From 942cdb1fa55d8a4f1fe155d4efde857b0de87996 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 12 Nov 2019 02:17:29 +0300
Subject: [PATCH] Add COEX Clover 4 airframe

---
 .../init.d/airframes/4500_clover4             | 31 +++++++++++++++++++
 .../init.d/airframes/CMakeLists.txt           |  1 +
 2 files changed, 32 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/airframes/4500_clover4

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
new file mode 100644
index 0000000000..1fbfa4325e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# @name COEX Clover 4
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Oleg Kalachev <okalachev@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.087
+	param set MC_PITCHRATE_I 0.037
+	param set MC_PITCHRATE_D 0.0044
+	param set MC_PITCH_P 8.5
+	param set MC_ROLLRATE_P 0.087
+	param set MC_ROLLRATE_I 0.037
+	param set MC_ROLLRATE_D 0.0044
+	param set MC_ROLL_P 8.5
+	param set MPC_XY_VEL_P 0.11
+	param set MPC_XY_VEL_D 0.013
+	param set MPC_XY_P 1.1
+	param set MPC_Z_VEL_P 0.24
+	param set MPC_Z_P 1.2
+fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index e6cfe75e03..7092ea1cc2 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -87,6 +87,7 @@ px4_add_romfs_files(
 	4090_nanomind
 	4100_tiltquadrotor
 	4250_teal
+	4500_clover4
 	4900_crazyflie
 
 	# [5000, 5999] Quadrotor +"