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#!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
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