#!/bin/sh
#
# @name TBS Caipirinha
#
# @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 Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


param set-default FW_AIRSPD_MAX 25
param set-default FW_AIRSPD_MIN 12.5
param set-default FW_AIRSPD_TRIM 16.5
param set-default FW_L1_DAMPING 0.75
param set-default FW_L1_PERIOD 15
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 8
param set-default FW_LND_HHDIST 15
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 10
param set-default FW_THR_LND_MAX 0
param set-default FW_P_LIM_MAX 20
param set-default FW_P_LIM_MIN -30
param set-default FW_R_LIM 45
param set-default FW_R_TC 0.4
param set-default FW_P_TC 0.4
param set-default FW_PR_FF 0.45
param set-default FW_PR_IMAX 0.4
param set-default FW_PR_P 0.005
param set-default FW_RR_FF 0.45
param set-default FW_RR_IMAX 0.2
param set-default FW_RR_P 0.013
param set-default FW_P_RMAX_NEG 70
param set-default FW_P_RMAX_POS 70
param set-default FW_R_RMAX 70
param set-default FW_THR_CRUISE 0.55

param set-default LNDFW_AIRSPD_MAX 6
param set-default LNDFW_XYACC_MAX 4
param set-default LNDFW_VEL_XY_MAX 3
param set-default LNDFW_VEL_Z_MAX 5

param set-default MIS_TAKEOFF_ALT 50

param set-default NAV_LOITER_RAD 30

param set-default PWM_MAIN_REV1 1
param set-default PWM_MAIN_REV2 1
param set-default PWM_MAIN_MIN 900
param set-default PWM_MAIN_MAX 2100


set MIXER caipi
set PWM_OUT 1234
