<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->
<!-- Using Lisa/S 1.0 board file as it is software compatible. -->

<!--
     Applicable configuration:
     airframe="airframes/examples/quadrotor_lisa_s.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/rotorcraft_basic.xml"
     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->

<airframe name="quadrotor_lisa_s">

  <servos driver="Pwm">
    <servo name="LEFT" no="4" min="1000" neutral="1100" max="1900"/>
    <servo name="FRONT" no="5" min="1000" neutral="1100" max="1900"/>
    <servo name="RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
    <servo name="BACK" no="0" min="1000" neutral="1100" max="1900"/>
  </servos>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="1000"/>
  </commands>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="FRONT" value="motor_mixing.commands[0]"/>
    <set servo="BACK" value="motor_mixing.commands[1]"/>
    <set servo="LEFT" value="motor_mixing.commands[2]"/>
    <set servo="RIGHT" value="motor_mixing.commands[3]"/>
  </command_laws>

  <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="ROLL_COEF" value="{    0,    0,  256, -256 }"/>
    <define name="PITCH_COEF" value="{  256, -256,    0,    0 }"/>
    <define name="YAW_COEF" value="{ -256, -256,  256,  256 }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="184." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
    <define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>

    <!-- MAGNETO CALIBRATION DELFT -->
    <define name="MAG_X_NEUTRAL" value="302"/>
    <define name="MAG_Y_NEUTRAL" value="-69"/>
    <define name="MAG_Z_NEUTRAL" value="100"/>
    <define name="MAG_X_SENS" value="4.12281780645" integer="16"/>
    <define name="MAG_Y_SENS" value="4.2491445745" integer="16"/>
    <define name="MAG_Z_SENS" value="4.44132606171" integer="16"/>

    <!-- MAGNETO CURRENT CALIBRATION -->
    <define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/>
    <define name= "MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
    <define name= "MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
  </section>

 <section name="AUTOPILOT">
   <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_DIRECT"/>
 </section>

 <section name="BAT">
   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
   <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
 </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_PSI" value="45." unit="deg"/>
    <define name="SP_MAX_R" value="90." unit="deg/s"/>
    <define name="SP_MAX_P" value="90." unit="deg/s"/>
    <define name="DEADBAND_R" value="250"/>
    <define name="DEADBAND_A" value="250"/>

    <!-- 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="400." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.85"/>
    <define name="REF_MAX_R" value="90." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN" value="399"/>
    <define name="PHI_DGAIN" value="183"/>
    <define name="PHI_IGAIN" value="474"/>

    <define name="THETA_PGAIN" value="399"/>
    <define name="THETA_DGAIN" value="162"/>
    <define name="THETA_IGAIN" value="474"/>

    <define name="PSI_PGAIN" value="500"/>
    <define name="PSI_DGAIN" value="300"/>
    <define name="PSI_IGAIN" value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value="0"/>
    <define name="THETA_DDGAIN" value="0"/>
    <define name="PSI_DDGAIN" value=" 300"/>

    <define name="PHI_AGAIN" value="0"/>
    <define name="THETA_AGAIN" value="0"/>
    <define name="PSI_AGAIN" value="0"/>
  </section>

  <section name="INS" prefix="INS_">
  </section>

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="HOVER_KP" value="400"/>
   <define name="HOVER_KD" value="350"/>
   <define name="HOVER_KI" value="144"/>
   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
  </section>

  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value=" 0.47577"/>
    <define name="H_Y" value=" 0.11811"/>
    <define name="H_Z" value=" 0.87161"/>
  </section>

 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="50"/>
   <define name="DGAIN" value="50"/>
   <define name="IGAIN" value="0"/>
 </section>

 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
 </section>

 <modules main_freq="512">
   <module name="gps" type="ubx_ucenter"/>
   <module name="send_imu_mag_current"/>
 </modules>

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
      <module name="radio_control" type="superbitrf_rc">
        <define name="RADIO_TRANSMITTER_ID" value="2008496626"/>  <!-- 425044546 -->
        <define name="RADIO_TRANSMITTER_CHAN" value="6"/> <!-- 9 -->
        <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
        <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
      </module>

      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
    </target>

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

    <module name="motor_mixing"/>
    <module name="actuators" type="pwm">
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_1AND2"/>
    </module>

    <module name="telemetry" type="superbitrf"/>
    <module name="imu" type="lisa_s_v1.0"/>
    <module name="gps" type="ublox"/>
    <module name="stabilization" type="int_quat"/>
    <module name="ahrs" type="int_cmpl_quat"/>
    <module name="ins"/>
  </firmware>


  <firmware name="test_progs">
    <target name="test_sys_time_timer" board="lisa_s_1.0">
        <configure name="SYS_TIME_LED" value="none"/>
    </target>
    <target name="test_telemetry" board="lisa_s_1.0"/>
    <target name="test_baro_board" board="lisa_s_1.0"/>
    <target name="test_can" board="lisa_s_1.0"/>
  </firmware>
</airframe>
