<airframe name="BOOZ2_PpzUav_011">

<!-- BOOZ2_PpzUav011
     BOOZ2_MAIN_011 main board
     BOOZ2_IMU_011 IMU
     BOOZ2_GPS_011 LEA-5H GPS
     Datamodems configured for 57600 baud
     Asctec Speed Controllers
     -->

 <servos>
    <servo name="FRONT" no="3" min="0" neutral="0" max="255"/>
    <servo name="BACK"  no="0" min="0" neutral="0" max="255"/>
    <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
    <servo name="LEFT"  no="2" 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="IMU" prefix="IMU_">

    <define name="GYRO_P_NEUTRAL" value="31675"/>
    <define name="GYRO_Q_NEUTRAL" value="31650"/>
    <define name="GYRO_R_NEUTRAL" value="31475"/>
    <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_NEUTRAL" value="33026"/>
    <define name="ACCEL_Y_NEUTRAL" value="32976"/>
    <define name="ACCEL_Z_NEUTRAL" value="32329"/>
    <define name="ACCEL_X_SENS" value="2.52976874461" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.5581570391" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.5247740245" integer="16"/>

    <define name="MAG_X_SENS" value="5.25214038933" integer="16"/>
    <define name="MAG_Y_SENS" value="5.5771208609" integer="16"/>
    <define name="MAG_Z_SENS" value="2.63954806011" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="18"/>
    <define name="MAG_Y_NEUTRAL" value="5"/>
    <define name="MAG_Z_NEUTRAL" value="192"/>

    <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="0." unit="deg"/>

  </section>

<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
      <!-- setpoints -->
	<define name="SP_MAX_P" value="10000" />
	<define name="SP_MAX_Q" value="10000" />
	<define name="SP_MAX_R" value="10000" />
        <define name="DEADBAND_P" value="0" />
        <define name="DEADBAND_Q" value="0" />
        <define name="DEADBAND_R" value="200" />
        <define name="REF_TAU" value="4" />

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

        <define name="IGAIN_P" value="75" />
        <define name="IGAIN_Q" value="75" />
        <define name="IGAIN_R" value="50" />

        <!-- feedforward -->
        <define name="DDGAIN_P" value="300" />
        <define name="DDGAIN_Q" value="300" />
        <define name="DDGAIN_R" value="300" />
	</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="180." unit="deg/s"/><!-- Maximum speed in 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"/>
-->

    <define name="PHI_PGAIN"  value="1000"/>
    <define name="PHI_DGAIN"  value="300"/>
    <define name="PHI_IGAIN"  value="100"/>

    <define name="THETA_PGAIN"  value="1000"/>
    <define name="THETA_DGAIN"  value="300"/>
    <define name="THETA_IGAIN"  value="100"/>

    <define name="PSI_PGAIN"  value="1000"/>
    <define name="PSI_DGAIN"  value="350"/>
    <define name="PSI_IGAIN"  value="10"/>

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

  </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="4" />
		<define name="SCALE" value="256"/>
		<define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
		<define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
		<define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
		<define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
  </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="REF_MIN_ZDD"  value="-1.5*9.81"/>
   <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
   <define name="REF_MIN_ZD"   value="-1.5"/>
   <define name="REF_MAX_ZD"   value=" 1.5"/>
   <define name="HOVER_KP"     value="150"/>
   <define name="HOVER_KD"     value="80"/>
   <define name="HOVER_KI"     value="0"/>
   <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
   <define name="RC_CLIMB_COEF" value ="163"/>
   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
  </section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="50"/>
   <define name="DGAIN" value="60"/>
   <define name="IGAIN" value="15"/>
   <define name="NGAIN" value="0"/>
   <define name="AGAIN" value="0"/>
 </section>

 <section name="BAT">
   <define name="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
 </section>

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

  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="14.9" integer="16"/>
  </section>

 <section name="MISC">
   <define name="FACE_REINJ_1"  value="1024"/>
 </section>
<!-- FIRMWARE -->
<firmware name="rotorcraft">
  <target name="ap" board="booz_1.0">
    <configure  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
  </target>
    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="actuators"     type="asctec"/>
    <subsystem name="imu"           type="b2_v1.1"/>
    <subsystem name="gps"           type="ublox"/>
    <subsystem name="stabilization"   type="euler"/>
    <subsystem name="ahrs"          type="int_cmpl_euler"/>
    <subsystem name="ins"/>
</firmware>
<firmware name="booz_test_progs">
    <target name="test_telemetry" board="booz_1.0"/>
    <target name="test_baro"      board="booz_1.0"/>
  </firmware>
</airframe>
