From 4ebd125fc39b30533621ad35c74c778296f56aba Mon Sep 17 00:00:00 2001
From: haitomatic <hai.to@unikie.com>
Date: Thu, 7 Mar 2024 16:25:19 +0000
Subject: [PATCH] exp

---
 .../airframes/4440_gz_ssrc_skywalker_x8       | 67 +++++++------------
 1 file changed, 25 insertions(+), 42 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
index 19bbc435d508..697bf6a1bb6f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
@@ -39,54 +39,37 @@ param set-default SIM_GZ_EC_MAX1 1000
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_FUNC2 202
 
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
 # Airspeed parameters
 param set-default ASPD_PRIMARY 1
-# param set-default FW_AIRSPD_MAX 22.0
-# param set-default FW_AIRSPD_MIN 14.0
-# param set-default FW_AIRSPD_STALL 12.0
-# param set-default FW_AIRSPD_TRIM 18.0
-
-# Maximum landing slope angle in deg
-param set-default FW_LND_ANG 8
+param set-default FW_AIRSPD_MAX 22.0
+param set-default FW_AIRSPD_MIN 14.0
+param set-default FW_AIRSPD_STALL 12.0
+param set-default FW_AIRSPD_TRIM 18.0
 
 # RC loss failsafe to HOLD mode
 param set-default COM_RC_IN_MODE 1
 
-# Fixed wing control
-# Pitch rate
-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
-# Pitch angle in deg
-param set-default FW_PSP_OFF 0
-param set-default FW_P_LIM_MIN -15
-# Roll rate
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-# Yaw rate
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-# Throttle limit
-# param set-default FW_THR_MAX 0.6
-# param set-default FW_THR_MIN 0.05
-# param set-default FW_THR_TRIM 0.25
-# Climb and sink rate
-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
-
-# Navigation
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
+# Maximum manual roll angle
+param set-default FW_MAN_R_MAX 60.0
 
-# Misc
-param set-default MIS_TAKEOFF_ALT 30.0
-param set-default RTL_RETURN_ALT 30.0
+# Rate control
+param set-default FW_RR_IMAX 0.4000
+param set-default FW_YR_IMAX 0.4000
+
+# # Climb and sink rate
+# 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
 
-# Catapult launch with acc threshold trigger
+# # Navigation
+# param set-default NAV_ACC_RAD 15
+# param set-default NAV_DLL_ACT 2
+
+# Launch detection
 param set-default FW_LAUN_DETCN_ON 1
-param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-param set-default FW_LAUN_AC_THLD 10
+
+# Misc
+param set-default RTL_RETURN_ALT 30.0