#!nsh
#
# @name Intel Aero Ready to Fly Drone
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#

sh /etc/init.d/rc.mc_defaults

#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
	# Set all params here, then disable autoconfig

	param set COM_DISARM_LAND 3

	param set LNDMC_Z_VEL_MAX 2.0000

	param set MC_ROLL_P 8.0000
	param set MC_ROLLRATE_P 0.1300
	param set MC_ROLLRATE_I 0.07
	param set MC_ROLLRATE_D 0.0012
	param set MC_ROLLRATE_MAX 360
	param set MC_PITCH_P 8.0000
	param set MC_PITCHRATE_P 0.1300
	param set MC_PITCHRATE_I 0.07
	param set MC_PITCHRATE_D 0.0012
	param set MC_PITCHRATE_MAX 360
	param set MC_YAW_P 4.0
	param set MC_YAWRATE_P 0.119999997317790985
	param set MC_YAWRATE_I 0.050000000745058060
	param set MC_YAWRATE_D 0.0
	param set MC_YAW_FF 0.5

	param set MPC_LAND_SPEED 0.7000
	param set MPC_MANTHR_MIN 0.0400
	param set MPC_THR_HOVER 0.5000
	param set MPC_THR_MAX 0.9400
	param set MPC_THR_MIN 0.1000
	param set MPC_XY_CRUISE 8.0000
	param set MPC_XY_P 1.5000
	param set MPC_XY_VEL_P 0.1500
	param set MPC_Z_P 1.5000
	param set MPC_Z_VEL_I 0.1500
	param set MPC_Z_VEL_MAX_DN 4.0000
	param set MPC_Z_VEL_MAX_UP 5.0000
	param set MPC_Z_VEL_P 0.8000

	param set EKF2_GPS_POS_X -0.0600
	param set EKF2_GPS_POS_Z -0.1000
	param set EKF2_MIN_OBS_DT 50

	param set EKF2_BARO_GATE 10.0
	param set EKF2_BARO_NOISE 5.0
	param set EKF2_ACC_NOISE 0.7

	param set SYS_LOGGER 1
fi

tap_esc start -d /dev/ttyS0 -n 4
usleep 300000

set OUTPUT_MODE tap_esc
set MIXER quad_x
set USE_IO no

param set SYS_COMPANION 921600
set MAVLINK_COMPANION_DEVICE /dev/ttyS1