#!/bin/sh
#
# @name SIH plane AERT
#
# @type Simulation
# @class Plane
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
#
# @board px4_fmu-v2 exclude
#

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

param set UAVCAN_ENABLE 0

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

# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15  # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3  # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4  # rudder

param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
param set HIL_ACT_FUNC4 101

# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2

# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281

param set SIH_T_MAX 6
param set SIH_MASS 0.3
param set SIH_IXX 0.00402
param set SIH_IYY 0.0144
param set SIH_IZZ 0.0177
param set SIH_IXZ 0.00046
param set SIH_KDV 0.2

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