oscillation_ctrl/airframes/18.04/4000_spiri

#!/bin/sh
#
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter

. ${R}etc/init.d/rc.mc_defaults

param set-default MC_ROLLRATE_K 2.35
param set-default MC_ROLLRATE_D 0.0032
param set-default MC_ROLLRATE_I 0.15

param set-default MC_PITCHRATE_K 2.35
param set-default MC_PITCHRATE_D 0.0032
param set-default MC_PITCHRATE_I 0.15

param set-default MPC_Z_VEL_MAX_UP 1.0

param set EKF2_AID_MASK 1
param set EKF2_HGT_MODE 0
param set SYS_FAILURE_EN 0
param set COM_RCL_EXCEPT 4
param set NAV_RCL_ACT 0
param set NAV_DLL_ACT 0

set MIXER quad_x
set PWM_OUT 1234