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

<!--
	Lisa + Aspirin v2 using SPI only
-->

<airframe name="LisaAspirin2">

  <servos>
    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
    <servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
    <servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
  </servos>

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

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="YAW" value="@YAW"/>
<!--    <set command="FORCECRASH" value="@FLAPS"/> -->
  </rc_commands>

  <command_laws>
    <set servo="AILEVON_LEFT" value="@ROLL"/>
    <set servo="AILEVON_RIGHT" value="-@ROLL"/>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <set servo="RUDDER" value="@YAW"/>
  </command_laws>

  <!-- Local magnetic field -->
  <section name="AHRS" prefix="AHRS_">
    <define name="H_X" value="0.51562740288882"/>
    <define name="H_Y" value="-0.05707735220832"/>
    <define name="H_Z" value="0.85490967783446"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>

    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
    <define name="GYRO_R_SENS" value="4.359" integer="16"/>

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

    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
    <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
    <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
    <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <define name="MAG_X_SENS" value="1" integer="16"/>
    <define name="MAG_Y_SENS" value="1" integer="16"/>
    <define name="MAG_Z_SENS" value="1" integer="16"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.0" unit="rad"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0.103000000119" unit="rad"/>
  </section>

  <section name="TRIM" prefix="COMMAND_">
    <define name="ROLL_TRIM" value="0"/>
    <define name="PITCH_TRIM" value="788."/>
  </section>



  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.8"/>
    <define name="MAX_PITCH" value="0.8"/>
  </section>

  <section name="BAT">
    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>

    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>


    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
  </section>

  <section name="CATAPULT" prefix="NAV_CATAPULT_" >
    <define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
    <define name="HEADING_DELAY" value="3.0" unit="seconds"/>
    <define name="ACCELERATION_THRESHOLD" value="1.75"/>
    <define name="INITIAL_PITCH" value="15" unit="deg"/>
    <define name="INITIAL_THROTTLE" value="1.0" />
  </section>

  <section name="GLS_APPROACH" prefix="APP_" >
    <define name="ANGLE" value="5" unit="deg"/>
    <define name="INTERCEPT_AF_SD" value="10" unit="m"/>
    <define name="TARGET_SPEED" value="13" unit="m/s"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.104999996722"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
    <define name="ALTITUDE_PRE_CLIMB_CORRECTION" value="0.0960000008345"/>
<!--
    <define name="AUTO_PITCH_PGAIN" value="-0.00"/>
    <define name="AUTO_PITCH_IGAIN" value="-0.00"/>
-->

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.518000006676" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.00"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>

    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.16600000858"/>
    <define name="COURSE_DGAIN" value="0.324999988079"/>
    <define name="COURSE_PRE_BANK_CORRECTION" value="0.889999985695"/>

    <define name="ROLL_MAX_SETPOINT" value="0.586000025272" unit="radians"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

    <define name="PITCH_PGAIN" value="12587.4130859"/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>

    <define name="ROLL_SLEW" value="1."/>

    <define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
    <define name="ROLL_RATE_GAIN" value="500."/>
  </section>


  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="70"/>
    <define name="BLEND_END" value="60"/>
    <define name="CLIMB_THROTTLE" value="0.949999988079"/>
    <define name="CLIMB_PITCH" value="0.352999985218"/>
    <define name="DESCENT_THROTTLE" value="0."/>
    <define name="DESCENT_PITCH" value="-0.252000004053"/>
    <define name="CLIMB_NAV_RATIO" value="0.8"/>
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>

    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
  </section>

  <section name="DIGITAL_CAMERA" prefix="DC_">
    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
  </section>


  <modules>
<!--
    <module name="adc_generic">
      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2" />
    </module>
-->
    <module name="light">
      <define name="LIGHT_LED_STROBE" value="2"/>
      <define name="LIGHT_LED_NAV" value="3"/>
      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
    </module>

<!--    <module name="digital_cam_i2c"/>  -->
    <module name="digital_cam">
      <define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
    </module>

    <module name="nav" type="catapult"/>
    <module name="nav" type="line"/>
    <module name="air_data"/>
  </modules>

  <firmware name="fixedwing">

    <target name="ap" board="lisa_m_2.0">
      <define name="LISA_M_LONGITUDINAL_X"/>

      <configure name="SEPARATE_FBW" value="1"/>

      <configure name="PERIODIC_FREQUENCY" value="120"/>
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>

      <configure name="AHRS_ALIGNER_LED" value="1"/>
      <configure name="CPU_LED" value="1"/>
      <define name="LINK_MCU_LED" value="4"/>

      <!-- split of ap/fbw specific modules for ap -->
      <module name="actuators" type="dummy"/>
      <module name="intermcu" type="uart">
        <configure name="INTERMCU_PORT" value="UART5"/>
      </module>

      <module name="gps" type="ublox">
        <configure name="GPS_PORT" value="UART1"/>
      </module>
      <module name="gps" type="ubx_ucenter"/>


      <module name="control"/>
      <module name="navigation"/>
    </target>

    <target name="fbw" board="lisa_m_2.0">
      <configure name="SEPARATE_FBW" value="1"/>

      <configure name="SYS_TIME_LED" value="2"/>
      <define name="RADIO_CONTROL_LED" value="4"/>
      <define name="LINK_MCU_LED" value="3"/>

      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>

      <!-- split of ap/fbw specific modules for fbw -->
      <module name="actuators" type="pwm"/>
      <module name="intermcu" type="uart">
        <configure name="INTERMCU_PORT" value="UART2"/>
      </module>
    </target>

    <target name="sim" board="pc">
      <module name="control"/>
      <module name="navigation"/>

      <module name="gps" type="ublox">
        <configure name="GPS_PORT" value="UART1"/>
      </module>

    </target>

    <configure name="FLASH_MODE" value="JTAG"/>

    <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="TUNE_AGRESSIVE_CLIMB"/>
    <define name="STRONG_WIND"/>
    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>
    <define name="RADIO_CONTROL_AUTO1"/>

    <module name="radio_control" type="spektrum">
      <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
    </module>

    <!-- Communication -->
    <module name="telemetry" type="transparent">
      <configure name="MODEM_BAUD" value="B9600"/>
      <configure name="MODEM_PORT" value="UART2"/>
    </module>

    <!-- Sensors -->
    <module name="imu" type="aspirin_v2.1"/>
    <module name="ahrs" type="float_dcm"/>
    <module name="ins" type="alt_float"/>

  </firmware>

</airframe>
