diff --git a/ROMFS/px4fmu_common/init.d/4002_qavr5 b/ROMFS/px4fmu_common/init.d/4002_qavr5 new file mode 100644 index 0000000000..142982bf4b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/4002_qavr5 @@ -0,0 +1,34 @@ +#!nsh +# +# @name Lumenier QAV-R (raceblade) 5" arms +# +# @type Quadrotor x +# +# @output AUX1 feed-through of RC AUX1 channel +# @output AUX2 feed-through of RC AUX2 channel +# @output AUX3 feed-through of RC AUX3 channel +# +# @maintainer James Goppert +# + +sh /etc/init.d/4001_quad_x + +if [ $AUTOCNF == yes ] +then + param set MC_ROLL_P 8.0 + param set MC_ROLLRATE_P 0.08 + param set MC_ROLLRATE_I 0.05 + param set MC_ROLLRATE_D 0.003 + param set MC_PITCH_P 8.0 + param set MC_PITCHRATE_P 0.1 + param set MC_PITCHRATE_I 0.05 + param set MC_PITCHRATE_D 0.003 + param set MC_YAW_P 2.8 + param set MC_YAWRATE_P 0.15 + param set MC_YAWRATE_I 0.1 + param set MC_YAWRATE_D 0.0 + param set MC_YAW_FF 0.5 + param set PWM_MIN 1075 + param set MPC_THR_MIN 0.06 + param set MPC_MANTHR_MIN 0.06 +fi