From de8a9268f3c476c2695df84f0e1a429ea10ddeb3 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sat, 8 Feb 2014 00:31:53 +0100
Subject: [PATCH] Startup scripts: bring back HIL parameters for Malolo

---
 .../init.d/1005_rc_fw_Malolo1.hil             | 34 +++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index abbe626b13..c753ded233 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -7,6 +7,40 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 25
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.8
+	param set FW_PR_I 0.05
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.1
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.1
+	param set FW_R_LIM 45
+	param set FW_R_RMAX 0
+	param set FW_T_CLMB_MAX 5
+	param set FW_T_HRATE_P 0.02
+	param set FW_T_PTCH_DAMP 0
+	param set FW_T_RLL2THR 15
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 3
+	param set FW_T_VERT_ACC 7
+	param set FW_YR_FF 0.0
+	param set FW_YR_I 0
+	param set FW_YR_IMAX 0.2
+	param set FW_YR_P 0.0
+fi
+
 set HIL yes
 
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)