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

<airframe name="heli450">
  <description>450 sized helicopter without hiller bar.
  </description>

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0"/>

    <module name="radio_control" type="spektrum">
      <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
      <define name="RADIO_MODE" value="RADIO_GEAR"/>
    </module>

    <module name="actuators"     type="pwm"/>
    <module name="telemetry"     type="xbee_api"/>
    <module name="imu"           type="aspirin_v2.2"/>
    <module name="gps"           type="ublox"/>
    <module name="stabilization" type="int_quat"/>
    <module name="stabilization" type="rate"/>
    <module name="ahrs"          type="int_cmpl_quat"/>
    <module name="ins"           type="hff"/>
  </firmware>

  <modules>
    <module name="geo_mag"/>
    <module name="air_data"/>
    <module name="gps" type="ubx_ucenter"/>
    <module name="heli_swashplate_mixing"/>
    <module name="heli_throttle_curve"/>
  </modules>

  <servos driver="Pwm">
    <servo name="THROTTLE"   no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="BACK"      no="1" min="1050" neutral="1500" max="1950"/>
    <servo name="LEFTFRONT"  no="2" min="1050"  neutral="1500" max="1950"/>
    <servo name="RIGHTFRONT"   no="3" min="1950" neutral="1500" max="1050"/>
    <servo name="TAIL"       no="4" min="1850" neutral="1600" max="1350"/>
  </servos>

  <commands>
    <axis name="THRUST"      failsafe_value="0"/>
    <axis name="ROLL"        failsafe_value="0"/>
    <axis name="PITCH"       failsafe_value="0"/>
    <axis name="YAW"         failsafe_value="0"/>
    <axis name="FMODE"       failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THRUST" value="@THROTTLE"/>
    <set command="ROLL"   value="@ROLL"/>
    <set command="PITCH"  value="@PITCH"/>
    <set command="YAW"    value="@YAW"/>
    <set command="FMODE"  value="@AUX2"/>
  </rc_commands>

  <section name="MIXING" prefix="SW_MIXING_">
    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
    <define name="TYPE" value="HR120"/>
    <define name="TRIM_ROLL"  value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_COLL"  value="0"/>
  </section>

  <command_laws>
    <call fun="throttle_curve_run(autopilot_get_motors_on(), values)"/>
    <call fun="swashplate_mixing_run(values)"/>
    <set servo="THROTTLE"    value="throttle_curve.throttle"/>
    <set servo="BACK"        value="swashplate_mixing.commands[SW_BACK]"/>
    <set servo="LEFTFRONT"   value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
    <set servo="RIGHTFRONT"  value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
    <set servo="TAIL"        value="@YAW + throttle_curve.throttle*2800/7000"/>
  </command_laws>

  <heli_curves>
    <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
    <curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
  </heli_curves>

  <section name="MISC">
    <define name="NAV_CLIMB_VSPEED" value="2.5"/>
    <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="ACCEL_X_NEUTRAL" value="11"/>
    <define name="ACCEL_Y_NEUTRAL" value="11"/>
    <define name="ACCEL_Z_NEUTRAL" value="-25"/>

    <!-- replace this with your own calibration -->
    <define name="MAG_X_NEUTRAL" value="14"/>
    <define name="MAG_Y_NEUTRAL" value="116"/>
    <define name="MAG_Z_NEUTRAL" value="119"/>
    <define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
    <define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
    <define name="MAG_Z_SENS" value="5.65287938992" 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="-90." unit="deg"/>
  </section>

  <section name="AHRS" prefix="AHRS_">
    <!--This airframe vibrates a lot, which causes accel measurements in excess of 1g continuously-->
    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>

    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
    <define name="H_X" value="0.3770441"/>
    <define name="H_Y" value="0.0193986"/>
    <define name="H_Z" value="0.9259921"/>
  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
    <!-- setpoints -->
    <define name="SP_MAX_P" unit="deg/s" value="280"/>
    <define name="SP_MAX_Q" unit="deg/s" value="280"/>
    <define name="SP_MAX_R" unit="deg/s" value="140"/>
    <define name="DEADBAND_P" value="20"/>
    <define name="DEADBAND_Q" value="20"/>
    <define name="DEADBAND_R" value="200"/>

    <!-- feedback -->
    <define name="GAIN_P" value="800"/>
    <define name="GAIN_Q" value="800"/>
    <define name="GAIN_R" value="700"/>

    <define name="IGAIN_P" value="240"/>
    <define name="IGAIN_Q" value="240"/>
    <define name="IGAIN_R" value="160"/>
  </section>


  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoints -->
    <define name="SP_MAX_PHI" value="65." unit="deg"/>
    <define name="SP_MAX_THETA" value="65." unit="deg"/>
    <define name="SP_MAX_R" value="250." unit="deg/s"/>
    <define name="DEADBAND_R" value="200"/>

    <!-- reference -->
    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.85"/>
    <define name="REF_MAX_P" value="300." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.85"/>
    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
    <define name="REF_OMEGA_R" value="500" 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="900"/>
    <define name="PHI_DGAIN" value="200"/>
    <define name="PHI_IGAIN" value="200"/>
    <define name="THETA_PGAIN" value="900"/>
    <define name="THETA_DGAIN" value="200"/>
    <define name="THETA_IGAIN" value="200"/>
    <define name="PSI_PGAIN" value="900"/>
    <define name="PSI_DGAIN" value="200"/>
    <define name="PSI_IGAIN" value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN" value=" 200"/>
    <define name="THETA_DDGAIN" value=" 200"/>
    <define name="PSI_DDGAIN" value=" 200"/>
  </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="0.5"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="35" unit="deg"/>
    <define name="USE_SPEED_REF" value="TRUE"/>
    <define name="PGAIN" value="50"/>
    <define name="DGAIN" value="100"/>
    <define name="AGAIN" value="70"/>
    <define name="IGAIN" value="20"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_RC_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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>

</airframe>
