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

<!-- Merlin
     Tiny 2.11
     Tilted infrared sensor
     XBee modem
     LEA 5H
-->

<airframe name="Merlin">

  <firmware name="fixedwing">
    <define name="PITCH_TRIM"/>
    <define name="ALT_KALMAN"/>

    <target name="ap" 			        board="tiny_2.11"/>
    <target name="sim" 			        board="pc"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="ahrs"          type="infrared"/>
    <subsystem name="ins"           type="alt_float"/>
    <subsystem name="gps"           type="ublox"/>
    <subsystem name="navigation"/>

    <!--subsystem name="spi">
      <define name="USE_SPI_SLAVE0"/>
      <define name="USE_SPI1"/>
    </subsystem-->
  </firmware>

  <firmware name="setup">
    <target name="tunnel" 		      board="tiny_2.11" />
    <target name="setup_actuators" 	board="tiny_2.11" />
  </firmware>

  <modules>
    <load name="infrared_adc.xml"/>
    <!--load name="ins_vn100.xml"/-->
  </modules>

<!-- commands section -->
  <servos>
    <servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
    <servo name="AILERON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
    <servo name="ELEVATOR"      no="6" min="1100" neutral="1500" max="1900"/>
    <servo name="RUDDER"        no="7" min="1100" neutral="1500" max="1900"/>
    <servo name="MOTOR"         no="3" min="1000" neutral="1000" 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"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"     value="@ROLL"/>
    <set command="PITCH"    value="@PITCH"/>
    <set command="YAW"      value="@YAW"/>
  </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"/>
    <set servo="RUDDER" value="@YAW"/>
    <let var="roll" value="@ROLL"/>
    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
  </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="LATERAL_CORRECTION" value="1"/>
    <define name="LONGITUDINAL_CORRECTION" value="1"/>
    <define name="VERTICAL_CORRECTION" value="1"/>

    <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"/>
                                        <!-- 0.0247311828 -->
                                        <!-- 0.02432905 -->
    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
  </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="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>

    <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_DGAIN" value="0.0"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

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

    <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_ATTITUDE_GAIN" value="5900"/>
    <define name="ROLL_RATE_GAIN" value="2900"/>
    <define name="ROLL_IGAIN" value="500"/>
    <define name="ROLL_KFFA" value="500"/>
    <define name="ROLL_KFFD" value="500"/>

    <define name="PITCH_PGAIN" value="9000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="PITCH_IGAIN" value="500"/>
    <define name="PITCH_KFFA" value="0."/>
    <define name="PITCH_KFFD" value="0."/>

    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
    <define name="ELEVATOR_OF_ROLL" value="0"/>
 </section>

  <section name="NAV">
    <define name="NAV_PITCH" value="0."/>
    <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>

