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

<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
     Graupner C19 receiver
     TWOG V1 board
     PerkinElmer TPS334 IR Sensors
     Tilted infrared sensor
     XBee modem with AT firmware
     LEA 4P GPS (set to POSLLH)
-->

<airframe name="Twinstar">

  <firmware name="fixedwing">
    <target name="ap" 			board="twog_1.0"/>
    <target name="sim" 			board="pc"/>

    <define name="LOITER_TRIM"/>
    <define name="AGR_CLIMB"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="ahrs"          type="infrared"/>
    <subsystem name="gps"           type="ublox_utm"/>
    <subsystem name="ins"           type="gps_passthrough"/>
    <subsystem name="navigation"/>
  </firmware>

  <firmware name="setup">
    <target name="tunnel" 		board="twog_1.0"/>
  </firmware>

  <modules>
    <load name="infrared_adc.xml"/>
  </modules>

<!-- commands section -->
  <servos>
    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON_LEFT"  no="1" min="1050" neutral="1480" max="1900"/>
    <servo name="ELEVATOR"      no="2" min="1750" neutral="1530" max="1250"/>
    <servo name="RUDDER"        no="3" min="1100" neutral="1500" max="1900"/>
    <servo name="AILERON_RIGHT" no="4" min="1200" neutral="1610" max="2000"/>
    <servo name="FWHEEL"        no="5" min="1900" neutral="1470" max="1100"/>
    <servo name="HATCH"         no="6" min="1000" neutral="1500" max="2000"/>
    <servo name="CAM_ROLL"      no="7" min="1000" neutral="1500" max="2000"/>
    <servo name="CAM_PITCH"     no="8" min="1000" neutral="1500" max="2000"/>
  </servos>

  <commands>
    <axis name="THROTTLE"  failsafe_value="0"/>
    <axis name="ROLL"      failsafe_value="0"/>
    <axis name="PITCH"     failsafe_value="0"/>
    <axis name="YAW"       failsafe_value="0"/>
    <axis name="HATCH"     failsafe_value="0"/>
    <axis name="CAM_ROLL"  failsafe_value="0"/>
    <axis name="CAM_PITCH" failsafe_value="0"/>
  </commands>

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

  <auto_rc_commands>
    <set command="YAW" value="@YAW"/>
  </auto_rc_commands>

  <section name="MIXER">
    <define name="AILERON_DIFF" value="0.8"/>
  </section>

  <command_laws>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <let var="roll" value="@ROLL"/>
    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
    <set servo="RUDDER" value="@YAW"/>
    <set servo="FWHEEL" value="@YAW"/>
    <set servo="HATCH" value="@HATCH"/>
    <set servo="CAM_ROLL" value="@CAM_ROLL"/>
    <set servo="CAM_PITCH" value="@CAM_PITCH"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>

    <define name="LATERAL_CORRECTION" value="-1"/>
    <define name="LONGITUDINAL_CORRECTION" value="1"/>
    <define name="VERTICAL_CORRECTION" value="1.7"/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR1_SIGN" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="1"/>

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

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
    <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
  </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="0.06"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <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"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

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


  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.0"/>
    <define name="ROLL_MAX_SETPOINT" value="0.60" 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_PGAIN" value="6000."/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="PITCH_PGAIN" value="9000."/>
    <define name="PITCH_DGAIN" value="1700."/>

    <define name="ELEVATOR_OF_ROLL" value="1500"/>
  </section>

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

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO" value="1.0"/>
    </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="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

</airframe>
