<!-- This is a star hexacopter frame equiped with Lisa/M 2.0, Aspirin 2.1 and hobbyking blue series 12A ESCs with SimonK firmware and 10/4.5 props -->

<!--
     Applicable configuration:
     airframe="airframes/esden/hexy_lm2a2pwm.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/rotorcraft_tri.xml"
     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->

<airframe name="hexy_lm2a2pwm">

  <servos driver="Pwm">
    <servo name="FRONT_LEFT"   no="0" min="1000" neutral="1100" max="1950"/>
    <servo name="FRONT_RIGHT"  no="1" min="1000" neutral="1100" max="1950"/>
    <servo name="RIGHT"        no="2" min="1000" neutral="1100" max="1950"/>
    <servo name="BACK_RIGHT"   no="3" min="1000" neutral="1100" max="1950"/>
    <servo name="BACK_LEFT"    no="4" min="1000" neutral="1100" max="1950"/>
    <servo name="LEFT"         no="5" min="1000" neutral="1100" max="1950"/>
  </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_LEFT"   value="motor_mixing.commands[0]"/>
    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[1]"/>
    <set servo="RIGHT"        value="motor_mixing.commands[2]"/>
    <set servo="BACK_RIGHT"   value="motor_mixing.commands[3]"/>
    <set servo="BACK_LEFT"    value="motor_mixing.commands[4]"/>
    <set servo="LEFT"         value="motor_mixing.commands[5]"/>
  </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="6"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"   value="{  256, -256, -256, -256,  256,  256 }"/>
    <define name="PITCH_COEF"  value="{  256,  256,    0, -256, -256,    0 }"/>
    <define name="YAW_COEF"    value="{  256, -256,  256, -256,  256, -256 }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
  </section>

  <include href="conf/airframes/esden/calib/asp21-026.xml"/>

  <section name="IMU" prefix="IMU_">
	  <define name="BODY_TO_IMU_PHI"   value="0."  unit="deg"/>
	  <define name="BODY_TO_IMU_THETA" value="180."  unit="deg"/>
	  <define name="BODY_TO_IMU_PSI"   value="180." unit="deg"/>
  </section>

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

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

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>

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

  </section>

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

    <!-- setpoints -->
    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
    <define name="SP_MAX_PSI"   value="RadOfDeg(45.)"/>
    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
    <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
    <define name="DEADBAND_R"     value="250"/>
    <define name="DEADBAND_A"     value="250"/>

    <!-- reference -->
    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
    <define name="REF_ZETA_P"   value="0.85"/>
    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
    <define name="REF_ZETA_Q"   value="0.85"/>
    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
    <define name="REF_ZETA_R"   value="0.85"/>
    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

    <!-- simonk esc firmware gains light quad? -->
    <!-- feedback -->
    <define name="PHI_PGAIN"  value="570"/>
    <define name="PHI_DGAIN"  value="400"/>
    <define name="PHI_IGAIN"  value="100"/>

    <define name="THETA_PGAIN"  value="570"/>
    <define name="THETA_DGAIN"  value="400"/>
    <define name="THETA_IGAIN"  value="100"/>

    <define name="PSI_PGAIN"  value="1300"/>
    <define name="PSI_DGAIN"  value="1000"/>
    <define name="PSI_IGAIN"  value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN"   value=" 530"/>
    <define name="THETA_DDGAIN" value=" 530"/>
    <define name="PSI_DDGAIN"   value=" 300"/>

  </section>

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

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="HOVER_KP"    value="830"/>
   <define name="HOVER_KD"    value="650"/>
   <define name="HOVER_KI"    value="100"/>
   <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
  </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"/>
 </modules>

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0">
      <subsystem name="radio_control" type="spektrum">
        <define name="RADIO_MODE" value="RADIO_FLAP"/>
        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
      </subsystem>
    </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_7AND8"/>
    </subsystem>

    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="imu"           type="aspirin_v2.1"/>
    <define name="LISA_M_LONGITUDINAL_X"/>
    <subsystem name="gps"           type="ublox"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="ins"/>
    <!--define name="USE_INS_NAV_INIT"/-->
    <!--subsystem name="stabilization"   type="int_euler"/>
    <subsystem name="ahrs"          type="int_cmpl_euler"/-->
  </firmware>

</airframe>
