#!nsh
#
# @name Crazyflie 2.0
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Dennis Shtatov <densht@gmail.com>
#

sh /etc/init.d/4001_quad_x


if [ $AUTOCNF == yes ]
then
	param set COM_RC_IN_MODE 2
	param set BAT_N_CELLS 1
	param set BAT_CAPACITY 240
	param set BAT_SOURCE 1

	param set PWM_DISARMED 0
	param set PWM_MIN 0
	param set PWM_MAX 255

	param set SYS_COMPANION 20

	param set MC_PITCHRATE_D 0.0015
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_P 0.045
	param set MC_PITCH_P 6.5
	param set MC_ROLLRATE_D 0.0015
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_P 0.045
	param set MC_ROLL_P 6.5
	param set MC_YAW_P 3.0

	param set CBRK_SUPPLY_CHK 894281
	param set CBRK_USB_CHK 197848
fi

set PWM_MIN none
set PWM_MAX none
set PWM_DISARMED none
# Will run the motors at 328.125 kHz (recommended)
set PWM_RATE 3921