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

<!-- this is a demo file for the OpenPilot CC3D board:
     * Autopilot:   OpenPilot CC3D         https://www.openpilot.org/product/coptercontrol/
     * Actuators:   two standard servos    http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
-->

<airframe name="DemoCC3D">

  <firmware name="demo">
    <target name="demo_ahrs_actuators" board="cc3d">
      <module name="telemetry" type="transparent"/>
      <module name="actuators" type="pwm"/>
      <module name="imu" type="mpu6000"/>
      <module name="ahrs" type="int_cmpl_quat"/>
      <configure name="USE_MAGNETOMETER" value="FALSE"/>
    </target>
    <!--define name="USE_PERSISTENT_SETTINGS" value="TRUE"/-->
    <configure name="AHRS_ALIGNER_LED" value="1"/>
  </firmware>

  <firmware name="test_progs">
    <target name="test_sys_time_timer" board="cc3d"/>
    <target name="test_sys_time_usleep" board="cc3d"/>
    <target name="test_telemetry" board="cc3d"/>
    <target name="test_imu" board="cc3d">
      <module name="imu" type="mpu6000"/>
    </target>
    <target name="test_ahrs" board="cc3d">
      <module name="imu" type="mpu6000"/>
      <module name="ahrs" type="int_cmpl_quat"/>
      <configure name="USE_MAGNETOMETER" value="FALSE"/>
    </target>
    <target name="test_actuators_pwm" board="cc3d"/>
  </firmware>

  <servos driver="Pwm">
    <servo name="ROLL"   no="0" min="1000" neutral="1500" max="2000"/>
    <servo name="PITCH"  no="1" min="1000" neutral="1500" max="2000"/>
  </servos>

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

  <command_laws>
    <set servo="ROLL"  value="-@ROLL"/>
    <set servo="PITCH" value="-@PITCH"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="180." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
  </section>

</airframe>
