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

<airframe name="Nova+Lisa_L Enac">

  <firmware name="rotorcraft">
    <target name="ap" board="lisa_l_1.0">
      <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
    </target>
    <target name="sim" board="pc">
      <subsystem name="fdm"         type="jsbsim"/>
    </target>
    <subsystem name="radio_control" type="spektrum"/>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="actuators"     type="mkk"/>
    <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"           type="hff"/>
  </firmware>

  <firmware name="lisa_test_progs">
    <target name="test_imu_b2"      board="lisa_l_1.0"/>
    <target name="test_telemetry"   board="lisa_l_1.0"/>
    <target name="test_baro"        board="lisa_l_1.0"/>
    <target name="test_rc_spektrum" board="lisa_l_1.0"/>
    <target name="test_rc_ppm"      board="lisa_l_1.0"/>
    <target name="test_actuators_mkk"      board="lisa_l_1.0"/>
  </firmware>

  <servos>
    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
    <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
    <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
    <servo name="LEFT"  no="3" 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="4"/>
    <define name="ADDR" value="{ 0x58, 0x52, 0x54, 0x56 }"/>
  </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="IMU" prefix="IMU_">

    <define name="GYRO_P_NEUTRAL" value="30907"/>
    <define name="GYRO_Q_NEUTRAL" value="33253"/>
    <define name="GYRO_R_NEUTRAL" value="32329"/>

    <define name="GYRO_P_SENS" value="1.00" integer="16"/>
    <define name="GYRO_Q_SENS" value="1.00" integer="16"/>
    <define name="GYRO_R_SENS" value="1.00" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="32913"/>
    <define name="ACCEL_Y_NEUTRAL" value="33032"/>
    <define name="ACCEL_Z_NEUTRAL" value="32843"/>

    <define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-62"/>
    <define name="MAG_Y_NEUTRAL" value="-13"/>
    <define name="MAG_Z_NEUTRAL" value="-95"/>

    <define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
    <define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
    <define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>

    <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="-135." 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_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="0.9"/>
    <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="0.9"/>
    <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="0.9"/>
    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

    <!-- feedback -->
    <define name="PHI_PGAIN"  value="650"/>
    <define name="PHI_DGAIN"  value="200"/>
    <define name="PHI_IGAIN"  value="100"/>

    <define name="THETA_PGAIN"  value="650"/>
    <define name="THETA_DGAIN"  value="200"/>
    <define name="THETA_IGAIN"  value="100"/>

    <define name="PSI_PGAIN"  value="800"/>
    <define name="PSI_DGAIN"  value="320"/>
    <define name="PSI_IGAIN"  value="20"/>

    <!-- 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="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="200"/>
   <define name="HOVER_KD"    value="100"/>
   <define name="HOVER_KI"    value="0"/>
   <!-- 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"/>
  </section>


 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="60"/>
   <define name="DGAIN" value="120"/>
   <define name="IGAIN" value="10"/>
   <define name="NGAIN" value="0"/>
   <!-- feedforward -->
   <define name="AGAIN" value="100"/>
 </section>

 <section name="BAT">
   <define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
 </section>

 <section name="AUTOPILOT">
   <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"/>
 </section>

 <section name="FMS">

 </section>

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


 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
 </section>




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

#set GPS lag for horizontal filter
#ap.CFLAGS += -DUSE_GPS_ACC4R

#ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT

#sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT

  </makefile>

</airframe>
