From 611bb6e9801afc84a1dab3f4bbc574ac20e30890 Mon Sep 17 00:00:00 2001
From: PerFrivik <per.a.frivik@gmail.com>
Date: Tue, 21 May 2024 09:55:22 +0200
Subject: [PATCH] airframe fixes

---
 ROMFS/px4fmu_common/init.d/airframes/70001_boat  | 16 ++++++++++++----
 .../init.d/airframes/CMakeLists.txt              |  6 ++++++
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/70001_boat b/ROMFS/px4fmu_common/init.d/airframes/70001_boat
index 64e21b22bc..c357346506 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/70001_boat
+++ b/ROMFS/px4fmu_common/init.d/airframes/70001_boat
@@ -21,10 +21,18 @@ param set-default COM_ARM_WO_GPS 1 # Disable GPS prearm check
 param set-default COM_DISARM_LAND -1 # Don't disarm automatically
 param set-default COM_DISARM_PRFLT -1
 
-# Battery setup
-# param set-default BAT1_N_CELLS 1
-# param set-default BAT1_V_EMPTY 10
-# param set-default BAT1_V_CHARGED 18
+# Steering PWM output
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_MIN1 1000
+param set-default PWM_AUX_MAX1 2000
+# Engine throttle PWM output
+param set-default PWM_AUX_FUNC2 101
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_MIN2 940 # Engine doesn't rev below that
+param set-default PWM_AUX_MAX2 2000 # Maximum trhottle at which it's not so easy to flip the boat
+
+param set-default CA_AIRFRAME 5
 
 # Estimation
 param set-default EKF2_MULTI_IMU 0 # Disable multi-IMU
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 89498206c3..6c4477f46e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -157,3 +157,9 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		70001_boat
+	)
+endif()