#!/bin/sh
#
# @name HolyBro QAV250
#
# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat-kueng@gmx.net>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

# The set does not include a battery, but most people will probably use 4S
param set-default BAT1_N_CELLS 4

param set-default IMU_GYRO_CUTOFF 120
param set-default IMU_DGYRO_CUTOFF 45

param set-default MC_AIRMODE 1
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_I 0.35
param set-default MC_PITCHRATE_MAX 1200
param set-default MC_PITCHRATE_P 0.082
param set-default MC_PITCH_P 8
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_I 0.3
param set-default MC_ROLLRATE_MAX 1200
param set-default MC_ROLLRATE_P 0.076
param set-default MC_ROLL_P 8
param set-default MC_YAWRATE_I 0.3
param set-default MC_YAWRATE_MAX 600
param set-default MC_YAWRATE_P 0.25
param set-default MC_YAW_P 4

param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set-default MPC_THR_CURVE 1
param set-default MPC_THR_HOVER 0.25
param set-default MPC_THR_MIN 0.05
param set-default MPC_Z_VEL_I_ACC 1.7

param set-default THR_MDL_FAC 0.3

# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05

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