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

<airframe name="Quark">

  <firmware name="fixedwing">
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <!--define name="AGR_CLIMB"/-->
    <define name="USE_AIRSPEED"/>
    <!--define name="LOITER_TRIM"/-->
    <!--define name="PITCH_TRIM"/-->
    <configure name="PERIODIC_FREQUENCY" value="125"/>
    <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
    <define name="CONTROL_FREQUENCY" value="125"/>

    <target name="sim" board="pc"/>
    <target name="ap" board="umarim_lite_2.0"/>

    <module name="radio_control" type="datalink"/>

    <!-- Communication -->
    <module name="telemetry" type="transparent"/>

    <!-- Actuators are automatically chosen according to board-->
    <module name="imu"   type="umarim"/>
    <module name="ahrs"  type="float_dcm"/>
    <module name="ins"   type="alt_float"/>
    <module name="control" type="new"/>
    <module name="navigation"/>
    <!-- Sensors -->
    <module name="gps" type="ublox"/>
    <module name="gps" type="ubx_ucenter"/>
  </firmware>


<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
    <servo name="AILEVON_LEFT" no="0" min="1900" neutral="1394" max="1100"/>
    <servo name="AILEVON_RIGHT" no="1" min="1100" neutral="1369" max="1900"/>
  </servos>

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

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
  </rc_commands>

  <command_laws>
    <let var="aileron" value="@ROLL"/>
    <let var="elevator" value="@PITCH"/>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="-1"/>
    <define name="GYRO_R_SIGN" value="-1"/>

    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>

    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="-1"/>
    <define name="ACCEL_Z_SIGN" value="-1"/>

    <define name="ACCEL_X_NEUTRAL" value="-13"/>
    <define name="ACCEL_Y_NEUTRAL" value="-14"/>
    <define name="ACCEL_Z_NEUTRAL" value="-34"/>

    <define name="ACCEL_X_SENS" value="38.8302353809" integer="16"/>
    <define name="ACCEL_Y_SENS" value="38.6959597569" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.2279525433" integer="16"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>
  </section>

  <section name="UMARIM IMU" prefix="UMARIM_">
    <define name="ACCEL_RANGE" value="ADXL345_RANGE_8G"/>
    <define name="GYRO_LOWPASS" value="ITG3200_DLPF_20HZ"/>
    <define name="GYRO_SMPLRT_DIV" value="7"/> <!-- 125 Hz -->
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
    <define name="MAX_BAT_LEVEL" value="8.0" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="6.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>

    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.15"/> <!-- -0.024 -->
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>

    <!-- Cruise throttle + limits -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>

    <!-- Climb loop (throttle) -->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
    <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->

    <!-- Climb loop (pitch) -->
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
    <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
    <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>

    <!-- airspeed control -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
    <define name="AIRSPEED_MAX" value="30" unit="m/s"/>
    <define name="AIRSPEED_MIN" value="10" unit="m/s"/>

    <!-- groundspeed control -->
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

    <!-- pitch trim --> <!-- 5 deg -->
    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

    <define name="THROTTLE_SLEW" value="0.1"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.7"/>
    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="ROLL_ATTITUDE_GAIN" value="3800."/>
    <define name="ROLL_RATE_GAIN" value="500."/>
    <define name="ROLL_IGAIN" value="150."/>
    <define name="ROLL_KFFA" value="0"/>
    <define name="ROLL_KFFD" value="0"/>

    <define name="PITCH_PGAIN" value="10000."/>
    <define name="PITCH_DGAIN" value="100."/>
    <define name="PITCH_IGAIN" value="250."/>
    <define name="PITCH_KFFA" value="0."/>
    <define name="PITCH_KFFD" value="0."/>

    <define name="PITCH_OF_ROLL" value="0.0" unit="deg"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

  <section name="SIMU">
    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
  </section>

</airframe>
