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

<!-- this is a quadrotor frame in X-configuration equiped with
     * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="Quadrotor LisaMX_2.1 pwm">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.1_chibios">
      <module name="radio_control" type="sbus">
        <configure name="SBUS_PORT" value="UART5"/>
      </module>
      <configure name="HAS_LUFTBOOT" value="1"/>
      <configure name="FLASH_MODE" value="DFU"/>
    </target>

    <configure name="PERIODIC_FREQUENCY" value="160"/>


    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
      <module name="radio_control" type="spektrum"/>
      <!--configure name="USE_HITL" value="1"/-->
      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
      <configure name="INS_BAUD" value="B921600"/>
      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
      <configure name="AP_BAUD" value="B921600"/>
    </target>

    <module name="stabilization" type="int_quat"/>

    <module name="motor_mixing"/>
    <module name="actuators"     type="pwm">
      <define name="SERVO_HZ" value="400"/>
    </module>

    <module name="telemetry"   type="transparent">
      <configure name="MODEM_PORT"        value="UART3"/>
      <configure name="MODEM_BAUD"        value="B115200"/>
    </module>

    <module name="ins"       type="vectornav">
      <configure name="VN_PORT" value="UART2"/>
      <configure name="VN_BAUD" value="B921600"/>
    </module>

    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
  </firmware>


  <modules>
    <module name="sys_mon"/>
    <module name="extra_dl">
      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
      <define name="REMAP_UART1" value="TRUE"/>
      <configure name="EXTRA_DL_PORT" value="UART1"/>
      <configure name="EXTRA_DL_BAUD" value="B921600"/>
    </module>
    <module name="lidar_lite">
      <configure name="LIDAR_LITE_I2C_DEV" value="i2c2"/>
    </module>
    <!--module name="battery_monitor.xml">
      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
      <define name="BATMON_TEMP_OFFSET" value="250"/>
      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
    </module-->
  </modules>

    <servos driver="Pwm">
    <servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
    <servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
    <servo name="BR" no="2" min="1000" neutral="1100" max="1900"/>
    <servo name="BL" no="3" min="1000" neutral="1100" max="1900"/>
  </servos>

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

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
    <define name="TYPE" value="QUAD_X"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">
    <define name="ACCEL_X_NEUTRAL" value="11"/>
    <define name="ACCEL_Y_NEUTRAL" value="11"/>
    <define name="ACCEL_Z_NEUTRAL" value="-25"/>

    <!-- replace this with your own calibration -->
    <define name="MAG_X_NEUTRAL" value="-179"/>
    <define name="MAG_Y_NEUTRAL" value="-21"/>
    <define name="MAG_Z_NEUTRAL" value="79"/>
    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>

    <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>

  <section name="AHRS" prefix="AHRS_">
    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
    <define name="H_X" value="0.3770441"/>
    <define name="H_Y" value="0.0193986"/>
    <define name="H_Z" value="0.9259921"/>
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <!-- setpoints -->
    <define name="SP_MAX_P" value="140" unit="deg/s"/>
    <define name="SP_MAX_Q" value="140" unit="deg/s"/>
    <define name="SP_MAX_R" value="140" unit="deg/s"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>

    <!-- feedback -->
    <define name="GAIN_P" value="800"/>
    <define name="GAIN_Q" value="800"/>
    <define name="GAIN_R" value="700"/>

    <define name="IGAIN_P" value="240"/>
    <define name="IGAIN_Q" value="240"/>
    <define name="IGAIN_R" value="160"/>
  </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="90." 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="400" unit="deg/s"/>
    <define name="REF_ZETA_P"   value="0.85"/>
    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

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

    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
    <define name="REF_ZETA_R"   value="0.85"/>
    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN"  value="1000"/>
    <define name="PHI_DGAIN"  value="400"/>
    <define name="PHI_IGAIN"  value="200"/>

    <define name="THETA_PGAIN"  value="1000"/>
    <define name="THETA_DGAIN"  value="400"/>
    <define name="THETA_IGAIN"  value="200"/>

    <define name="PSI_PGAIN"  value="500"/>
    <define name="PSI_DGAIN"  value="300"/>
    <define name="PSI_IGAIN"  value="10"/>

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

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP"    value="150"/>
    <define name="HOVER_KD"    value="80"/>
    <define name="HOVER_KI"    value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="USE_SPEED_REF" value="TRUE"/>
    <define name="PGAIN" value="50"/>
    <define name="DGAIN" value="100"/>
    <define name="AGAIN" value="70"/>
    <define name="IGAIN" value="20"/>
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
    <define name="JS_AXIS_THROTTLE" value="0"/>
    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>

    <define name="JS_AXIS_ROLL" value="1"/>

    <define name="JS_AXIS_PITCH" value="2"/>
    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>

    <define name="JS_AXIS_YAW" value="3"/>
    <define name="JS_AXIS_YAW_REVERSED" value="1"/>

    <define name="JS_AXIS_MODE" value="7"/>
  </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">
    <!-- Flight values -->
    <!--
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
    -->

    <!-- Simulator values -->
    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
  </section>

</airframe>
