#!nsh
#
# Wing Wing (aka Z-84) Flying Wing
#
# Simon Wilks <sjwilks@gmail.com>
#

sh /etc/init.d/rc.fw_defaults

if [ $DO_AUTOCONFIG == yes ]
then
	param set BAT_N_CELLS 2
	param set FW_AIRSPD_MAX 15
	param set FW_AIRSPD_MIN 7
	param set FW_AIRSPD_TRIM 11
	param set FW_ATT_TC 0.3
	param set FW_L1_DAMPING 0.74
	param set FW_L1_PERIOD 12
	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_P_ROLLFF 2
	param set FW_PR_FF 0.6
	param set FW_PR_IMAX 0.2
	param set FW_PR_P 0.06
	param set FW_RR_FF 0.6
	param set FW_RR_IMAX 0.2
	param set FW_RR_P 0.09
	param set FW_THR_CRUISE 0.65
fi

set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_DISARMED 1000