4250_teal

#!nsh
#
# @name Teal One
#
# @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
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
#
# @maintainer Jacob Dahl <jacob.dahl@tealdrones.com>
# @maintainer Alex Klimaj <alex.klimaj@tealdrones.com>
#

echo "Executing 4250_teal script."

sh /etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none

if [ $AUTOCNF = yes ]
then
	# battery
	param set BAT_CAPACITY 2750
	param set BAT_CRIT_THR 0.15
	param set BAT_EMERGEN_THR 0.075
	param set BAT_LOW_THR 0.20
	param set BAT_N_CELLS 4
	param set BAT_R_INTERNAL 0.06
	param set BAT_SOURCE 1
	param set BAT_V_CHARGED 4.15
	param set BAT_V_DIV 11.1625
	param set BAT_V_EMPTY 3.65
	param set BAT_V_OFFS_CURR -0.0045

	# primary accel
	param set CAL_ACC_PRIME 1442826 #mpu6500
	#param set CAL_ACC_PRIME 1445386 #mpu9250

	# primary gyro
	param set CAL_GYRO_PRIME 2360330 #mpu6500
	#param set CAL_GYRO_PRIME 2362890 #mpu9250

	#primary Mag
	#param set CAL_MAG_PRIME 265738 #mpu9250

	# sensor calibration
	param set CAL_MAG0_ROT 0
	param set CAL_MAG_SIDES 63
	param set SENS_BOARD_ROT 0
	param set COM_ARM_MAG 1.5
	param set COM_ARM_EKF_AB 0.0032

	# circuit breakers
	param set CBRK_IO_SAFETY 22027
	param set CBRK_USB_CHK 197848

	# commander
	param set COM_DISARM_LAND 1
	param set COM_LOW_BAT_ACT 3
	param set COM_LOSS_LTR_T 20

	# ekf2
	param set EKF2_AID_MASK 1
	param set EKF2_GPS_CHECK 511
	param set EKF2_GPS_POS_X -0.04
	param set EKF2_IMU_POS_X -0.06
	param set EKF2_MIN_RNG 0.07
	param set EKF2_PCOEF_XN 0.1
	param set EKF2_PCOEF_XP -0.5
	param set EKF2_RNG_AID 1
	param set EKF2_RNG_A_VMAX 20.0
	param set EKF2_RNG_NOISE 0.2

	# gps
	param set GPS_UBX_DYNMODEL 7

	# geofence
	param set GF_ACTION 1

	# land detector
	param set LNDMC_THR_RANGE 0.50
	param set LNDMC_XY_VEL_MAX 1.0
	param set LNDMC_ROT_MAX 50.0

	# mavlink stream configuration
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 20000

	# mc_att_control
	param set MC_ACRO_P_MAX 360.0
	param set MC_ACRO_R_MAX 360.0
	param set MC_ACRO_Y_MAX 360.0

	param set MC_ROLL_P 6.0
	param set MC_ROLLRATE_P 0.055
	param set MC_ROLLRATE_I 0.2
	param set MC_ROLLRATE_D 0.0012
	param set MC_ROLLRATE_MAX 180.0

	param set MC_PITCHRATE_P 0.06
	param set MC_PITCHRATE_I 0.2
	param set MC_PITCHRATE_D 0.0012
	param set MC_PITCHRATE_MAX 180.0

	param set MC_YAW_P 1.0
	param set MC_YAWRATE_P 0.08
	param set MC_YAWRATE_I 0.08
	param set MC_YAWRATE_D 0.0
	param set MC_YAWRATE_MAX 180.0

	param set MOT_SLEW_MAX 0.15

	# mc_pos_control
	param set MPC_ACC_DOWN_MAX 10.0
	param set MPC_ACC_HOR 10.0
	param set MPC_ACC_HOR_MAX 15.0
	param set MPC_ACC_UP_MAX 10.0
	param set MPC_JERK_MAX 5.0
	param set MPC_LAND_ALT1 8.0
	param set MPC_LAND_ALT2 5.0
	param set MPC_MANTHR_MAX 0.85
	param set MPC_MANTHR_MIN 0.15
	param set MPC_MAN_TILT_MAX 45.0
	param set MPC_MAN_Y_MAX 200.0
	param set MPC_THR_MAX 0.85
	param set MPC_THR_MIN 0.15
	param set MPC_TILTMAX_AIR 45.0
	param set MPC_TKO_RAMP_T 0.75
	param set MPC_TKO_SPEED 0.75
	param set MPC_VEL_MANUAL 26.5
	param set MPC_XY_CRUISE 15.0
	param set MPC_XY_P 1.15
	param set MPC_XY_VEL_P 0.14
	param set MPC_XY_VEL_I 0.014
	param set MPC_XY_VEL_D 0.014
	param set MPC_XY_VEL_MAX 26.5
	param set MPC_Z_P 0.8
	param set MPC_TILTMAX_LND 18.0

	param set MPC_Z_VEL_D 0.02
	param set MPC_Z_VEL_MAX_DN 2.5
	param set MPC_Z_VEL_MAX_UP 6.0

	# navigator
	param set NAV_ACC_RAD 2.5
	param set NAV_RCL_ACT 1

	# pwm control
	param set PWM_DISARMED 900
	param set PWM_MAX 1850
	param set PWM_MIN 1075
	param set PWM_RATE 400

	# rtl
	param set RTL_DESCEND_ALT 5
	param set RTL_LAND_DELAY 5
	param set RTL_MIN_DIST 7.5
	param set RTL_RETURN_ALT 25

	# sensors
	param set SENS_EN_PGA460 1
	param set SENS_EN_THERMAL 1

	# serial comms
	param set SER_TEL2_BAUD 921600

fi