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

<!-- this is a hexacopter frame in x-configuration equiped with
     * Autopilot:   Lisa/MX 2.0 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v20
     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="TeensyFly Hexa LisaMX_2.0 pwm">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.0">
      <!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
      <!-- <configure name="BMP_PORT" value="/dev/cu.usbmodemE2B9BDC1"/> -->
    </target>

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

    <module name="radio_control" type="spektrum">
      <define name="RADIO_MODE"        value="RADIO_FLAP"/>
      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
      <!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
    </module>

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

    <module name="telemetry"     type="transparent"/>
    <module name="imu"           type="aspirin_v2.2"/>
    <module name="gps"           type="ublox"/>
    <module name="stabilization" type="int_quat"/>
    <module name="ahrs"          type="int_cmpl_quat"/>
    <module name="ins"           type="hff"/>

    <module name="send_imu_mag_current"/>
    <module name="adc_generic">
      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
    </module>
    <module name="gps" type="ubx_ucenter"/>
    <module name="geo_mag"/>
    <module name="air_data"/>
    <module name="nav" type="survey_rectangle_rotorcraft">
      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
    </module>

    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
  </firmware>


  <servos driver="Pwm">
    <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
    <servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
    <servo name="RIGHT"       no="2" min="1000" neutral="1100" max="1900"/>
    <servo name="BACK_RIGHT"  no="3" min="1000" neutral="1100" max="1900"/>
    <servo name="BACK_LEFT"   no="4" min="1000" neutral="1100" max="1900"/>
    <servo name="LEFT"        no="5" min="1000" neutral="1100" max="1900"/>
  </servos>

  <commands>
    <axis name="ROLL"   failsafe_value="0"/>
    <axis name="PITCH"  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="6"/>
    <define name="SCALE"      value="256"/>
    <!-- order (and rotation direction) : FL(CW), FR(CCW), R(CW), BR(CCW), BL(CW), L(CCW) -->
    <define name="ROLL_COEF"   value="{  128, -128,  -256,  -128,  128,  256 }"/>
    <define name="PITCH_COEF"  value="{  224,  224,     0,  -224, -224,    0 }"/>
    <define name="YAW_COEF"    value="{ -256,  256,  -256,   256, -256,  256  }"/>
    <define name="THRUST_COEF" value="{  256,  256,   256,   256,  256,  256 }"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="FRONT_LEFT"  value="motor_mixing.commands[0]"/>
    <set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
    <set servo="RIGHT"       value="motor_mixing.commands[2]"/>
    <set servo="BACK_RIGHT"  value="motor_mixing.commands[3]"/>
    <set servo="BACK_LEFT"   value="motor_mixing.commands[4]"/>
    <set servo="LEFT"        value="motor_mixing.commands[5]"/>
  </command_laws>

  <section name="IMU" prefix="IMU_">
    <!-- Accelerometer calibration -->
    <define name="ACCEL_X_NEUTRAL" value="38"/>
    <define name="ACCEL_Y_NEUTRAL" value="21"/>
    <define name="ACCEL_Z_NEUTRAL" value="105"/>
    <define name="ACCEL_X_SENS" value="4.88468392082" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.90041368723" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.85816720214" integer="16"/>

    <!-- Magnetometer calibration -->
    <define name="MAG_X_NEUTRAL" value="27"/>
    <define name="MAG_Y_NEUTRAL" value="13"/>
    <define name="MAG_Z_NEUTRAL" value="-22"/>
    <define name="MAG_X_SENS" value="3.2538531096" integer="16"/>
    <define name="MAG_Y_SENS" value="3.21222982076" integer="16"/>
    <define name="MAG_Z_SENS" value="3.60646025473" integer="16"/>

    <!-- Magnetometer current calibration -->
    <define name= "MAG_X_CURRENT_COEF" value="1.85331539364e-05"/>
    <define name= "MAG_Y_CURRENT_COEF" value="-0.000535349874617"/>
    <define name= "MAG_Z_CURRENT_COEF" value="0.000129485412212"/>

    <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="AHRS" prefix="AHRS_">
    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
    <define name="H_X" value="0.36852472"/>
    <define name="H_Y" value="0.10300471"/>
    <define name="H_Z" value="0.9238937"/>
  </section>



  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoints -->
    <define name="SP_MAX_PHI"    value="30." unit="deg"/>
    <define name="SP_MAX_THETA"  value="30." unit="deg"/>
    <define name="SP_MAX_R"      value="90." unit="deg/s"/>
    <define name="DEADBAND_A"    value="0"/>
    <define name="DEADBAND_E"    value="0"/>
    <define name="DEADBAND_R"    value="250"/>

    <!-- reference -->
    <define name="REF_OMEGA_P"  value="400" 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="400" 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="250" unit="deg/s"/>
    <define name="REF_ZETA_R"   value="0.85"/>
    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN"  value="1000"/>
    <define name="PHI_DGAIN"  value="400"/>
    <define name="PHI_IGAIN"  value="200"/>

    <define name="THETA_PGAIN"  value="1000"/>
    <define name="THETA_DGAIN"  value="400"/>
    <define name="THETA_IGAIN"  value="200"/>

    <define name="PSI_PGAIN"  value="2900"/>
    <define name="PSI_DGAIN"  value="1720"/>
    <define name="PSI_IGAIN"  value="20"/>

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

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP"    value="150"/>
    <define name="HOVER_KD"    value="80"/>
    <define name="HOVER_KI"    value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.61"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="USE_SPEED_REF" value="TRUE"/>
    <define name="PGAIN"    value="50"/>
    <define name="DGAIN"    value="100"/>
    <define name="IGAIN"    value="20"/>
    <define name="AGAIN" value="70"/>
  </section>

  <section name="NAVIGATION" prefix="NAV_">
    <define name="CLIMB_VSPEED"   value="1.5" />
    <define name="DESCEND_VSPEED" value="-1.0" />
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="fl_motor, fr_motor, r_motor, br_motor, bl_motor, l_motor" type="string[]"/>
    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_hexa" type="string"/>
    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
    <define name="JS_AXIS_MODE"    value="4"/>
  </section>

  <section name="AUTOPILOT">
    <!-- TOGGLE STATES -->
    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1"   value="AP_MODE_HOVER_Z_HOLD"/>
    <define name="MODE_AUTO2"   value="AP_MODE_NAV"/>
  </section>


  <section name="BAT">
    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="5880" />
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="58800"/>
    <define name="CATASTROPHIC_BAT_LEVEL"    value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL"          value="9.9" unit="V"/>
    <define name="LOW_BAT_LEVEL"             value="10.5" unit="V"/>
    <define name="MAX_BAT_LEVEL"             value="12.4" unit="V"/>
  </section>

  <section name="GCS">
    <define name="ICONS_THEME"         value="flat_theme"/>
    <define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
    <define name="ALT_SHIFT_PLUS"      value="10"/>
    <define name="ALT_SHIFT_MINUS"     value="-10"/>
    <define name="SPEECH_NAME"         value="Teensy Fly Hexa"/>
    <define name="AC_ICON"             value="hexarotor_x"/>
  </section>

</airframe>
