From 7a8640c459af96487f78b1949c1871ccf65c2498 Mon Sep 17 00:00:00 2001
From: stibipet <stibinger@fly4future.com>
Date: Wed, 24 Jan 2024 14:20:10 +0100
Subject: [PATCH] add skywalker airframe for gazebo-classic

---
 .../4440_gazebo-classic_skywalker_x8          | 68 +++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/4440_gazebo-classic_skywalker_x8

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gazebo-classic_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gazebo-classic_skywalker_x8
new file mode 100644
index 000000000000..96fa04f680bd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gazebo-classic_skywalker_x8
@@ -0,0 +1,68 @@
+#!/bin/sh
+#
+# @name SSRC Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+
+# Airspeed parameters
+param set-default ASPD_PRIMARY 1
+
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
+# 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
+
+## 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
+
+# Misc
+param set-default MIS_TAKEOFF_ALT 30.0
+param set-default RTL_RETURN_ALT 30.0
+
+