#!/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}

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

param set-default SIH_T_MAX 6
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_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-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
param set-default PWM_MAIN_FUNC4 101

param set-default EKF2_GPS_DELAY 0

# Rate controllers
param set-default FW_RR_P 0.0500
param set-default FW_RR_I 2.0000
param set-default FW_RR_D 0.0000
param set-default FW_RR_FF 0.0000
param set-default FW_RR_IMAX 1.0000

param set-default FW_PR_P 0.0800
param set-default FW_PR_I 2.5000
param set-default FW_PR_D 0.0000
param set-default FW_PR_FF 0.0000
param set-default FW_PR_IMAX 1.0000

param set-default FW_YR_P 0.0500
param set-default FW_YR_I 3.0000
param set-default FW_YR_D 0.0000
param set-default FW_YR_FF 0.0000
param set-default FW_YR_IMAX 1.0000