#!/bin/sh
#
# @name Reaper 500 Quad
#
# @type Quadrotor H
# @class Copter
#
# @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 RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM 0.05

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_MIN1 1100
param set-default PWM_MAIN_MIN2 1100
param set-default PWM_MAIN_MIN3 1100
param set-default PWM_MAIN_MIN4 1100
param set-default PWM_MAIN_MAX1 1900
param set-default PWM_MAIN_MAX2 1900
param set-default PWM_MAIN_MAX3 1900
param set-default PWM_MAIN_MAX4 1900

param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_TIM1 50
param set-default PWM_MAIN_TIM2 50

param set-default PWM_AUX_TIM0 50
param set-default PWM_AUX_TIM1 50
param set-default PWM_AUX_TIM2 50