px4_autopilot/ROMFS/px4fmu_common/init.d/airframes/3031_phantom

#!nsh
#
# @name Phantom FPV Flying Wing
#
# @url https://docs.px4.io/en/frames_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Simon Wilks <simon@uaventure.com>
#

sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF = yes ]
then
	param set FW_AIRSPD_MIN 13
	param set FW_AIRSPD_TRIM 15
	param set FW_AIRSPD_MAX 25
	param set FW_R_TC 0.3
	param set FW_P_TC 0.3
	param set FW_L1_DAMPING 0.75
	param set FW_L1_PERIOD 15
	param set FW_PR_FF 0.2
	param set FW_PR_IMAX 0.2
	param set FW_PR_P 0.03
	param set FW_P_LIM_MAX 50
	param set FW_P_LIM_MIN -50
	param set FW_P_ROLLFF 1
	param set FW_RR_FF 0.5
	param set FW_RR_IMAX 0.2
	param set FW_RR_P 0.08
	param set FW_R_LIM 50
	param set FW_R_RMAX 50

	param set PWM_DISARMED 1000

	# Bottom of bay and nominal zero-pitch attitude differ
	# the payload bay is pitched up about 7 degrees
	param set SENS_BOARD_Y_OFF 7.0
fi

set MIXER phantom

# Provide ESC a constant 1000 us pulse
set PWM_OUT 4