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

<!-- this is a quadrotor frame in X-configuration equipped with
     * Autopilot:   Lisa/M 2.0 with STM32F1  http://wiki.paparazziuav.org/wiki/Lisa/M_v2.0
     * IMU:         Aspirin 2.2              http://wiki.paparazziuav.org/wiki/AspirinIMU
     * Actuators:   HobbyKing Afro Slim 20A with BLHeli 14.0
     * GPS:         Datalink                 http://wiki.paparazziuav.org/wiki/Subsystem/gps
     * RC:          one Spektrum sat         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="MAVTec1">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0">
      <module name="radio_control" type="spektrum">
        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
        <define name="RADIO_MODE" value="RADIO_AUX2"/>
      </module>
      <configure name="NO_LUFTBOOT" value="1"/>
      <configure name="USE_BARO_BOARD" value="FALSE"/>
      <configure name="USE_MAGNETOMETER" value="0"/>
      <!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
    </target>

    <module name="motor_mixing"/>
    <module name="actuators"     type="pwm">
      <define name="SERVO_HZ"    value="400"/>
    </module>
    <module name="telemetry"     type="xbee_api"/>
    <module name="imu"           type="aspirin_v2.2"/>
    <module name="gps"           type="optitrack"/>
    <module name="stabilization" type="indi_simple"/>
    <module name="ahrs"          type="int_cmpl_quat">
      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
    </module>
    <module name="ins"           type="hff"/>
    <module name="guidance"      type="indi"/>
  </firmware>

  <modules>
  </modules>

  <servos driver="Pwm">
    <servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
    <servo name="MOTOR_1" no="1" min="1148" neutral="1200" max="1832"/>
    <servo name="MOTOR_2" no="2" min="1148" neutral="1200" max="1832"/>
    <servo name="MOTOR_3" no="3" min="1148" neutral="1200" max="1832"/>
  </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="MOTOR_0"  value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="MOTOR_1"  value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="MOTOR_2"  value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="MOTOR_3"  value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
  </command_laws>

  <section name="MISC">
    <define name="NAV_CLIMB_VSPEED" value="2.5"/>
    <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="ACCEL_X_NEUTRAL" value="29"/>
    <define name="ACCEL_Y_NEUTRAL" value="-5"/>
    <define name="ACCEL_Z_NEUTRAL" value="-344"/>
    <define name="ACCEL_X_SENS" value="4.88671674253" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.85140885386" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.89977338537" integer="16"/>

    <!-- replace this with your own calibration -->
    <define name="MAG_X_NEUTRAL" value="-88"/>
    <define name="MAG_Y_NEUTRAL" value="42"/>
    <define name="MAG_Z_NEUTRAL" value="44"/>
    <define name="MAG_X_SENS" value="3.55840131062" integer="16"/>
    <define name="MAG_Y_SENS" value="3.59312782171" integer="16"/>
    <define name="MAG_Z_SENS" value="4.16199901926" 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="180." 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"/>
    <define name="USE_GPS_HEADING" value="1"/>
  </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="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

    <define name="IGAIN_P" value="75"/>
    <define name="IGAIN_Q" value="75"/>
    <define name="IGAIN_R" value="50"/>
  </section>

 <section name="INS" prefix="INS_">
    <!-- Use GPS altitude measurments and set the R gain -->
    <define name="USE_GPS_ALT" value="1"/>
    <define name="VFF_R_GPS" value="0.01"/>
    <define name="VFF_VZ_R_GPS" value="0.01"/>
  </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="250." unit="deg/s"/>
    <define name="DEADBAND_R" value="200"/>

    <!-- reference -->
    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.85"/>
    <define name="REF_MAX_P" value="300." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
    <define name="REF_OMEGA_R" value="500" 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="900"/>
    <define name="PHI_DGAIN" value="200"/>
    <define name="PHI_IGAIN" value="200"/>
    <define name="THETA_PGAIN" value="900"/>
    <define name="THETA_DGAIN" value="200"/>
    <define name="THETA_IGAIN" value="200"/>
    <define name="PSI_PGAIN" value="900"/>
    <define name="PSI_DGAIN" value="200"/>
    <define name="PSI_IGAIN" value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value=" 200"/>
    <define name="THETA_DDGAIN" value=" 200"/>
    <define name="PSI_DDGAIN" value=" 200"/>
  </section>

  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
    <!-- control effectiveness -->
    <define name="G1_P" value="0.035"/>
    <define name="G1_Q" value="0.035"/>
    <define name="G1_R" value="0.004"/>
    <define name="G2_R" value="0.06"/>

    <!-- reference acceleration for attitude control -->
    <define name="REF_ERR_P" value="900.0"/>
    <define name="REF_ERR_Q" value="900.0"/>
    <define name="REF_ERR_R" value="600.0"/>
    <define name="REF_RATE_P" value="33.0"/>
    <define name="REF_RATE_Q" value="33.0"/>
    <define name="REF_RATE_R" value="28.0"/>

    <!-- second order filter parameters -->
    <define name="FILT_CUTOFF" value="8.0"/>
    <define name="FILT_CUTOFF_R" value="3.2"/>

    <!-- first order actuator dynamics -->
    <define name="ACT_DYN_P" value="0.03"/>
    <define name="ACT_DYN_Q" value="0.03"/>
    <define name="ACT_DYN_R" value="0.03"/>

    <!-- Adaptive Learning Rate -->
    <define name="USE_ADAPTIVE" value="FALSE"/>
    <define name="ADAPTIVE_MU" value="0.0001"/>
  </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="FALSE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="35" 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="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">
    <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"/>
  </section>

</airframe>
