#!nsh
#
# Phantom FPV Flying Wing
#
# Simon Wilks <simon@px4.io>
#

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_ATT_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_I 0.005
	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_I 0.02
	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 0
	# 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
set PWM_DISARMED 1000