oscillation_ctrl/airframes/20.04/4000_spiri

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

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

param set-default MC_ROLLRATE_K 1.00
param set-default MC_ROLLRATE_D 0.0060
param set-default MC_ROLLRATE_I 0.35

param set-default MC_PITCHRATE_K 1.00
param set-default MC_PITCHRATE_D 0.0060
param set-default MC_PITCHRATE_I 0.35

param set-default MPC_Z_P 0.70

#param load spiri_param/Vehicle_230_Parameters.params

#param set-default MC_PITCHRATE_P 0.0889
#param set-default MC_ROLLRATE_P 0.0957
param set-default CA_AIRFRAME 0

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.165037
param set-default CA_ROTOR0_PY 0.165037
param set-default CA_ROTOR0_KM 0.1
param set-default CA_ROTOR1_PX -0.165037
param set-default CA_ROTOR1_PY -0.165037
param set-default CA_ROTOR1_KM 0.1
param set-default CA_ROTOR2_PX 0.165037
param set-default CA_ROTOR2_PY -0.165037
param set-default CA_ROTOR2_KM -0.1
param set-default CA_ROTOR3_PX -0.165037
param set-default CA_ROTOR3_PY 0.165037
param set-default CA_ROTOR3_KM -0.1

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default COM_RCL_EXCEPT 4

param set-default MPC_Z_VEL_MAX_UP 1.0

param set-default COM_RCL_EXCEPT 4
param set-default NAV_RCL_ACT 1

set MIXER quad_x
set PWM_OUT 1234