#!/bin/sh
#
# @name Generic 250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#

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

set MIXER quad_x
set PWM_OUT 1234


param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_I 0.25
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.2
param set-default MC_YAWRATE_I 0.1
param set-default MC_YAWRATE_D 0

param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000

param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60

# use thrust curve factor (instead of TPA)
param set-default THR_MDL_FAC 0.3

param set-default PWM_MAIN_MIN 1075
# enable one-shot
param set-default PWM_MAIN_RATE 0

# enable high-rate logging profile (helps with tuning)
param set-default SDLOG_PROFILE 19

param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 90

param set-default CBRK_IO_SAFETY 22027
