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

<!-- this is a quadrotor frame in X-configuration equiped with
     * Autopilot:   Lisa/M 201 with STM32F4   http://wiki.paparazziuav.org/wiki/Lisa/M_v21
     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
     * Actuators:   Asctec motor controllers  http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
     * GPS:         UBlox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
     * RC:          one Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="MAVTec4">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0"/>
    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
    </target>

    <module name="radio_control" type="spektrum">
      <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
      <define name="RADIO_MODE" value="RADIO_GEAR"/>
    </module>

    <module name="motor_mixing"/>
    <module name="actuators"     type="asctec_v2"/>
    <module name="actuators"     type="pwm"/>
    <module name="telemetry"     type="xbee_api"/>
    <module name="imu"           type="aspirin_v2.1"/>
    <module name="gps"           type="ublox"/>
    <module name="stabilization" type="int_quat"/>
    <module name="ahrs"          type="int_cmpl_quat"/>
    <module name="ins" type="extended"/>
  </firmware>

  <modules>
    <module name="geo_mag"/>
    <module name="air_data"/>
    <module name="switch" type="servo"/>
    <module name="gps" type="ubx_ucenter"/>
  </modules>

  <servos driver="Asctec_v2">
    <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
    <servo name="RIGHT"   no="1" min="0" neutral="3" max="200"/>
    <servo name="BACK"    no="2" min="0" neutral="3" max="200"/>
    <servo name="LEFT"    no="3" min="0" neutral="3" max="200"/>
  </servos>

  <servos driver="Pwm">
     <servo name="DROP" no="4" min="1000" neutral="1500" max="2100"/>
  </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"/>
    <define name="REVERSE" value="TRUE"/>
  </section>

  <section name="SWITCH_SERVO">
    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
    <define name="DropOpen()" value="SwitchServoOn()"/>
    <define name="DropClose()" value="SwitchServoOff()"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="FRONT"   value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="RIGHT"   value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="BACK"    value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="LEFT"    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="14"/>
    <define name="MAG_Y_NEUTRAL" value="116"/>
    <define name="MAG_Z_NEUTRAL" value="119"/>
    <define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
    <define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
    <define name="MAG_Z_SENS" value="5.65287938992" 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="-90." 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_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoints -->
    <define name="SP_MAX_PHI" value="65." unit="deg"/>
    <define name="SP_MAX_THETA" value="65." 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="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_MODE" value="4"/>
  </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>
