#!nsh
#
# Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <simon@px4.io>
#

sh /etc/init.d/rc.fw_defaults

if [ $AUTOCNF == yes ]
then
	param set BAT_N_CELLS 2
	param set FW_AIRSPD_MAX 15
	param set FW_AIRSPD_MIN 10
	param set FW_AIRSPD_TRIM 13
	param set FW_ATT_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_I 0.005
	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_I 0.005
	param set FW_RR_IMAX 0.2
	param set FW_RR_P 0.04
	param set MT_TKF_PIT_MAX 30.0
	param set MT_ACC_D 0.2
	param set MT_ACC_P 0.6
	param set MT_A_LP 0.5
	param set MT_PIT_OFF 0.1
	param set MT_PIT_I 0.1
	param set MT_THR_OFF 0.65
	param set MT_THR_I 0.35
	param set MT_THR_P  0.2
	param set MT_THR_FF 1.5
fi

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