# parameters for the Sentinel M0065 PWM ESC drone

# flight modes
FLTMODE1 0
FLTMODE2 0
FLTMODE3 0
FLTMODE4 2
FLTMODE5 0
FLTMODE6 0
FLTMODE_CH       6

# enable PID logging
LOG_BITMASK      65535

# mag field varies quite a lot between batteries
ARMING_MAGTHRESH 200

# IMU orientation
# 8 = ROLL 180
AHRS_ORIENTATION 8

# Forced external compass
COMPASS_EXTERNAL 2
# compass orientation
# ROTATION_ROLL_180_YAW_135 = 11
COMPASS_ORIENT 11

# filtering
INS_GYRO_FILTER  40
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT 40.0
INS_HNTCH_BW 50.0
INS_HNTCH_FM_RAT 1.0
INS_HNTCH_FREQ 100.0
INS_HNTCH_HMNCS 7
INS_HNTCH_MODE 3
INS_HNTCH_OPTS 2
INS_HNTCH_REF 1.0

# run IMU at 2kHz
INS_GYRO_RATE    1

# a bit more agressive loiter
PILOT_SPEED_UP   500
LOIT_BRK_ACCEL   500
LOIT_BRK_JERK    1000
LOIT_BRK_DELAY   0.200000

# Tune parameters
ATC_RAT_PIT_D 0.002
ATC_RAT_PIT_I 0.08
ATC_RAT_PIT_P 0.08
ATC_RAT_RLL_D 0.002
ATC_RAT_RLL_I 0.08
ATC_RAT_RLL_P 0.08

# battery setup
BATT_LOW_VOLT    14.2
BATT_OPTIONS     64
BATT_VOLT_PIN    1
BATT_CURR_PIN    2
BATT_VOLT_MULT   1
BATT_AMP_PERVLT  1
BATT_AMP_OFFSET 0.0

# 4S battery range
MOT_BAT_VOLT_MAX 16.800000
MOT_BAT_VOLT_MIN 13.200000

# Learned hover thrust
# MOT_THST_EXPO 0.550000011920928955
# MOT_THST_HOVER 0.130549192428588867

# quad-X
FRAME_CLASS      1

# tweak R/C inputs
RC1_MIN          1000
RC1_MAX          2000
RC1_DZ           40
RC2_MIN          1000
RC2_MAX          2000
RC2_REVERSED     1
RC3_MIN          1000
RC3_MAX          2000
RC4_MIN          1000
RC4_MAX          2000
RC4_DZ           40

# add arming on right switch
RC7_OPTION       153

# Motor mappings
SERVO1_FUNCTION 33
SERVO2_FUNCTION 34
SERVO3_FUNCTION 35
SERVO4_FUNCTION 36