#!/bin/sh
#
# @name PX4 Vision DevKit Platform
#
# @type Quadrotor x
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

set MIXER quad_x
set PWM_OUT 1234


# System parameters
# use FMU motor outputs for less delay in the rate control loop
param set-default SYS_USE_IO 0

# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5

# EKF2 parameters
param set-default EKF2_AID_MASK 35
param set-default EKF2_IMU_POS_X 0.02
param set-default EKF2_GPS_POS_X 0.055
param set-default EKF2_GPS_POS_Z -0.15
param set-default EKF2_HGT_MODE 0
param set-default EKF2_MIN_RNG 0.03
param set-default EKF2_OF_POS_X 0.055
param set-default EKF2_OF_POS_Y 0.02
param set-default EKF2_OF_POS_Z 0.065
param set-default EKF2_REQ_HDRIFT 0.3
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 0.3
param set-default EKF2_RNG_AID 1
param set-default EKF2_RNG_A_HMAX 8
param set-default EKF2_RNG_A_VMAX 2
param set-default EKF2_RNG_POS_X 0.055
param set-default EKF2_RNG_POS_Y -0.01
param set-default EKF2_RNG_POS_Z 0.065
param set-default EKF2_PCOEF_XP -0.25
param set-default EKF2_PCOEF_YN -0.55
param set-default EKF2_PCOEF_YP -0.55

# MAVLink parameters
param set-default MAV_0_CONFIG 101
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 80000
param set-default MAV_1_MODE 9
param set-default SER_TEL1_BAUD 921600

# Vehicle attitude PID tuning
param set-default MC_ACRO_EXPO 0
param set-default MC_ACRO_EXPO_Y 0
param set-default MC_ACRO_P_MAX 200
param set-default MC_ACRO_R_MAX 200
param set-default MC_ACRO_SUPEXPO 0
param set-default MC_ACRO_SUPEXPOY 0
param set-default MC_ACRO_Y_MAX 150
param set-default IMU_DGYRO_CUTOFF 30
param set-default MC_PITCHRATE_D 0.0015
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_K 1
param set-default MC_PITCHRATE_P 0.15
param set-default MC_ROLLRATE_D 0.0015
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_K 1
param set-default MC_ROLLRATE_P 0.15
param set-default MC_YAWRATE_P 0.3

# Position Control Tuning
param set-default CP_DIST 6
param set-default MPC_ACC_DOWN_MAX 5
param set-default MPC_ACC_HOR_MAX 10
param set-default MPC_ACC_UP_MAX 4
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_Y_MAX 120
param set-default MPC_TILTMAX_AIR 45
param set-default MPC_THR_HOVER 0.3
param set-default MPC_THR_MIN 0.12
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 5
param set-default MPC_XY_CRUISE 5
param set-default MPC_XY_VEL_MAX 5
param set-default MPC_XY_VEL_P_ACC 1.58
param set-default MPC_XY_TRAJ_P 0.3
param set-default MPC_Z_TRAJ_P 0.3
param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1

# Navigator Parameters
param set-default NAV_ACC_RAD 2

# PWM and RC Parameters
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075

# use oneshot motor output protocol
param set-default PWM_MAIN_RATE 0

# RTL Parameters
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 5
param set-default RTL_CONE_ANG 45

# Logging Parameters
param set-default SDLOG_PROFILE 131

# Sensors Parameters
param set-default SENS_BOARD_ROT 0
param set-default SENS_CM8JL65_CFG 104
param set-default SENS_FLOW_MAXHGT 25
param set-default SENS_FLOW_MINHGT 0.5
param set-default SENS_FLOW_ROT 0
param set-default IMU_GYRO_CUTOFF 100
param set-default SENS_EN_PMW3901 1

# Power Parameters
param set-default BAT_N_CELLS 4
param set-default BAT_A_PER_V 36.364
param set-default BAT_V_DIV 18.182

# Circuit breakers
param set-default CBRK_IO_SAFETY 22027

param set-default THR_MDL_FAC 0.3