#!/bin/bash


#inner loop
#./setparam 'roll rate pid' 'kp' 2000
#./setparam 'roll rate pid' 'ki' 0
#./setparam 'roll rate pid' 'kd' 0

#./setparam 'pitch rate pid' 'kp' 2000
#./setparam 'pitch rate pid' 'ki' 0
#./setparam 'pitch rate pid' 'kd' 0

#./setparam 'roll pid' 'kp' 10
#./setparam 'roll pid' 'ki' 0

#./setparam 'pitch pid' 'kp' 10
#./setparam 'pitch pid' 'ki' 0

#outer loop
./setparam 'X pos PID' 'kp' -0.015
./setparam 'X pos PID' 'ki' -0.0005
./setparam 'X pos PID' 'kd' -0.25
./setparam 'X pos PID' 'alpha' 0.88

./setparam 'Y pos PID' 'kp' 0.015
./setparam 'Y pos PID' 'ki' 0.0005
./setparam 'Y pos PID' 'kd' 0.25
./setparam 'Y pos PID' 'alpha' 0.88
