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

<!--
     Parrot Disco
-->

<airframe name="Disco">

  <firmware name="fixedwing">
    <configure name="PERIODIC_FREQUENCY" value="120"/>
    <configure name="USE_MAGNETOMETER" value="TRUE"/>

    <target name="ap" board="disco"/>
    <target name="sim" board="pc"/>

    <module name="radio_control" type="sbus"/>
    <module name="telemetry" type="transparent_udp"/>

    <module name="imu" type="disco"/>
    <module name="ahrs" type="float_dcm"/>
    <module name="gps" type="ublox"/>
    <module name="gps" type="ubx_ucenter"/>
    <module name="ins" type="alt_float"/>
    <module name="airspeed" type="ms45xx_i2c">
      <define name="MS45XX_I2C_DEV" value="i2c1"/>
      <define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
    </module>
    <module name="air_data"/>
    <module name="actuators" type="disco"/>
    <module name="control" type="new"/>
    <module name="navigation"/>
    <module name="sonar_bebop">
      <define name="USE_SONAR"/>
      <define name="SENSOR_SYNC_SEND_SONAR"/>
    </module>
  </firmware>

  <servos>
    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/>
    <servo name="AILEVON_RIGHT" no="6" min="1900" neutral="1500" max="1100"/>
    <servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" 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>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <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="ACCEL_X_NEUTRAL" value="-141"/>
    <define name="ACCEL_Y_NEUTRAL" value="13"/>
    <define name="ACCEL_Z_NEUTRAL" value="-12"/>
    <define name="ACCEL_X_SENS" value="2.43116617606" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.46264528353" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.41899590699" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-164"/>
    <define name="MAG_Y_NEUTRAL" value="-244"/>
    <define name="MAG_Z_NEUTRAL" value="-590"/>
    <define name="MAG_X_SENS" value="7.76268606256" integer="16"/>
    <define name="MAG_Y_SENS" value="7.53777959342" integer="16"/>
    <define name="MAG_Z_SENS" value="8.13033580043" 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="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.5141"/>
    <define name="H_Y" value="0.0002"/>
    <define name="H_Z" value="0.8576"/>
  </section-->

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="H_X" value="0.5141"/>
    <define name="H_Y" value="0.0002"/>
    <define name="H_Z" value="0.8576"/>
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

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

    <define name="APP_ANGLE" value="8" unit="deg"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.12"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
    <!-- disable climb rate limiter -->
    <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

    <!-- Cruise throttle + limits -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>

    <!-- Climb loop (throttle) -->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>

    <!-- Climb loop (pitch) -->
    <define name="AUTO_PITCH_PGAIN" value="0.027"/>
    <define name="AUTO_PITCH_DGAIN" value="0.01"/>
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

    <!-- 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"/>
    <define name="AIRSPEED_MIN" value="10"/>

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

    <!-- pitch trim -->
    <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="0.743"/>
    <define name="COURSE_TAU" value="0.5"/>
    <define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
    <define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
    <define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>

    <define name="ROLL_ATTITUDE_GAIN" value="11000."/>
    <define name="ROLL_RATE_GAIN" value="1000."/>
    <define name="ROLL_IGAIN" value="100."/>
    <define name="ROLL_KFFA" value="0"/>
    <define name="ROLL_KFFD" value="0"/>

    <define name="PITCH_PGAIN" value="17250"/>
    <define name="PITCH_DGAIN" value="500."/>
    <define name="PITCH_IGAIN" value="400"/>
    <define name="PITCH_KFFA" value="0."/>
    <define name="PITCH_KFFD" value="0."/>

    <define name="PITCH_OF_ROLL" value="1." unit="deg"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="ELEVATOR_OF_ROLL" value="1400"/>
  </section>

  <section name="NAV">
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
  </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="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
  </section>

  <section name="SIMU">
    <define name="ROLL_RESPONSE_FACTOR" value="20"/>
    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
    <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
  </section>

</airframe>
