<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!--
    Multiplex EasyStar, using rudder
    TWOG v1 board
    Tilted infrared sensor
    XBee 2.4GHz modem in transparent mode
-->

<airframe name="EasyStar2 - TWOG v1">

  <modules>
    <load name="campod.xml"/>
  </modules>

<!-- commands section -->
  <servos>
    <servo name="THROTTLE"      no="0" min="1120" neutral="1120" max="1920"/>
    <servo name="ELEVATOR"      no="6" min="1100" neutral="1514" max="1900"/>
    <servo name="RUDDER"        no="7" min="2050" neutral="1612" max="950"/>
    <servo name="CAM_PAN"       no="3" min="1000" neutral="1500" max="2000"/>
    <servo name="CAM_TILT"      no="4" min="1000" neutral="1450" max="2000"/>
  </servos>

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

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

  <command_laws>
    <set servo="THROTTLE"    value="@THROTTLE"/>
    <set servo="RUDDER"      value="@ROLL"/>
    <set servo="ELEVATOR"    value="@PITCH"/>
    <set servo="CAM_PAN"     value="@CAM_PAN"/>
    <set servo="CAM_TILT"     value="@CAM_TILT"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="50" unit="deg"/>
    <define name="MAX_PITCH" value="40" unit="deg"/>
  </section>

  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_1"/>
    <define name="IR2" value="ADC_2"/>
    <define name="IR_TOP" value="ADC_0"/>
    <define name="IR_NB_SAMPLES" value="16"/>
  </section>

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="510"/>
    <define name="ADC_TOP_NEUTRAL" value="516"/>

    <define name="LATERAL_CORRECTION" value="0.7"/>
    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
    <define name="VERTICAL_CORRECTION" value="1."/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR1_SIGN" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>

    <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="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="4." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
    <define name="NO_XBEE_API_INIT" value="TRUE"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
    <!-- outer loop -->
    <define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
    <!-- auto airspeed and altitude inner loop -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
    <define name="THROTTLE_SLEW" value="1.0"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.7"/>
    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
    <define name="PITCH_PGAIN" value="20000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="ELEVATOR_OF_ROLL" value="2500"/>
    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
    <define name="ROLL_RATE_GAIN" value="200"/>
  </section>

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

  <section name="AGGRESSIVE" prefix="AGR_">
    <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_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
    <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="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
    <define name="HOME_RADIUS" value="90" unit="m"/>
  </section>

  <section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="PPRZ"/>
    <define name="DEVICE_ADDRESS" value="...."/>
  </section>

  <makefile>
CONFIG = \"tiny_2_1_1.h\"

# Target configuration
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile

FLASH_MODE=IAP

ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c

ap.srcs += commands.c

# Servo driver
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c

# Radio configuration
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

# Telemetry configuration
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_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
ap.srcs += inter_mcu.c

# ADC configuration
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c

# USE_GPS configuration
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c

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

# Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c

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

# Camera control
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
#-DTEST_CAM
#ap.srcs += cam.c point.c

# EagleTree sensors (altimeter and airspeed)
ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c

# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c

  </makefile>
</airframe>
