV_TYPE     2 = quadrotor
#
set MAV_TYPE 2
set VEHICLE_TYPE mc
param set BAT_V_SCALING 0.008381