#!/bin/sh
#
# @name Droneblocks DEXI 5
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Dennis Baldwin <db@droneblocks.io>
# @maintainer Alex klimaj <alex@arkelectron.com>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board auterion_fmu-v6x exclude
# @board px4_fmu-v6x exclude
# @board bitcraze_crazyflie exclude
# @board diatone_mamba-f405-mk2 exclude
# @board ark_fmu-v6x exclude
#

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

param set-default BAT1_CAPACITY 4000
param set-default BAT1_N_CELLS 6
param set-default BAT1_V_EMPTY 3.3
param set-default BAT_AVRG_CURRENT 13

# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.0762
param set-default CA_ROTOR0_PY 0.09525
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.0762
param set-default CA_ROTOR1_PY -0.09525
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.0762
param set-default CA_ROTOR2_PY -0.09525
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.0762
param set-default CA_ROTOR3_PY 0.09525
param set-default CA_ROTOR3_KM -0.05

param set-default PWM_MAIN_TIM0 -3
param set-default DSHOT_TEL_CFG 104

param set-default EKF2_MIN_RNG 0.01
param set-default EKF2_OF_POS_X 0.043
param set-default EKF2_OF_POS_Y 0.011
param set-default EKF2_OF_QMIN_GND 1
param set-default EKF2_RNG_POS_X 0.043
param set-default EKF2_RNG_POS_Y 0.0
param set-default EKF2_RNG_A_HMAX 25.0

param set-default IMU_GYRO_DNF_EN 2

param set-default MC_PITCHRATE_D 0.0013
param set-default MC_PITCHRATE_I 0.185
param set-default MC_PITCHRATE_P 0.105
param set-default MC_PITCH_P 7.5
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLLRATE_I 0.165
param set-default MC_ROLLRATE_P 0.095
param set-default MC_ROLL_P 7.5
param set-default MC_YAWRATE_I 0.35
param set-default MC_YAWRATE_P 0.13

param set-default MPC_THR_HOVER 0.22
param set-default MPC_THR_MAX 0.5
param set-default MPC_THR_MIN 0.025
param set-default MPC_VEL_MANUAL 5.0
param set-default MPC_XY_VEL_MAX 8.0

param set-default RC_CRSF_PRT_CFG 300
param set-default RC_CRSF_TEL_EN 1

param set-default RTL_RETURN_ALT 15

param set-default SENS_FLOW_MINHGT 0.0

param set-default SER_TEL2_BAUD 3000000

param set-default UXRCE_DDS_CFG 102

param set-default EKF2_HGT_REF 2

# I saw a very sketchy extreme yaw setpoint that I cant explain
# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
param set-default MC_YAWRATE_MAX 100