<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Twinjet">

  <servos>
    <servo name="THROTTLE"           no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
    <servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
  </servos>

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

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

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
  </section>

  <command_laws>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
    <set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
  </command_laws>

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

  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="AdcBank0(1)"/>
    <define name="IR2" value="AdcBank0(2)"/>
    <define name="IR_TOP" value="AdcBank0(3)"/>
    <define name="GYRO_ROLL" value="AdcBank1(2)"/>
    <define name="GYRO_TEMP" value="AdcBank1(3)"/>
    <define name="IR_NB_SAMPLES" value="16"/>
    <define name="GYRO_NB_SAMPLES" value="16"/>
    <define name="VSUPPLY" value="AdcBank0(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="HORIZ_SENSOR_ALIGNED" value="1"/>
    <define name="IR1_SIGN" value="1"/>
    <define name="IR2_SIGN" value="-1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>

    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1.25"/>

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

  <section name="GYRO" prefix="GYRO_">
    <define name="ADC_ROLL_NEUTRAL" value="316"/>
    <define name="ADC_TEMP_NEUTRAL" value="328"/>
    <define name="ADC_TEMP_SLOPE" value="-0.36"/>
    <define name="ROLL_DIRECTION" value="1."/>
    <define name="ROLL_SCALE" value="0.44"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.9"/>

    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="6000."/>
    <define name="PITCH_DGAIN" value="0."/>
    <define name="ELEVATOR_OF_ROLL" value="0"/>

    <!--  roll rate loop -->
    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
    <define name="ROLL_RATE_GAIN" value="1500"/>
  </section>


 <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.05"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.008"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>

    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>



  <section name="NAV">
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
    <define name="VOLTAGE_ADC_A" value="0.0156"/>
    <define name="VOLTAGE_ADC_B" value="-0.029"/>
    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
    <define name="LIGHT_LED_1" value="3"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
    <define name="HOME_RADIUS" value="50" unit="m"/>
  </section>


   <section name="AGGRESSIVE" prefix="AGR_">
    <define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
    <define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <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="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="AEROCOMM"/>
    <define name="DEVICE_ADDRESS" value="0x005067361851"/>
  </section>

  <makefile>
include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile

# FLASH_MODE=ISP
FLASH_MODE=IAP

fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c

fbw.srcs += commands.c

fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c

fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c

fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

fbw.CFLAGS += -DADC -DUSE_AD0
fbw.srcs += $(SRC_ARCH)/adc_hw.c


ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=2
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c

#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/xbee.c

ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0  -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c

ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
ap.srcs += gps_ubx.c gps.c latlong.c

# ADCs for infrared
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3
# ADCs for gyro
ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3
ap.srcs += $(SRC_ARCH)/adc_hw.c


ap.CFLAGS += -DUSE_INFRARED
ap.srcs += infrared.c estimator.c

ap.CFLAGS += -DUSE_GYRO -DADXRS150
ap.srcs += gyro.c

ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c

ap.srcs += subsystems/navigation/nav_line.c
# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c

ap.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/snav.c

ap.srcs += light.c
ap.CFLAGS += -DUSE_LIGHT

# ap.CFLAGS += -DUSE_JOYSTICK




test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c

# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
#sim.srcs += subsystems/navigation/traffic_info.c
#sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c

sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c light.c subsystems/navigation/snav.c
sim.CFLAGS += -DUSE_LIGHT

sim.CFLAGS += -DUSE_ADC_GENERIC

sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK


  </makefile>
</airframe>
