#!/bin/sh
#
# @name Plane SITL for SIH
#
# @type Plane
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>

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

PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}

# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

param set-default BAT_N_CELLS 3

param set-default SIH_T_MAX 6.0
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
param set-default SIH_IYY 0.0144
param set-default SIH_IZZ 0.0177
param set-default SIH_IXZ 0.00046
param set-default SIH_KDV 0.2

param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)


param set-default CA_AIRFRAME 1

param set-default CA_ROTOR_COUNT 1

param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_P 1.0
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1.0
param set-default CA_SV_CS2_TYPE 4
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202
param set-default PWM_MAIN_FUNC5 203
param set-default PWM_MAIN_FUNC6 101