# parameters for the autonomy dev kit
# https://www.modalai.com/products/px4-autonomy-developer-kit

# flight modes
FLTMODE1         5
FLTMODE4         2
FLTMODE_CH       6

# motor ordering
SERVO1_FUNCTION 34
SERVO2_FUNCTION 35
SERVO3_FUNCTION 33
SERVO4_FUNCTION 36

# enable PID logging
LOG_BITMASK      65535

# mag field varies quite a lot between batteries
ARMING_MAGTHRESH 200

# IMU orientation
AHRS_ORIENTATION 8

# compass orientation
COMPASS_ORIENT 8

# filtering
INS_GYRO_FILTER  40
INS_HNTCH_ENABLE 1
INS_HNTCH_FREQ   100
INS_HNTCH_BW     50
INS_HNTCH_HMNCS  7
INS_HNTCH_REF    1
INS_HNTCH_MODE   3
INS_HNTCH_OPTS   2

# 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

# tuning from autotune
ATC_ACCEL_Y_MAX  46813.816406
ATC_ACCEL_R_MAX  218565.890625
ATC_ACCEL_P_MAX  220962
ATC_ANG_RLL_P    15.120497
ATC_ANG_PIT_P    15.393054
ATC_ANG_YAW_P    7.636879
ATC_RAT_RLL_P    0.038459
ATC_RAT_RLL_I    0.038459
ATC_RAT_RLL_D    0.000927
ATC_RAT_PIT_P    0.043496
ATC_RAT_PIT_I    0.043496
ATC_RAT_PIT_D    0.000934
ATC_RAT_YAW_P    0.376548
ATC_RAT_YAW_I    0.037655
ATC_RAT_YAW_FLTE 2.090602

# battery setup
BATT_LOW_VOLT    7
BATT_OPTIONS     64
BATT_VOLT_PIN    1
BATT_CURR_PIN    2
BATT_VOLT_MULT   1
BATT_AMP_PERVLT  1
# on the test board we have a current offset of -16.8A
# we need to check if this applies to all versions of this vehicle
BATT_AMP_OFFSET -16.8

# 2S battery range
MOT_BAT_VOLT_MAX 8.400000
MOT_BAT_VOLT_MIN 6.600000

# 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