<airframe name="booz2_a5">

  <servos>
    <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
    <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
    <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
    <servo name="CENTER_LEFT"  no="3" min="0" neutral="0" max="255"/>
    <servo name="FRONT_RIGHT"  no="4" min="0" neutral="0" max="255"/>
    <servo name="FRONT_LEFT"   no="5" min="0" neutral="0" max="255"/>
  </servos>

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

  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="6"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
  </section>

  <section name="SUPERVISION" prefix="SUPERVISION_">
    <define name="MIN_MOTOR" value="2"/>
    <define name="MAX_MOTOR" value="210"/>
    <define name="TRIM_A" value="0"/>
    <define name="TRIM_E" value="0"/>
    <define name="TRIM_R" value="0"/>
    <define name="NB_MOTOR" value="6"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"  value="{  -69,   69, -256,  256, -186,  186 }"/>
    <define name="PITCH_COEF" value="{ -256, -256,    0,    0,  256,  256 }"/>
    <define name="YAW_COEF"   value="{ -153,  153,  256, -256, -115,  115 }"/>
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256,  256,  256 }"/>
  </section>

  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_CHAN" value="1"/>
    <define name="GYRO_Q_CHAN" value="0"/>
    <define name="GYRO_R_CHAN" value="2"/>

    <define name="GYRO_P_NEUTRAL" value="31489"/>
    <define name="GYRO_Q_NEUTRAL" value="31814"/>
    <define name="GYRO_R_NEUTRAL" value="32752"/>

    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>


    <define name="ACCEL_X_CHAN" value="5"/>
    <define name="ACCEL_Y_CHAN" value="3"/>
    <define name="ACCEL_Z_CHAN" value="4"/>

    <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
    <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
    <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="32877"/>
    <define name="ACCEL_Y_NEUTRAL" value="32415"/>
    <define name="ACCEL_Z_NEUTRAL" value="32612"/>

    <define name="MAG_X_CHAN" value="0"/>
    <define name="MAG_Y_CHAN" value="1"/>
    <define name="MAG_Z_CHAN" value="2"/>


    <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
    <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
    <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-47"/>
    <define name="MAG_Y_NEUTRAL" value="24"/>
    <define name="MAG_Z_NEUTRAL" value="28"/>

    <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="-45." unit="deg"/>

  </section>

  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>

    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

  </section>

  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

    <!-- setpoints -->
    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
    <define name="DEADBAND_R"     value="250"/>

    <!-- 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="400"/>
    <define name="PHI_DGAIN"  value="300"/>
    <define name="PHI_IGAIN"  value="100"/>

    <define name="THETA_PGAIN"  value="400"/>
    <define name="THETA_DGAIN"  value="300"/>
    <define name="THETA_IGAIN"  value="100"/>

    <define name="PSI_PGAIN"  value="380"/>
    <define name="PSI_DGAIN"  value="320"/>
    <define name="PSI_IGAIN"  value="75"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN"   value=" 300"/>
    <define name="THETA_DDGAIN" value=" 300"/>
    <define name="PSI_DDGAIN"   value=" 300"/>

  </section>

  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="15." integer="16"/>
  </section>

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
   <define name="MAX_SUM_ERR" value="2000000"/>
   <define name="HOVER_KP"    value="500"/>
   <define name="HOVER_KD"    value="200"/>
   <define name="HOVER_KI"    value="100"/>
   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
   <define name="RC_CLIMB_COEF" value ="163"/>
   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   <define name="INV_M" value ="0.2"/>
  </section>


 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="100"/>
   <define name="DGAIN" value="100"/>
   <define name="IGAIN" value="0"/>
 </section>

 <section name="BAT">
   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
 </section>

 <section name="MISC">
   <define name="FACE_REINJ_1"  value="1024"/>
 </section>

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

  <makefile>

include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile

ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
ap.CFLAGS += -DMODEM_BAUD=B57600

# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS

include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile

include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile

include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile



  </makefile>

</airframe>

