From 8e5aaff76bdc110b382c78a5d4c77a115ffa6ddd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 5 Jul 2019 14:16:48 +0200
Subject: [PATCH] airframes: add Kopis 2

---
 .../init.d/airframes/4053_holybro_kopis2      | 62 +++++++++++++++++++
 .../init.d/airframes/CMakeLists.txt           |  1 +
 2 files changed, 63 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
new file mode 100644
index 0000000000..27fae91ee7
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -0,0 +1,62 @@
+#!/bin/sh
+#
+# @name Holybro Kopis 2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Beat Kueng <beat@px4.io>
+#
+# @board px4_fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4
+
+	param set GPS_1_CONFIG 0
+	param set RC_PORT_CONFIG 201
+
+	param set IMU_GYRO_CUTOFF 120
+	param set MC_DTERM_CUTOFF 0
+
+	param set MC_ROLLRATE_P 0.036
+	param set MC_ROLLRATE_I 0.25
+	param set MC_ROLLRATE_D 0.0006
+	param set MC_ROLLRATE_MAX 1600
+	param set MC_ROLL_P 10
+
+	param set MC_PITCHRATE_P 0.036
+	param set MC_PITCHRATE_I 0.32
+	param set MC_PITCHRATE_D 0.0004
+	param set MC_PITCHRATE_MAX 1600
+	param set MC_PITCH_P 10
+
+	param set MC_YAWRATE_MAX 1000
+	param set MC_YAWRATE_P 0.04
+	param set MC_YAW_P 4
+
+	param set MOT_ORDERING 1
+	param set MPC_MANTHR_MIN 0
+	param set MPC_MAN_TILT_MAX 60
+	param set PWM_MAX 1950
+	param set PWM_MIN 1075
+	param set PWM_RATE 400
+
+	param set OSD_ATXXXX_CFG 1
+
+	param set THR_MDL_FAC 0.7
+
+	param set MPC_THR_CURVE 1
+	param set MPC_THR_HOVER 0.12
+
+	param set MC_AIRMODE 1
+
+	param set EV_TSK_RC_LOSS 1
+fi
+
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 9d12291bdd..f09ee37f6e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -78,6 +78,7 @@ px4_add_romfs_files(
 	4050_generic_250
 	4051_s250aq
 	4052_holybro_qav250
+	4053_holybro_kopis2
 	4060_dji_matrice_100
 	4070_aerofc
 	4080_zmr250