#!nsh
#
# DJI Flame Wheel F450
#
# Lorenz Meier <lorenz@px4.io>
#

sh /etc/init.d/4001_quad_x

if [ $AUTOCNF == yes ]
then
	# TODO REVIEW
	param set MC_ROLL_P 7.0
	param set MC_ROLLRATE_P 0.16
	param set MC_ROLLRATE_I 0.05
	param set MC_ROLLRATE_D 0.01
	param set MC_PITCH_P 7.0
	param set MC_PITCHRATE_P 0.16
	param set MC_PITCHRATE_I 0.05
	param set MC_PITCHRATE_D 0.01
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.3
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0.0
	# DJI ESCs do not support calibration and need a higher min
	param set PWM_MIN 1230
fi

# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1075
then
	param set PWM_MIN 1230
fi