<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->
<!-- Using Lisa/S V1.0 board file as it is software compatible. -->

<!--
     Applicable configuration:
     airframe="airframes/examples/quadrotor_lisa_s.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/rotorcraft_basic.xml"
     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
-->

<airframe name="quadrotor_lisa_s">

  <servos driver="Pwm">
    <servo name="RIGHT" no="5" min="1000" neutral="1150" max="1830"/>
    <servo name="BACK" no="0" min="1000" neutral="1150" max="1830"/>
    <servo name="LEFT" no="1" min="1000" neutral="1150" max="1830"/>
    <servo name="FRONT" no="4" min="1000" neutral="1150" max="1830"/>
  </servos>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="FRONT" value="motor_mixing.commands[0]"/>
    <set servo="BACK" value="motor_mixing.commands[1]"/>
    <set servo="LEFT" value="motor_mixing.commands[2]"/>
    <set servo="RIGHT" value="motor_mixing.commands[3]"/>
  </command_laws>

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF" value="{     0,     0,  256, -256 }"/>
    <define name="PITCH_COEF" value="{  256,  -256,    0,    0 }"/>
    <define name="YAW_COEF" value="{   -256,  -256,  256,  256 }"/>
    <define name="THRUST_COEF" value="{ 256,   256,  256,  256 }"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="182." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>

    <!-- MAGNETO CALIBRATION DELFT -->
    <define name="MAG_X_NEUTRAL" value="-157"/>
    <define name="MAG_Y_NEUTRAL" value="-379"/>
    <define name="MAG_Z_NEUTRAL" value="130"/>
    <define name="MAG_X_SENS" value="3.65789837026" integer="16"/>
    <define name="MAG_Y_SENS" value="3.85373116155" integer="16"/>
    <define name="MAG_Z_SENS" value="4.28038049955" integer="16"/>

    <!-- MAGNETO CURRENT CALIBRATION -->
    <define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
    <define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
    <define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
  </section>

 <section name="AUTOPILOT">
   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
 </section>

 <section name="BAT">
   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
   <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
 </section>


  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <define name="SP_MAX_P" value="15000"/>
    <define name="SP_MAX_Q" value="15000"/>
    <define name="SP_MAX_R" value="15000"/>

    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="418"/>

    <define name="IGAIN_P" value="301"/>
    <define name="IGAIN_Q" value="302"/>
    <define name="IGAIN_R" value="303"/>
  </section>

  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

    <!-- setpoints -->
    <define name="SP_MAX_PHI" value="45." unit="deg"/>
    <define name="SP_MAX_THETA" value="45." unit="deg"/>
    <define name="SP_MAX_PSI" value="45." unit="deg"/>
    <define name="SP_MAX_R" value="90." unit="deg/s"/>
    <define name="SP_MAX_P" value="90." unit="deg/s"/>
    <define name="DEADBAND_R" value="250"/>
    <define name="DEADBAND_A" value="250"/>

    <!-- reference -->
   <define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.85"/>
    <define name="REF_MAX_P" value="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.85"/>
    <define name="REF_MAX_R" value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1000.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN" value="180"/>
    <define name="PHI_DGAIN" value="140"/>
    <define name="PHI_IGAIN" value="80"/>

    <define name="THETA_PGAIN" value="180"/>
    <define name="THETA_DGAIN" value="140"/>
    <define name="THETA_IGAIN" value="80"/>

    <define name="PSI_PGAIN" value="500"/>
    <define name="PSI_DGAIN" value="200"/>
    <define name="PSI_IGAIN" value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value="0"/>
    <define name="THETA_DDGAIN" value="0"/>
    <define name="PSI_DDGAIN" value="0"/>

    <define name="PHI_AGAIN" value="0"/>
    <define name="THETA_AGAIN" value="0"/>
    <define name="PSI_AGAIN" value="0"/>
  </section>

  <section name="INS" prefix="INS_">
  </section>

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="HOVER_KP" value="531"/>
   <define name="HOVER_KD" value="356"/>
   <define name="HOVER_KI" value="0"/>
   <define name="NOMINAL_HOVER_THROTTLE" value="0.669"/>
  </section>

  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value=" 0.47577"/>
    <define name="H_Y" value=" 0.11811"/>
    <define name="H_Z" value=" 0.87161"/>
  </section>

 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="50"/>
   <define name="DGAIN" value="50"/>
   <define name="IGAIN" value="0"/>
 </section>

 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
 </section>

 <modules main_freq="512">
   <load name="gps_ubx_ucenter.xml"/>
   <load name="send_imu_mag_current.xml"/>
 </modules>

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
      <subsystem name="radio_control" type="superbitrf_rc">
        <define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
        <define name="RADIO_TRANSMITTER_CHAN" value="6"/>
        <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
      </subsystem>

      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
    </target>

    <target name="nps" board="pc">
      <subsystem name="fdm" type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
    </target>

    <subsystem name="motor_mixing"/>
    <subsystem name="actuators" type="pwm">
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_1AND2"/>
    </subsystem>

    <subsystem name="telemetry" type="superbitrf"/>
    <subsystem name="imu" type="lisa_s_v1.0"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs" type="int_cmpl_quat"/>
    <subsystem name="ins"/>
  </firmware>
</airframe>
