#!nsh
#
# @name Wing Wing (aka Z-84) Flying Wing
#
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
#
# @type Flying Wing
#
# @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>
#

sh /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
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
set PWM_DISARMED 1000
