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

<!-- Weasel by Murat
     Umarim
     XBee modem
     LEA 5H GPS
-->

<airframe name="Weasel">

  <!--autopilot name="fixedwing_autopilot.xml"/-->

  <firmware name="fixedwing">
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <!--define name="AGR_CLIMB"/-->
    <!--define name="USE_AIRSPEED"/-->
    <!--define name="USE_BAROMETER"/-->
    <!--define name="LOITER_TRIM"/-->
    <!--define name="PITCH_TRIM"/-->

    <target name="sim" board="pc"/>
    <target name="ap" board="umarim_1.0"/>

    <module name="radio_control" type="ppm">
      <define name="USE_PPM_RSSI_GPIO"/>
      <define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
      <define name="PPM_RSSI_PIN" value="17"/>
      <define name="PPM_RSSI_VALID_LEVEL" value="0"/>
    </module>

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

    <!--module name="airspeed" type="ads1114"/-->
    <!--module name="mcp355x"/-->

    <!-- Actuators are automatically chosen according to board-->
    <module name="imu" type="umarim"/>
    <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"/>

    <!--module name="spi"/-->
  </firmware>

<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>
    <servo name="AILEVON_LEFT" no="6" min="1750" neutral="1543" max="1250"/>
    <servo name="AILEVON_RIGHT" no="3" min="1250" neutral="1561" max="1750"/>
  </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_NEUTRAL" value="-15"/>
    <define name="GYRO_Q_NEUTRAL" value="94"/>
    <define name="GYRO_R_NEUTRAL" value="-7"/>

    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>

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

    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
    <define name="ACCEL_X_SENS" value="31.9488" integer="10"/>
    <define name="ACCEL_Y_SENS" value="31.9488" integer="10"/>
    <define name="ACCEL_Z_SENS" value="31.9488" integer="10"/>

    <!-- Just to compile -->
    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <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="3." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </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="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </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="0.159999996424"/> <!-- -0.024 -->
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="5." unit="m/s"/>

    <!-- Cruise throttle + limits -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>

    <!-- Climb loop (throttle) -->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.003"/> <!-- -0.005 -->
    <define name="AUTO_THROTTLE_DGAIN" value="0.007"/> <!-- 0.005 -->
    <define name="AUTO_THROTTLE_IGAIN" value="0.002"/> <!-- 0.005 -->

    <!-- Climb loop (pitch) -->
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
    <define name="AUTO_PITCH_PGAIN" value="0.006"/> <!-- -0.03 -->
    <define name="AUTO_PITCH_DGAIN" value="0.0"/> <!-- -0.03 -->
    <define name="AUTO_PITCH_IGAIN" value="0.002"/>

    <!-- 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" unit="m/s"/>
    <define name="AIRSPEED_MIN" value="10" unit="m/s"/>

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

    <!-- pitch trim --> <!-- 5 deg -->
    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>

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

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.7"/>
    <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="3800."/>
    <define name="ROLL_RATE_GAIN" value="500."/>
    <define name="ROLL_IGAIN" value="150."/>
    <define name="ROLL_KFFA" value="0"/>
    <define name="ROLL_KFFD" value="0"/>

    <define name="PITCH_PGAIN" value="8000"/>
    <define name="PITCH_DGAIN" value="500"/>
    <define name="PITCH_IGAIN" value="250."/>
    <define name="PITCH_KFFA" value="0."/>
    <define name="PITCH_KFFD" value="0."/>

    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
  </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="0." unit="deg"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
  </section>

</airframe>
