#!/bin/sh
#
# @name UVify IFO
#
# @type Quadrotor x
# @class Copter
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#
# @maintainer Hyon Lim <lim@uvify.com>
#

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

# Attitude & rate gains
param set-default MC_ROLLRATE_D 0.0013

param set-default MC_PITCHRATE_D 0.0016


param set-default MPC_MANTHR_MIN 0.08

# Filter settings
param set-default IMU_GYRO_CUTOFF 100

# Sensors
param set-default SENS_BOARD_ROT 10
# Yaw 180
param set-default SENS_FLOW_ROT 4
# TFMini on TELEM3
param set-default SENS_TFMINI_CFG 103

# Smart Battery
param set-default SENS_EN_BATT 1

# EKF2
param set-default EKF2_AID_MASK 3
param set-default EKF2_GND_EFF_DZ 6
param set-default EKF2_HGT_REF 1
param set-default EKF2_MIN_RNG 0.3

# Flow
param set-default EKF2_OF_QMIN 70

# Position control
param set-default MPC_Z_P 1.1
param set-default MPC_Z_VEL_P_ACC 6
param set-default MPC_Z_VEL_I_ACC 1

param set-default MPC_THR_MIN 0.06
param set-default MPC_THR_HOVER 0.44

param set-default MIS_TAKEOFF_ALT 1.1
param set-default MPC_XY_P 1.7
param set-default MPC_XY_VEL_P_ACC 2.6
param set-default MPC_XY_VEL_I_ACC 1.2
param set-default MPC_XY_VEL_D_ACC 0.2
param set-default MPC_TKO_RAMP_T 1
param set-default MPC_VEL_MANUAL 3

param set-default BAT1_SOURCE 0
param set-default BAT1_N_CELLS 4
param set-default BAT1_V_DIV 10.14
param set-default BAT1_A_PER_V 18.18
param set-default COM_DISARM_LAND 2

# Filter settings
param set-default IMU_GYRO_CUTOFF 90

# Don't try to be intelligent on RC loss: just cut the motors
param set-default NAV_RCL_ACT 6

# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
# onboard
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600

# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
# normal
param set-default MAV_1_MODE 0
param set-default SER_TEL2_BAUD 57600

# EKF OF POSITION
param set-default EKF2_OF_POS_X 0.06
param set-default EKF2_OF_POS_Y 0.03
param set-default EKF2_OF_POS_Z -0.07

# Failsafe
param set-default COM_LOW_BAT_ACT 3

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05

param set-default PWM_MAIN_TIM0 -3

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

