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

<airframe name="BOOZ2_a1">

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
  </section>

  <servos driver="Mkk">
    <servo name="FRONT" no="0" min="0" neutral="2" max="210"/>
    <servo name="BACK"  no="1" min="0" neutral="2" max="210"/>
    <servo name="RIGHT" no="2" min="0" neutral="2" max="210"/>
    <servo name="LEFT"  no="3" min="0" neutral="2" max="210"/>
  </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="0"/>
  </commands>

  <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>

  <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="RIGHT"  value="motor_mixing.commands[2]"/>
    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_NEUTRAL" value="33924"/>
    <define name="GYRO_Q_NEUTRAL" value="33417"/>
    <define name="GYRO_R_NEUTRAL" value="32809"/>
    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
    <define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
    <define name="GYRO_R_SENS" value=" 1.01" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="32081"/>
    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>


    <define name="MAG_X_CHAN" value="4"/>
    <define name="MAG_Y_CHAN" value="0"/>
    <define name="MAG_Z_CHAN" value="2"/>

    <define name="MAG_X_NEUTRAL" value="2358"/>
    <define name="MAG_Y_NEUTRAL" value="2362"/>
    <define name="MAG_Z_NEUTRAL" value="2119"/>

<!--    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
<!--    <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
    <define name="MAG_X_SIGN" value="-1"/>
    <define name="MAG_Y_SIGN" value=" 1"/>
    <define name="MAG_Z_SIGN" value="-1"/>

    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
    <define name="MAG_45_HACK" value="1"/>
<!--    <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
<!--    <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
    <define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
    <define name="MAG_Y_SENS" value=" 3.607713"  integer="16"/>

   <define name="BODY_TO_IMU_PHI"   value="4." unit="deg"/>
   <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
<!--
   <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>



  <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="90." unit="deg/s"/>
    <define name="DEADBAND_R"     value="250"/>

    <!-- reference -->
    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
    <define name="REF_ZETA_P"   value="0.9"/>
    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>

    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
    <define name="REF_ZETA_Q"   value="0.9"/>
    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>

    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
    <define name="REF_ZETA_R"   value="0.9"/>
    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN"  value="400"/>
    <define name="PHI_DGAIN"  value="300"/>
    <define name="PHI_IGAIN"  value="100"/>

    <define name="THETA_PGAIN"  value="400"/>
    <define name="THETA_DGAIN"  value="300"/>
    <define name="THETA_IGAIN"  value="100"/>

    <define name="PSI_PGAIN"  value="380"/>
    <define name="PSI_DGAIN"  value="320"/>
    <define name="PSI_IGAIN"  value="75"/>

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

  </section>

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

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="HOVER_KP"    value="500"/>
   <define name="HOVER_KD"    value="200"/>
   <define name="HOVER_KI"    value="100"/>
  </section>


 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="100"/>
   <define name="DGAIN" value="100"/>
   <define name="IGAIN" value="0"/>
 </section>

 <section name="BAT">
   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
 </section>

 <section name="AUTOPILOT">
   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_RC_CLIMB"/>
   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
 </section>

 <section name="FMS">

 </section>

 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
    <define name="SENSORS_PARAMS" value="nps_sensors_params_booz2_a1.h" type="string"/>
 </section>


  <firmware name="rotorcraft">
    <target name="ap" board="booz_1.0"/>
    <target name="nps" board="pc">
      <module name="fdm"         type="jsbsim"/>
    </target>
    <module name="radio_control" type="ppm"/>
    <module name="telemetry"     type="transparent"/>
    <module name="motor_mixing"/>
    <module name="actuators"     type="mkk"/>
    <module name="imu"           type="b2_v1.0"/>
    <module name="gps"           type="ublox"/>
    <module name="stabilization"   type="int_euler"/>
    <module name="ahrs"          type="int_cmpl_euler"/>
    <module name="ins"           type="hff"/>
  </firmware>


</airframe>
