#!/bin/sh
#
# @name Holybro X500 V2
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Farhang Naderi <farhang.nba@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

param set-default IMU_GYRO_CUTOFF 30

param set-default MC_ROLLRATE_P 0.14
param set-default MC_PITCHRATE_P 0.14
param set-default MC_ROLLRATE_I 0.3
param set-default MC_PITCHRATE_I 0.3
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCHRATE_D 0.004

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY 0.25
param set-default CA_ROTOR1_PX -0.25
param set-default CA_ROTOR1_PY -0.25
param set-default CA_ROTOR2_PX 0.25
param set-default CA_ROTOR2_PY -0.25
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR3_KM -0.05

param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_TIM0 -4