<!-- this is a tiny MavRick fixedwing frame equiped with Lisa/S 0.1 -->
<!-- Using Lisa/S V1.0 board file as it is software compatible. -->

<!--
     Applicable configuration:
     airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/fixedwing_basic.xml"
     settings="settings/fixedwing_basic.xml"
-->

<airframe name="MavRick_LisaS">

  <firmware name="fixedwing">
    <define name="AGR_CLIMB" />
    <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"/>
      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
    </subsystem>

    <!-- Communication -->
    <subsystem name="telemetry" type="superbitrf"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="imu"     type="lisa_s_v1.0"/>
    <subsystem name="ahrs"    type="float_dcm"/>
      <define name="LISA_S_UPSIDE_DOWN"/>
    <subsystem name="control"/>
    <subsystem name="navigation"/>
    <!-- Sensors -->
    <subsystem name="gps" type="ublox"/>
    <subsystem name="ins" type="alt_float"/>

    <subsystem name="actuators" type="pwm_double"/>
  </firmware>

 <modules>
   <load name="gps_ubx_ucenter.xml"/>
 </modules>

<!-- commands section -->
  <servos driver="Pwm">
    <servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
  </servos>
  <servos driver="Pwm_double">
    <servo name="AILEVON_LEFT" no="0" min="1200" neutral="1500" max="1800"/>
    <servo name="AILEVON_RIGHT" no="1" min="1800" neutral="1500" max="1200"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="PITCH" 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="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." 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"/>

    <!-- From delft MAVLab -->
    <define name="MAG_X_NEUTRAL" value="847"/>
    <define name="MAG_Y_NEUTRAL" value="-415"/>
    <define name="MAG_Z_NEUTRAL" value="-264"/>
    <define name="MAG_X_SENS" value="2.43585513661" integer="16"/>
    <define name="MAG_Y_SENS" value="3.71461295002" integer="16"/>
    <define name="MAG_Z_SENS" value="3.4639003008" integer="16"/>
  </section>


  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="3.2" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="3.7" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <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_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"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

</airframe>
