<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
     Tiny 1.1 board (http://wiki.paparazziuav.org/wiki/Tiny)
     Tilted infrared sensor
     Xbee modem in API mode
-->

<airframe name="Microjet Tiny 1.1">


  <servos>
    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
    <servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL"     failsafe_value="0"/>
    <axis name="PITCH"    failsafe_value="0"/>
    <axis name="SHUTTER"    failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>
  </rc_commands>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR"         value="@THROTTLE"/>
    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.7"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="-1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="GYRO_P_SIGN"  value="1"/>
    <define name="GYRO_P_NEUTRAL" value="500"/>
    <!--define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/-->
    <!--define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/-->
    <!--define name="ROLL_SCALE" value="3.3*1000./1024./(IMU_ADXRS300_SENSITIVITY*IMU_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/-->
    <!--define name="RATE_DEGS_TO_RADINT" value="M_PI/180./4096."/-->
    <!--define name="GYRO_P_SENS" value="IMU_RATE_DEGS_TO_RADINT * IMU_ROLL_SCALE" integer="16"/-->
    <define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>

    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->

    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.03"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.0"/>
    <define name="COURSE_DGAIN" value="0.3"/>

    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="12000."/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1250"/>

    <define name="ROLL_SLEW" value="0.1"/>

    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
    <define name="ROLL_RATE_GAIN" value="1500"/>
  </section>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
    </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
  </section>


  <firmware name="fixedwing">
    <target name="sim" 			board="pc" />
    <target name="ap" 			board="tiny_1.1"/>

    <define name="AGR_CLIMB" />
    <define name="LOITER_TRIM" />

    <subsystem name="radio_control" type="ppm"/>

    <!-- Communication -->
    <subsystem name="telemetry" 	type="xbee_api">
      <configure name="MODEM_BAUD" 		value="B9600"/>
    </subsystem>

    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="imu"       type="analog">
      <configure name="GYRO_P" value="ADC_3"/>
    </subsystem>
    <subsystem name="gps"       type="ublox_utm"/>
    <subsystem name="navigation"/>
    <subsystem name="ins" type="alt_float"/>
  </firmware>

  <section name="GCS">
    <define name="AC_ICON" value="flyingwing"/>
  </section>

  <modules>
    <load name="openlog.xml"/>
    <load name="nav_survey_polygon.xml"/>
    <load name="nav_line_border.xml"/>
    <load name="nav_line.xml"/>
    <load name="nav_smooth.xml"/>
    <load name="nav_flower.xml"/>
    <load name="nav_line_osam.xml"/>
    <load name="nav_survey_poly_osam.xml"/>
    <load name="nav_vertical_raster.xml"/>
    <load name="nav_bungee_takeoff.xml"/>
    <load name="infrared_adc.xml"/>
    <load name="ahrs_infrared.xml"/>
    <load name="tune_airspeed.xml"/>
    <load name="digital_cam_servo.xml">
      <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
    </load>
  </modules>


  <firmware name="setup">
    <target name="tunnel"           board="tiny_1.1" />
    <target name="usb_tunnel"       board="tiny_1.1">
      <configure name="TUNNEL_PORT" value="UART0"/>
    </target>
  </firmware>

</airframe>
