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

<!-- this is a quadrotor frame equiped with ELLE0 and PWM motor controllers -->

<airframe name="setup_elle0_1.2">

  <firmware name="setup">
    <target name="tunnel"           board="elle0_1.2"/>
    <target name="usb_tunnel"       board="elle0_1.2">
      <configure name="TUNNEL_PORT" value="UART3"/>
    </target>
    <target name="setup_actuators"  board="elle0_1.2">
      <module name="actuators" type="pwm"/>
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_7AND8"/>
    </target>
  </firmware>

  <firmware name="test_progs">
    <target name="test_sys_time_timer"      board="elle0_1.2"/>
	<target name="test_sys_time_usleep"     board="elle0_1.2"/>
    <target name="test_telemetry"           board="elle0_1.2"/>

    <target name="test_actuators_pwm"       board="elle0_1.2">
      <define name="SERVO_HZ" value="400"/>
      <define name="USE_SERVOS_7AND8"/>
    </target>
    <target name="test_actuators_pwm_sin"   board="elle0_1.2">
      <define name="USE_SERVOS_7AND8"/>
    </target>
    <target name="test_esc_mkk_simple"      board="elle0_1.2"/>
    <target name="test_esc_asctecv1_simple" board="elle0_1.2"/>
    <target name="test_baro_board"          board="elle0_1.2">
      <configure name="BARO_LED" value="2"/>
    </target>
    <target name="test_adc"                 board="elle0_1.2"/>
    <target name="test_uart"                board="elle0_1.2">
      <define name="USE_UART2"/>
      <define name="UART2_BAUD" value="B57600"/>
      <define name="USE_UART3"/>
      <define name="UART3_BAUD" value="B57600"/>
    </target>
  </firmware>

  <servos>
    <servo name="1"   no="0" min="900" neutral="1000" max="2100"/>
    <servo name="2"   no="1" min="900" neutral="1000" max="2100"/>
    <servo name="3"   no="2" min="900" neutral="1000" max="2100"/>
    <servo name="4"   no="3" min="900" neutral="1000" max="2100"/>
    <servo name="5"   no="4" min="900" neutral="1000" max="2100"/>
    <servo name="6"   no="5" min="900" neutral="1000" max="2100"/>
    <servo name="7"   no="6" min="900" neutral="1000" max="2100"/>
    <servo name="8"   no="7" min="900" neutral="1000" max="2100"/>
  </servos>

  <command_laws>
  </command_laws>

</airframe>
