#!/bin/sh
#
# @name Blade 130X
#
# @type Helicopter
# @class Copter
#
# @maintainer Bart Slinger <bartslinger@gmail.com>
#
# @output MAIN1 main motor
# @output MAIN2 front swashplate servo
# @output MAIN3 right swashplate servo
# @output MAIN4 left swashplate servo
# @output MAIN5 tail-rotor servo
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4

set MIXER blade130

#set PWM_OUT 1234


param set-default ATT_BIAS_MAX 0

param set-default CBRK_IO_SAFETY 22027

param set-default MC_ROLL_P 5
param set-default MC_ROLLRATE_P 0
param set-default MC_ROLLRATE_I 0
param set-default MC_ROLLRATE_D 0
param set-default MC_ROLLRATE_FF 0.15
param set-default MC_PITCH_P 6.5
param set-default MC_PITCHRATE_P 0
param set-default MC_PITCHRATE_I 0
param set-default MC_PITCHRATE_D 0
param set-default MC_PITCHRATE_FF 0.15
param set-default MC_YAW_P 3
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_I 0
param set-default MC_YAWRATE_D 0
param set-default MC_ROLLRATE_MAX 720
param set-default MC_PITCHRATE_MAX 720
param set-default MC_YAWRATE_MAX 400
param set-default MC_ACRO_R_MAX 360
param set-default MC_ACRO_P_MAX 360

param set-default MPC_THR_MIN 0.06
param set-default MPC_MANTHR_MIN 0.06

param set-default PWM_MAIN_MIN 1075