From 11508e080afdcdeddde00eef171a9f678b524867 Mon Sep 17 00:00:00 2001
From: Jan Liphardt <jan.liphardt@stanford.edu>
Date: Sat, 29 Jul 2017 14:12:14 -0700
Subject: [PATCH] Create 3037_parrot_disco_mod (#7621)

* Create 3037_parrot_disco_mod

Add support for the Parrot Disco airframe. Tested with both Pixhawk Mini and Pixracer, using a generic 30A ESC and a Cobra 2221/16 motor.

* Update 3037_parrot_disco_mod

fixed indentation per @Dagar

* Use new generic FW wing mixer (fw_generic_wing.main.mix)
---
 .../init.d/3037_parrot_disco_mod              | 91 +++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod

diff --git a/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
new file mode 100644
index 0000000000..c383c2e589
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod
@@ -0,0 +1,91 @@
+#!nsh
+#
+# @name Modified Parrot Disco
+#
+# @url
+#
+# @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 Jan Liphardt <JTLiphardt@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	
+	####################################
+	# Airspeed
+	####################################
+
+	param set FW_AIRSPD_MIN  15 # = 29 knots
+	param set FW_AIRSPD_TRIM 20 # = 39 knots
+	param set FW_AIRSPD_MAX  27 # = 52 knots
+	
+	####################################
+	# The Main L1 Controller
+	####################################
+
+	param set FW_L1_PERIOD 20 #units of meters
+	
+	#Damping factor for L1 control (def = 0.75)
+	param set FW_L1_DAMPING 0.75
+
+	####################################
+	# Pitch
+	####################################
+
+	# Basic limits (def = +/- 45 deg)
+	param set FW_P_LIM_MAX  45
+	param set FW_P_LIM_MIN -45
+	
+	# Time Constant (def = 0.4s)	
+	param set FW_P_TC 0.4
+
+	# Pitch rate feed forward (def = 0.5 %/rad/sec)
+	param set FW_PR_FF 0.35
+	
+	# Pitch rate integrator limit (def = 0.4)
+	param set FW_PR_IMAX 0.4
+	
+	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
+	param set FW_PR_P 0.08
+	
+	####################################
+	# Roll
+	####################################
+
+	# Basic limits (def = 50 deg)	
+	param set FW_R_LIM 40
+	
+	# Roll rate upper limit (def = 70 deg/s)
+	param set FW_R_RMAX 50
+
+	# Roll Time Constant (def = 0.4 s)
+	param set FW_R_TC 0.4	
+	
+	# Roll rate feed forward (def = 0.5 %/rad/sec)	
+	param set FW_RR_FF 0.5
+
+	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
+	param set FW_RR_P 0.05
+
+	# Roll Integrator Anti-Windup
+	param set FW_RR_IMAX 0.2
+	
+fi
+
+set MIXER fw_generic_wing.main.mix
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
+set PWM_DISARMED 1000