<airframe name="A1000 NOVA">

<!-- BOOZ2_NoVa
	 BOOZ2_MAIN_002 main board
	 BOOZ2_IMU_002 IMU
	 BOOZ2_GPS_002 LEA-5H GPS
	 Datamodems configured for 57600 baud
	 ZEF100 Speed Controllers
	 -->

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

	<define name="ACCEL_X_SENS" value=" 2.57091959" integer="16"/>
	<define name="ACCEL_Y_SENS" value=" 2.55833628" integer="16"/>
	<define name="ACCEL_Z_SENS" value=" 2.57095664" integer="16"/>

	<define name="ACCEL_X_NEUTRAL" value="32875"/>
	<define name="ACCEL_Y_NEUTRAL" value="32516"/>
	<define name="ACCEL_Z_NEUTRAL" value="32398"/>

	<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_NEUTRAL" value="-22"/>
	<define name="MAG_Y_NEUTRAL" value="-14"/>
	<define name="MAG_Z_NEUTRAL" value="16"/>

	<define name="MAG_X_SENS" value="4.79355327494" integer="16"/>
	<define name="MAG_Y_SENS" value=" 5.04941795802" integer="16"/>
	<define name="MAG_Z_SENS" value=" 2.98000294999" 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="-90." 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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
		<define name="NB" value="4" />
		<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
	</section>

  <section name="INS" prefix="INS_">
	<define name="BARO_SENS" value="14.9" 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="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"/>
   <!-- <define name="INV_M" value="0.118"/> -->
  </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="9.0" 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="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="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
 </section>



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


 <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-->
	  <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
	  <define name="MODEM_BAUD" value = "B57600"/>
	  <define name="ACTUATORS_START_DELAY" value = "3"/>
	  <define name="GPS_LAG" value = "0.8"/>
	  <!-- <define name="KILL_MOTORS"/> -->
	  <define name="FAILSAFE_GROUND_DETECT"/>
	  <define name="USE_GPS_ACC4R" />
	  <define name="GPS_USE_LATLONG"/>
	  <define name="USE_ADAPT_HOVER"/>
	  <define name="USE_INS_NAV_INIT"/>
	</target>

	<target name="sim" board="pc"/>
	<subsystem name="fdm"           type="jsbsim"/>
	<subsystem name="radio_control" type="ppm"/>
    <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="booz_test_progs">
	<target name="test_telemetry" board="booz_1.0"/>
	<target name="test_baro"      board="booz_1.0"/>
	<target name="test_spektrum"  board="booz_1.0"/>
  </firmware>


<!-- old makefile version

  <makefile>

ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"

# 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
ap.CFLAGS += -DFAILSAFE_GROUND_DETECT

# radio killswitch
ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1


ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile

include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile


include $(CFG_BOOZ)/subsystems/ins_hff.makefile
#set USE_GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG

ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3

  </makefile>
-->


</airframe>
