#!nsh
#
# @name Modified Parrot Disco
#
# @url
#
# @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 Jan Liphardt <JTLiphardt@gmail.com>
#

sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF == yes ]
then
	
	####################################
	# Airspeed
	####################################

	param set FW_AIRSPD_MIN  15 # = 29 knots
	param set FW_AIRSPD_TRIM 20 # = 39 knots
	param set FW_AIRSPD_MAX  27 # = 52 knots
	
	####################################
	# The Main L1 Controller
	####################################

	param set FW_L1_PERIOD 20 #units of meters
	
	#Damping factor for L1 control (def = 0.75)
	param set FW_L1_DAMPING 0.75

	####################################
	# Pitch
	####################################

	# Basic limits (def = +/- 45 deg)
	param set FW_P_LIM_MAX  45
	param set FW_P_LIM_MIN -45
	
	# Time Constant (def = 0.4s)	
	param set FW_P_TC 0.4

	# Pitch rate feed forward (def = 0.5 %/rad/sec)
	param set FW_PR_FF 0.35
	
	# Pitch rate integrator limit (def = 0.4)
	param set FW_PR_IMAX 0.4
	
	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
	param set FW_PR_P 0.08
	
	####################################
	# Roll
	####################################

	# Basic limits (def = 50 deg)	
	param set FW_R_LIM 40
	
	# Roll rate upper limit (def = 70 deg/s)
	param set FW_R_RMAX 50

	# Roll Time Constant (def = 0.4 s)
	param set FW_R_TC 0.4	
	
	# Roll rate feed forward (def = 0.5 %/rad/sec)	
	param set FW_RR_FF 0.5

	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
	param set FW_RR_P 0.05

	# Roll Integrator Anti-Windup
	param set FW_RR_IMAX 0.2
	
fi

set MIXER fw_generic_wing.main.mix

# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000