oscillation_ctrl/airframes/4001_spiri_with_tether

#!/bin/sh
#
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter

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

param set-default MC_ROLLRATE_K 2.35
param set-default MC_ROLLRATE_D 0.0030
param set-default MC_ROLLRATE_I 0.15

param set-default MC_PITCHRATE_K 2.35
param set-default MC_PITCHRATE_D 0.0030
param set-default MC_PITCHRATE_I 0.15

param set-default MPC_Z_VEL_MAX_UP 0.5
param set-default MPC_TKO_SPEED 1.0

param set-default COM_RCL_EXCEPT 4

set MIXER quad_x
set PWM_OUT 1234