#!/bin/sh
#
# @name IO Camflyer
#
# @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>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.fw_defaults

if [ $AUTOCNF = yes ]
then
	param set FW_AIRSPD_MAX 15
	param set FW_AIRSPD_MIN 10
	param set FW_AIRSPD_TRIM 13
	param set FW_R_TC 0.3
	param set FW_P_TC 0.3
	param set FW_L1_DAMPING 0.74
	param set FW_L1_PERIOD 16
	param set FW_LND_ANG 15
	param set FW_LND_FLALT 5
	param set FW_LND_HHDIST 15
	param set FW_LND_HVIRT 13
	param set FW_LND_TLALT 5
	param set FW_THR_LND_MAX 0
	param set FW_PR_FF 0.35
	param set FW_PR_IMAX 0.4
	param set FW_PR_P 0.08
	param set FW_RR_FF 0.6
	param set FW_RR_IMAX 0.2
	param set FW_RR_P 0.04

	param set PWM_MAIN_DISARM 1000
fi

set MIXER fw_generic_wing

# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUT 4