#!/bin/sh
#
# @name Plane SITL with camera
#

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



param set-default FW_LND_ANG 8

param set-default NPFG_PERIOD 12

param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15

param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15

param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5

param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5

param set-default FW_SPOILERS_LND 0.4

param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_TRIM 0.25

param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2

param set-default FW_W_EN 1

param set-default MIS_TAKEOFF_ALT 30

param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2

param set-default RWTO_TKOFF 1

param set-default CA_AIRFRAME 1

param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3

param set-default CA_SV_CS_COUNT 6
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_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
param set-default PWM_MAIN_FUNC3 204
param set-default PWM_MAIN_FUNC4 205
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_FUNC9 206
param set-default PWM_MAIN_REV 256

# Camera trigger interface is MAVLink
param set-default TRIG_INTERFACE 3

# Distance trigger mode enabled
param set-default TRIG_MODE 4

#gimbal control
param set-default MNT_MODE_IN 4
param set-default MNT_MODE_OUT 2
param set-default MAV_PROTO_VER 2
param set-default PWM_MAIN_FUNC10 420
param set-default PWM_MAIN_FUNC11 421
param set-default PWM_MAIN_FUNC12 422