#!/bin/sh
#
# @name Gazebo rc_cessna
# @type Fixedwing
#

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

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_ARSPDSIM 1

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 0.2
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15

param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.4
param set-default FW_RR_I 0.7

param set-default FW_R_RMAX 56.15

param set-default FW_YR_FF 0.3
param set-default FW_YR_P 1.3
param set-default FW_YR_I 0.7

param set-default FW_PSP_OFF 0
param set-default FW_P_LIM_MIN -15

param set-default FW_SPOILERS_LND 0.4

param set-default FW_T_CLMB_MAX 5
param set-default FW_T_SINK_MAX 3.5
param set-default FW_T_SINK_MIN 3

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 COM_PREARM_MODE 2

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 SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MAX1 1000

param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_FUNC5 205
param set-default SIM_GZ_SV_FUNC6 206