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

<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->

<airframe name="setup_lisam2">

  <firmware name="setup">
    <target name="tunnel"           board="lisa_m_2.0"/>
    <target name="usb_tunnel"       board="lisa_m_2.0">
      <configure name="TUNNEL_PORT" value="UART3"/>
    </target>
    <target name="setup_actuators"  board="lisa_m_2.0">
      <subsystem name="actuators" type="pwm"/>
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_7AND8"/>
    </target>
  </firmware>

  <firmware name="test_progs">
    <target name="test_sys_time_timer"      board="lisa_m_2.0"/>
	<target name="test_sys_time_usleep"     board="lisa_m_2.0"/>
    <target name="test_telemetry"           board="lisa_m_2.0"/>
    <target name="test_ms2100"              board="lisa_m_2.0"/>

    <target name="test_actuators_pwm"       board="lisa_m_2.0">
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_7AND8"/>
    </target>
    <target name="test_actuators_pwm_sin"   board="lisa_m_2.0">
      <define name="USE_SERVOS_7AND8"/>
    </target>
    <target name="test_esc_mkk_simple"      board="lisa_m_2.0"/>
    <target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
    <target name="test_baro_board"          board="lisa_m_2.0">
      <configure name="BARO_LED" value="5"/>
      <!-- baro board options for Lisa/M 2.0: BARO_BOARD_BMP085, BARO_MS5611_I2C, BARO_MS5611_SPI (default) -->
      <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
    </target>
    <target name="test_adc"                 board="lisa_m_2.0"/>
    <target name="test_can"                 board="lisa_m_2.0"/>
    <target name="test_uart"                board="lisa_m_2.0">
      <define name="USE_UART2"/>
      <define name="UART2_BAUD" value="B57600"/>
      <define name="USE_UART3"/>
      <define name="UART3_BAUD" value="B57600"/>
    </target>
  </firmware>

  <servos>
    <servo name="1"   no="0" min="900" neutral="1000" max="2100"/>
    <servo name="2"   no="1" min="900" neutral="1000" max="2100"/>
    <servo name="3"   no="2" min="900" neutral="1000" max="2100"/>
    <servo name="4"   no="3" min="900" neutral="1000" max="2100"/>
    <servo name="5"   no="4" min="900" neutral="1000" max="2100"/>
    <servo name="6"   no="5" min="900" neutral="1000" max="2100"/>
    <servo name="7"   no="6" min="900" neutral="1000" max="2100"/>
    <servo name="8"   no="7" min="900" neutral="1000" max="2100"/>
  </servos>

  <command_laws>
  </command_laws>

</airframe>
