#!/bin/sh
#
# @name ASL_SenseSoar2
#
# @type Plane A-Tail
# @class Plane
#
# @output MAIN1 aileron right
# @output MAIN2 aileron left
# @output MAIN3 v-tail right
# @output MAIN4 v-tail left
# @output MAIN5 throttle
# @output MAIN6 wheel
# @output MAIN7 flaps right
# @output MAIN8 flaps left
#
# @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 Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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

if [ $AUTOCNF == yes ]
then
    param set FW_AIRSPD_MIN 12
    param set FW_AIRSPD_TRIM 15
    param set FW_AIRSPD_MAX 20

    param set FW_MAN_P_MAX 45
    param set FW_MAN_R_MAX 45
    param set FW_R_LIM 55

    param set FW_WR_FF 0.2
    param set FW_WR_I 0.2
    param set FW_WR_IMAX 0.8
    param set FW_WR_P 1
    param set FW_W_RMAX 0

    # set disarmed value for the ESC
    param set PWM_DISARMED 1000
fi

set MIXER asl_sensoar2

# use PWM parameters for throttle channel
set PWM_OUT 5
