#!/bin/sh
#
# @name ZMR250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Anton Matosov <anton.matosov@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

set MIXER quad_x
set PWM_OUT 1234


param set-default CBRK_IO_SAFETY 22027

param set-default MC_ROLL_P 2.2
param set-default MC_ROLLRATE_P 0.06
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_D 0.0017

param set-default MC_PITCH_P 2.2
param set-default MC_PITCHRATE_P 0.06
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_D 0.0017

param set-default MC_YAW_P 1
param set-default MC_YAWRATE_P 0.15
param set-default MC_YAWRATE_I 0.2
param set-default MC_YAWRATE_D 0

param set-default MC_ACRO_R_MAX 1000
param set-default MC_ACRO_P_MAX 1000
param set-default MC_ACRO_Y_MAX 1000

# param set NAV_RCL_ACT 6 # Lockdown

param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400
param set-default PWM_MAIN_DISARM 900
