#!/bin/sh
#
# @name ThunderFly Auto-G2
#
# @type Autogyro
# @class Autogyro
#
# @output MAIN1 rotor_head_L
# @output MAIN2 rotor_head_R
# @output MAIN3 elevator
# @output MAIN4 rudder
# @output MAIN5 rudder (second, optional)
# @output MAIN6 throttle
# @output MAIN7 wheel
#
# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
#
# @url https://github.com/ThunderFly-aerospace/Auto-G2/
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

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


param set-default BAT1_CAPACITY 2500
param set-default BAT1_N_CELLS 3

param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50

param set-default SENS_BOARD_ROT 8

param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_CRUISE 0.8

param set-default FW_MAN_P_MAX 25
param set-default FW_MAN_R_MAX 25
param set-default FW_PR_I 0.02
param set-default FW_R_LIM 40
param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_P_RMAX_NEG 20

set MIXER TF-AutoG2
set MIXER_AUX pass