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

<airframe name="bebop2_indi">

  <firmware name="rotorcraft">
    <target name="ap" board="bebop2">
      <define name="STABILIZATION_INDI_G2_R" value="0.20"/>
    </target>

    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
      <module name="udp"/>
      <!-- rotor inertia not modelled in simple_quad JSBSim model, set G2 to zero -->
      <define name="STABILIZATION_INDI_G2_R" value="0.0"/>
    </target>

	  <!-- Subsystem section -->
    <module name="telemetry" type="transparent_udp"/>
    <module name="radio_control" type="datalink"/>
    <module name="motor_mixing"/>
    <module name="actuators" type="bebop"/>
    <module name="imu" type="bebop"/>
    <module name="gps" type="ublox"/>
    <module name="stabilization" type="indi_simple"/>
    <module name="ahrs" type="int_cmpl_quat">
      <configure name="USE_MAGNETOMETER" value="TRUE"/>
      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
    </module>
    <module name="ins" type="extended"/>
  </firmware>

  <modules main_freq="512">
    <module name="geo_mag"/>
    <module name="air_data"/>
    <module name="send_imu_mag_current"/>
    <module name="gps" type="ubx_ucenter"/>
    <module name="logger_file">
      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
    </module>
  </modules>

  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="6000"/>
  </commands>

  <servos driver="Default">
    <servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
    <servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
    <servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
    <servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
  </servos>

  <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="REVERSE" value="TRUE"/>
    <define name="TYPE" value="QUAD_X"/>
  </section>

  <command_laws>
    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
  </command_laws>

  <section name="AIR_DATA" prefix="AIR_DATA_">
    <define name="CALC_AIRSPEED" value="FALSE"/>
    <define name="CALC_TAS_FACTOR" value="FALSE"/>
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <!-- Magneto calibration -->
    <define name="MAG_X_NEUTRAL" value="18"/>
    <define name="MAG_Y_NEUTRAL" value="46"/>
    <define name="MAG_Z_NEUTRAL" value="202"/>
    <define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
    <define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
    <define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
  </section>

  <!-- local magnetic field -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
  <section name="AHRS" prefix="AHRS_">
    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
    <!-- Toulouse -->
    <!--define name="H_X" value="0.513081"/>
    <define name="H_Y" value="-0.00242783"/>
    <define name="H_Z" value="0.858336"/-->
    <!-- Delft -->
    <define name="H_X" value="0.3892503"/>
    <define name="H_Y" value="0.0017972"/>
    <define name="H_Z" value="0.9211303"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="SONAR_MAX_RANGE" value="2.2"/>
    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
  </section>


  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoint limits for attitude stabilization rc flight -->
    <define name="SP_MAX_PHI" value="45" unit="deg"/>
    <define name="SP_MAX_THETA" value="45" unit="deg"/>
    <define name="SP_MAX_R" value="300" unit="deg/s"/>
    <define name="DEADBAND_A" value="0"/>
    <define name="DEADBAND_E" value="0"/>
    <define name="DEADBAND_R" value="50"/>
  </section>

  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
    <!-- attitude reference generation model -->
    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.9"/>
    <define name="REF_MAX_P" value="600." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.9"/>
    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.9"/>
    <define name="REF_MAX_R" value="600." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
  </section>

  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
    <!-- control effectiveness -->
    <define name="G1_P" value="0.05"/>
    <define name="G1_Q" value="0.025"/>
    <define name="G1_R" value="0.0022"/>

    <!-- For the bebop2 we need to filter the roll rate due to the dampers -->
    <define name="FILTER_ROLL_RATE" value="TRUE"/>
    <define name="FILTER_PITCH_RATE" value="FALSE"/>
    <define name="FILTER_YAW_RATE" value="FALSE"/>

    <!-- reference acceleration for attitude control -->
    <define name="REF_ERR_P" value="170.0"/>
    <define name="REF_ERR_Q" value="600.0"/>
    <define name="REF_ERR_R" value="600.0"/>
    <define name="REF_RATE_P" value="14.3"/>
    <define name="REF_RATE_Q" value="28.0"/>
    <define name="REF_RATE_R" value="28.0"/>

    <!-- second order filter parameters -->
    <define name="FILT_CUTOFF" value="3.2"/>
    <define name="FILT_CUTOFF_R" value="3.2"/>

    <!-- first order actuator dynamics -->
    <define name="ACT_DYN_P" value="0.06"/>
    <define name="ACT_DYN_Q" value="0.06"/>
    <define name="ACT_DYN_R" value="0.06"/>

    <!-- Adaptive Learning Rate -->
    <define name="USE_ADAPTIVE" value="FALSE"/>
    <define name="ADAPTIVE_MU" value="0.0001"/>
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP" value="350"/>
    <define name="HOVER_KD" value="85"/>
    <define name="HOVER_KI" value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <!-- Good weather -->
    <define name="MAX_BANK" value="20" unit="deg"/>
    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
    <!-- Bad weather -->
    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
    <define name="PGAIN" value="120"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="30"/>
  </section>

  <section name="NAVIGATION" prefix="NAV_">
    <define name="CLIMB_VSPEED" value="4.5"/>
    <define name="DESCEND_VSPEED" value="-1.0"/>
  </section>

  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>

    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
  </section>
</airframe>
