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

<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
     Apogee 1.0
     Radiotronix modem
     UBX GPS
     Airspeed sensor
     Digital camera
-->

<airframe name="Funjet II">

  <firmware name="fixedwing">
    <configure name="PERIODIC_FREQUENCY" value="125"/>

    <target name="ap" board="apogee_1.0">
      <module name="radio_control" type="sbus"/>
    </target>
    <target name="sim" board="pc">
      <module name="radio_control" type="ppm"/>
    </target>


    <!-- Communication -->
    <module name="telemetry" type="transparent"/>

    <!-- Actuators are automatically chosen according to board-->
    <module name="imu" type="apogee">
      <!--define name="USE_MAGNETOMETER"/-->
      <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
      <define name="APOGEE_SMPLRT_DIV" value="7"/>
    </module>
    <!--module name="ins"     type="float_invariant">
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
      <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
      <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
      <define name="MPL3115_OVERSAMPLING" value="2"/>
    </module-->
    <module name="ahrs" type="float_dcm"/>
    <module name="ins" type="alt_float"/>
    <module name="control" type="new"/>
    <module name="navigation"/>
    <!-- Sensors -->
    <module name="gps" type="ublox">
      <configure name="GPS_BAUD" value="B57600"/>
    </module>

    <module name="current_sensor">
      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
    </module>

    <module name="mag" type="hmc58xx">
      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
    </module>
    <!--module name="sys_mon"/-->
    <!--module name="light">
      <define name="LIGHT_LED_STROBE" value="5"/>
      <define name="LIGHT_LED_NAV" value="3"/>
    </module-->
    <!--module name="pbn"/-->
  </firmware>

<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
    <servo name="AILEVON_RIGHT" no="1" min="1120" neutral="1760" max="1980"/>
    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
  </servos>

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

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
  </rc_commands>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="45" unit="deg"/>
    <define name="MAX_PITCH" value="30" unit="deg"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <!-- Calibration Neutral -->
    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="-1"/>
    <define name="GYRO_R_SIGN" value="-1"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="-1"/>
    <define name="ACCEL_Z_SIGN" value="-1"/>
    <define name="ACCEL_X_NEUTRAL" value="-20"/>
    <define name="ACCEL_Y_NEUTRAL" value="41"/>
    <define name="ACCEL_Z_NEUTRAL" value="170"/>
    <define name="ACCEL_X_SENS" value="2.44857790576" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.46450311739" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.44257470231" 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_X_NEUTRAL" value="-21"/>
    <define name="MAG_Y_NEUTRAL" value="-137"/>
    <define name="MAG_Z_NEUTRAL" value="67"/>
    <define name="MAG_X_SENS" value="3.91383504208" integer="16"/>
    <define name="MAG_Y_SENS" value="3.91521306757" integer="16"/>
    <define name="MAG_Z_SENS" value="4.55239350329" integer="16"/>

    <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="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="5.32701781054" unit="deg"/>
    <define name="H_X" value="0.5180"/>
    <define name="H_Y" value="-0.0071"/>
    <define name="H_Z" value="0.8554"/>
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-406)*6.7"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.1"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
    <!-- disable climb rate limiter -->
    <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

    <!-- Cruise throttle + limits -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>

    <!-- Climb loop (throttle) -->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.073" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.005"/>
    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>

    <!-- Climb loop (pitch) -->
    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
    <define name="AUTO_PITCH_DGAIN" value="0.03"/>
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

    <!-- airspeed control -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
    <define name="AIRSPEED_MAX" value="30"/>
    <define name="AIRSPEED_MIN" value="10"/>

    <!-- groundspeed control -->
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

    <!-- pitch trim -->
    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

    <define name="THROTTLE_SLEW" value="0.1"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.6"/>
    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="ROLL_ATTITUDE_GAIN" value="10000."/>
    <define name="ROLL_RATE_GAIN" value="1000."/>
    <define name="ROLL_IGAIN" value="50."/>
    <define name="ROLL_KFFA" value="0"/>
    <define name="ROLL_KFFD" value="0"/>

    <define name="PITCH_PGAIN" value="18000."/>
    <define name="PITCH_DGAIN" value="500."/>
    <define name="PITCH_IGAIN" value="50."/>
    <define name="PITCH_KFFA" value="0."/>
    <define name="PITCH_KFFD" value="0."/>

    <define name="PITCH_OF_ROLL" value="1." unit="deg"/>
  </section>

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

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

  <section name="SIMU">
    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
    <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
  </section>

</airframe>
