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

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

<airframe name="fraser">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_1.0">
      <define name="ACTUATORS_START_DELAY" value="3"/>
    </target>

    <target name="nps" board="pc">
      <module name="fdm"           type="jsbsim"/>
    </target>

    <module name="radio_control" type="spektrum">
      <define name="RADIO_MODE" value="RADIO_AUX1"/>
      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
      <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
    </module>
    <module name="telemetry"     type="transparent"/>

    <module name="motor_mixing"/>
    <module name="actuators"     type="mkk"/>

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

    <module name="gps"           type="ublox"/>
    <module name="imu"           type="aspirin_v1.5"/>
    <module name="ahrs"          type="int_cmpl_quat">
      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
    </module>
    <module name="ins_extended"/>
    <module name="gps" type="ubx_ucenter"/>
    <module name="sys_mon"/>

	<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
  </firmware>

  <firmware name="setup">
    <target name="tunnel" board="lisa_m_1.0"/>
  </firmware>

  <firmware name="test_progs">
    <target name="test_sys_time_timer"      board="lisa_m_1.0"/>
	<target name="test_sys_time_usleep"     board="lisa_m_1.0"/>
    <target name="test_telemetry"           board="lisa_m_1.0"/>
    <target name="test_esc_mkk_simple"      board="lisa_m_1.0"/>
    <target name="test_uart"                board="lisa_m_1.0">
      <define name="USE_UART1"/>
      <define name="UART1_BAUD" value="B57600"/>
      <define name="USE_UART2"/>
      <define name="UART2_BAUD" value="B57600"/>
    </target>
    <target name="test_baro_board"          board="lisa_m_1.0"/>
    <target name="test_adc"                 board="lisa_m_1.0"/>
    <target name="test_imu"                 board="lisa_m_1.0">
      <module name="imu"           type="aspirin_v1.5"/>
    </target>
  </firmware>

  <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>

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
    <!-- FRONT, BACK, RIGHT, LEFT -->
    <define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
  </section>

  <servos driver="Mkk">
    <servo name="FRONT"  no="0"    min="0" neutral="2" max="200"/>
    <servo name="BACK"   no="1"    min="0" neutral="2" max="200"/>
    <servo name="RIGHT"  no="2"    min="0" neutral="2" max="200"/>
    <servo name="LEFT"   no="3"    min="0" neutral="2" max="200"/>
  </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="MAX_SATURATION_OFFSET" value="2000"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <!-- front/back turning CCW, left/right CW -->
    <define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
    <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_get_motors_on(),FALSE,values)"/>
    <set servo="FRONT" value="motor_mixing.commands[0]"/>
    <set servo="BACK"  value="motor_mixing.commands[1]"/>
    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
  </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"/>

	<define name="MAG_X_NEUTRAL" value="22"/>
	<define name="MAG_Y_NEUTRAL" value="-314"/>
	<define name="MAG_Z_NEUTRAL" value="13"/>
	<define name="MAG_X_SENS" value="3.68160078446" integer="16"/>
	<define name="MAG_Y_SENS" value="3.6093630842" integer="16"/>
	<define name="MAG_Z_SENS" value="3.48306842466" 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="-45." unit="deg"/>
  </section>

  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.3770441"/>
    <define name="H_Y" value="0.0193986"/>
    <define name="H_Z" value="0.9259921"/>
  </section>

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



  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoints -->
    <define name="SP_MAX_PHI"     value="60." unit="deg"/>
    <define name="SP_MAX_THETA"   value="60." 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="120"/>
    <define name="HOVER_KD"    value="100"/>
    <define name="HOVER_KI"    value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.38"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="APPROX_FORCE_BY_THRUST" value="TRUE"/>
    <define name="USE_REF" value="TRUE"/>
    <define name="MAX_BANK" value="30" unit="deg"/>
    <define name="PGAIN" value="100"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="0"/>
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
    <define name="JSBSIM_MODEL" value="simple_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_MODE" value="4"/>
  </section>

  <section name="AUTOPILOT">
    <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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>

</airframe>
