#!nsh
#
# @name Applied Aeronautics Albatross
#
# @type Standard Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @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 Andreas Antener <andreas@uaventure.com>
#

sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF == yes ]
then
    param set FW_AIRSPD_MIN 10
    param set FW_AIRSPD_TRIM 15
    param set FW_AIRSPD_MAX 20

    param set FW_MAN_P_MAX 55
    param set FW_MAN_R_MAX 55
    param set FW_R_LIM 55

    param set FW_WR_FF 0.2
    param set FW_WR_I 0.2
    param set FW_WR_IMAX 0.8
    param set FW_WR_P 1
    param set FW_W_RMAX 0

    # set disarmed value for the ESC
    param set PWM_DISARMED 1000
fi

set MIXER AAVVTWFF

# use PWM parameters for throttle channel
set PWM_OUT 5
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX