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

<airframe name="swing">

  <firmware name="rotorcraft">
    <configure name="PREFIX" value="/opt/arm-2012.03/bin/arm-none-linux-gnueabi"/>

    <target name="ap" board="swing"/>

    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
    </target>

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

    <module name="radio_control" type="datalink"/>
    <module name="telemetry" type="transparent_udp"/>
    <module name="motor_mixing"/>
    <module name="actuators" type="swing"/>
    <module name="imu" type="swing"/>
    <module name="gps" type="datalink"/>
    <module name="stabilization" type="int_quat"/>
    <module name="ahrs"          type="int_cmpl_quat"/>
    <module name="ins"/>
    <module name="air_data"/>
  </firmware>

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

  <servos>
    <servo name="BOTTOM_RIGHT"  no="0" min="0" neutral="15" max="511"/>
    <servo name="TOP_RIGHT"     no="1" min="0" neutral="15" max="511"/>
    <servo name="BOTTOM_LEFT"   no="2" min="0" neutral="15" max="511"/>
    <servo name="TOP_LEFT"      no="3" min="0" neutral="15" max="511"/>
  </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="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>

    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
    <define name="ROLL_COEF"   value="{ -81,  -81,   81,   81}"/>
    <define name="PITCH_COEF"  value="{ 243, -243,  243, -243}"/>
    <define name="YAW_COEF"    value="{ 128, -128, -128,  128}"/>
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[0]"/>
    <set servo="TOP_RIGHT"    value="motor_mixing.commands[1]"/>
    <set servo="BOTTOM_LEFT"  value="motor_mixing.commands[2]"/>
    <set servo="TOP_LEFT"     value="motor_mixing.commands[3]"/>
  </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>

  <section name="IMU" prefix="IMU_">
    <!-- Magneto calibration -->
    <define name="MAG_X_NEUTRAL" value="18"/>
    <define name="MAG_Y_NEUTRAL" value="157"/>
    <define name="MAG_Z_NEUTRAL" value="49"/>
    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>

    <!-- Magneto current calibration -->
    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>

    <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_">
    <!-- 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="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <!-- setpoints -->
    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>
    <define name="REF_TAU" value="4"/>

    <!-- 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"/>

    <!-- feedforward -->
    <define name="DDGAIN_P" value="300"/>
    <define name="DDGAIN_Q" value="300"/>
    <define name="DDGAIN_R" value="300"/>
  </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="300" unit="deg/s"/>
    <define name="DEADBAND_A" value="0"/>
    <define name="DEADBAND_E" value="0"/>
    <define name="DEADBAND_R" value="50"/>

    <!-- reference -->
    <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.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN" value="650"/>
    <define name="PHI_DGAIN" value="300"/>
    <define name="PHI_IGAIN" value="0"/>

    <define name="THETA_PGAIN" value="650"/>
    <define name="THETA_DGAIN" value="300"/>
    <define name="THETA_IGAIN" value="0"/>

    <define name="PSI_PGAIN" value="300"/>
    <define name="PSI_DGAIN" value="250"/>
    <define name="PSI_IGAIN" value="0"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value="0"/>
    <define name="THETA_DDGAIN" value="0"/>
    <define name="PSI_DDGAIN" value="0"/>
  </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="13"/>
    <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"/>
    <!-- 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="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_KILL"/>
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="3.1" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
  </section>
</airframe>
