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

<airframe name="bebop_indi">
  <description>Bebop with MavLink
  </description>


  <firmware name="rotorcraft">
    <target name="ap" board="bebop">
      <define name="STABILIZATION_INDI_G2_R" value="0.1450"/>
    </target>

    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
      <module name="udp"/>
      <define name="STABILIZATION_INDI_G2_R" value="0.0"/>
    </target>

    <!--define name="USE_SONAR" value="TRUE"/-->

	<!-- Subsystem section -->
    <module name="telemetry" type="transparent_udp"/>
    <module name="radio_control" type="datalink"/>
    <module name="motor_mixing"/>
    <module name="actuators" type="bebop"/>
    <module name="imu" type="bebop"/>
    <module name="gps" type="furuno"/>
    <module name="stabilization" type="indi_simple"/>
    <module name="ahrs" type="int_cmpl_quat">
      <configure name="USE_MAGNETOMETER" value="TRUE"/>
      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
    </module>
    <module name="ins" type="extended"/>
  </firmware>

  <modules main_freq="512">
    <module name="geo_mag"/>
    <module name="air_data"/>
    <module name="send_imu_mag_current"/>
    <!--module name="logger_file">
      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
    </module-->
    <module name="video_thread"/>

    <module name="cv_blob_locator">
      <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
    </module>

    <!--<module name="video_rtp_stream">
      <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
    </module>-->

    <module name="nav" type="survey_rectangle_rotorcraft">
      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
    </module>
    <module name="nav" type="survey_poly_rotorcraft">
      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
    </module>
    <module name="video_capture">
      <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
    </module>
    <module name="digital_cam_video">
      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
    </module>
    <module name="video_exif"/>
    <module name="mavlink">
      <define name="UDP1_PORT_OUT" value="5000"/>
      <define name="UDP1_PORT_IN" value="5000"/>
      <define name="UDP1_HOST" value="192.168.42.2"/>
      <configure name="MAVLINK_PORT" value="UDP1"/>
      <define name="MAVLINK_SYSID" value="1"/>
    </module>
  </modules>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="6000"/>
  </commands>

  <servos driver="Default">
    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
  </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="TYPE" value="QUAD_X"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
  </command_laws>

  <section name="AIR_DATA" prefix="AIR_DATA_">
    <define name="CALC_AIRSPEED" value="FALSE"/>
    <define name="CALC_TAS_FACTOR" value="FALSE"/>
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

  <include href="conf/airframes/tudelft/calibrations/bebop5.xml" />

  <section name="IMU" prefix="IMU_">
    <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="0." unit="deg"/>
  </section>

  <!-- local magnetic field -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
  <section name="AHRS" prefix="AHRS_">
    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
    <!-- Toulouse -->
    <!--define name="H_X" value="0.513081"/>
    <define name="H_Y" value="-0.00242783"/>
    <define name="H_Z" value="0.858336"/-->
    <!-- Delft -->
    <define name="H_X" value="0.3892503"/>
    <define name="H_Y" value="0.0017972"/>
    <define name="H_Z" value="0.9211303"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="SONAR_MAX_RANGE" value="2.2"/>
    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
  </section>


  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoint limits for attitude stabilization rc flight -->
    <define name="SP_MAX_PHI" value="45" unit="deg"/>
    <define name="SP_MAX_THETA" value="45" unit="deg"/>
    <define name="SP_MAX_R" value="300" unit="deg/s"/>
    <define name="DEADBAND_A" value="0"/>
    <define name="DEADBAND_E" value="0"/>
    <define name="DEADBAND_R" value="50"/>
  </section>

  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
    <!-- attitude reference generation model -->
    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.9"/>
    <define name="REF_MAX_P" value="600." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.9"/>
    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.9"/>
    <define name="REF_MAX_R" value="600." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
  </section>

  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
    <!-- control effectiveness -->
    <define name="G1_P" value="0.0639"/>
    <define name="G1_Q" value="0.0361"/>
    <define name="G1_R" value="0.0022"/>

    <!-- reference acceleration for attitude control -->
    <define name="REF_ERR_P" value="600.0"/>
    <define name="REF_ERR_Q" value="600.0"/>
    <define name="REF_ERR_R" value="600.0"/>
    <define name="REF_RATE_P" value="28.0"/>
    <define name="REF_RATE_Q" value="28.0"/>
    <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="8.0"/>

    <!-- first order actuator dynamics -->
    <define name="ACT_DYN_P" value="0.1"/>
    <define name="ACT_DYN_Q" value="0.1"/>
    <define name="ACT_DYN_R" value="0.1"/>

    <!-- 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="283"/>
    <define name="HOVER_KD" value="82"/>
    <define name="HOVER_KI" value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <!-- Good weather -->
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
    <!-- Bad weather -->
    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
    <define name="PGAIN" value="79"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="30"/>
  </section>

  <section name="NAVIGATION" prefix="NAV_">
    <define name="CLIMB_VSPEED" value="2.5"/>
    <define name="DESCEND_VSPEED" value="-1.0"/>
  </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"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
    <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="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>
</airframe>
