From 39965d3ef146d0682c591d785affcd05f468c77e Mon Sep 17 00:00:00 2001
From: Pedro-Roque <padr@kth.se>
Date: Wed, 14 Jan 2026 11:45:39 -0800
Subject: [PATCH] feat: add romfs for boat

---
 .../init.d-posix/airframes/40000_gz_boat      | 35 +++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/40000_gz_boat

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/40000_gz_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/40000_gz_boat
new file mode 100644
index 0000000000..ba09fb6671
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/40000_gz_boat
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=ocean}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=boat}
+
+param set-default SIM_GZ_EN 1
+
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX -2
+param set-default CA_ROTOR0_PY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX -2
+param set-default CA_ROTOR1_PY 1
+param set-default CA_R_REV 3
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS0_TRQ_Y 1
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_SV_FUNC1 201