#!/bin/sh
#
# @name Wing Wing (aka Z-84) Flying Wing
#
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
#
# @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 intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}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_R_TC 0.3
	param set FW_P_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_RR_FF 0.6
	param set FW_RR_P 0.04

	param set PWM_DISARMED 1000
fi

# Configure this as plane.
set MAV_TYPE 1

# Set mixer.
set MIXER wingwing

# Provide ESC a constant 1000 us pulse.
set PWM_OUT 4
