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

<airframe name="ardrone2_raw">

  <firmware name="rotorcraft">
    <!-- Main autopilot target -->
    <target name="ap" board="ardrone2_raw">
      <define name="USE_INS_NAV_INIT"/>
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>

      <define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
      <configure name="HOST" value="192.168.2.$(AC_ID)"/>
      <configure name="ARDRONE2_START_PAPARAZZI" value="1"/>
      <configure name="ARDRONE2_WIFI_MODE" value="2"/>
      <configure name="ARDRONE2_SSID" value="tudelft_swarmhub"/>
      <configure name="ARDRONE2_IP_ADDRESS_BASE" value="192.168.2."/>
      <configure name="ARDRONE2_IP_ADDRESS_PROBE" value="$(AC_ID)"/>

    </target>

	<!-- Subsystem section -->
	<subsystem name="telemetry" type="transparent_udp"/>
    <subsystem name="radio_control" type="datalink"/>
    <subsystem name="motor_mixing"/>
    <subsystem name="actuators" type="ardrone2"/>
    <subsystem name="imu" type="ardrone2"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs" type="int_cmpl_quat"/>
    <subsystem name="ins" type="extended"/>
  </firmware>

  <modules main_freq="512">
    <load name="gps_ubx_ucenter.xml"/>
    <load name="time_countdown.xml"/>
    <load name="TUDelft/imav2013.xml"/>
  </modules>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="3000"/>
  </commands>

  <servos driver="Default">
    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
  </servos>

  <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="255"/>

    <!-- Time cross layout (X), as documented in paparazzi -->
    <define name="ROLL_COEF" value="{   256, -256, -256,  256  }"/>
    <define name="PITCH_COEF" value="{  256,  256, -256,  -256 }"/>
    <define name="YAW_COEF" value="{   -256,  256, -256,  256  }"/>
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256  }"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[2]"/>
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[3]"/>
  </command_laws>

  <include href="conf/airframes/TUDelft/IMAV2013/ARDrone/$AC_ID_calib.xml"/>
  <section name="IMU" prefix="IMU_">
    <!-- Body to IMU is no difference -->
    <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"/>
  </section>

  <!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.513081"/>
    <define name="H_Y" value="-0.00242783"/>
    <define name="H_Z" value="0.858336"/>
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <!-- setpoints -->
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>
    <define name="REF_TAU" value="4"/>

    <!-- feedback -->
    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

    <define name="IGAIN_P" value="75"/>
    <define name="IGAIN_Q" value="75"/>
    <define name="IGAIN_R" value="50"/>

    <!-- feedforward -->
    <define name="DDGAIN_P" value="300"/>
    <define name="DDGAIN_Q" value="300"/>
    <define name="DDGAIN_R" value="300"/>
  </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_R" value="600" unit="deg/s"/>
    <define name="DEADBAND_A" value="0"/>
    <define name="DEADBAND_E" value="0"/>
    <define name="DEADBAND_R" value="250"/>

    <!-- reference -->
    <define name="REF_OMEGA_P" value="900" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.9"/>
    <define name="REF_MAX_P" value="600." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="900" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.9"/>
    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="600" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.9"/>
    <define name="REF_MAX_R" value="400." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN" value="592"/>
    <define name="PHI_DGAIN" value="303"/>
    <define name="PHI_IGAIN" value="0"/>

    <define name="THETA_PGAIN" value="606"/>
    <define name="THETA_DGAIN" value="303"/>
    <define name="THETA_IGAIN" value="0"/>

    <define name="PSI_PGAIN" value="529"/>
    <define name="PSI_DGAIN" value="353"/>
    <define name="PSI_IGAIN" value="0"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value="0"/>
    <define name="THETA_DDGAIN" value="0"/>
    <define name="PSI_DDGAIN" value="52"/>
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP" value="283"/>
    <define name="HOVER_KD" value="82"/>
    <define name="HOVER_KI" value="13"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="30" unit="deg"/>
    <define name="PGAIN" value="79"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="30"/>
  </section>

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

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.35" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="9.45" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>
</airframe>
