<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Test Tiny 2.1">

<!-- commands section -->
  <servos>
    <servo name="THROTTLE"   no="0" min="1200" neutral="1200" max="2000"/>
<!-- Servo aileron gauche = couleur blanche -->
<!-- Aileron gauche oppose de l'aileron droit -->
    <servo name="AILERON_LEFT"  no="1" min="1775" neutral="1500" max="1050"/>
<!-- max = valeur aileron vers le bas-->
    <servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
    <!-- Rudder = Couleur rouge droite gauche -->
    <servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
    <servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>

  </servos>

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

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

  <section name="MIXER">
     <define name="AILERON_DIFF" value="0.66"/>
     <define name="COMBI_SWITCH" value="1.0"/>
  </section>

  <command_laws>
    <set servo="THROTTLE"           value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>

    <let var="roll" value="@ROLL"/>
    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
  </command_laws>

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

<!-- Serial n°0637446 . ADC_CHANNEL n°2,3 et 7 HS -->
  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_0"/>
    <define name="IR2" value="ADC_1"/>
    <define name="IR_TOP" value="ADC_4"/>
    <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="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="HORIZ_SENSOR_ALIGNED" value="1"/>

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

    <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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_PER_PERCENT" value="0.86"/>
    <define name="LOW_BATTERY" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<!--    <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="50."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.07"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

   <define name="THROTTLE_SLEW" value="0.05"/>

  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.2"/>
    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>


    <define name="ROLL_PGAIN" value="12000."/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="PITCH_PGAIN" value="9000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="ELEVATOR_OF_ROLL" value="1250"/>

    <!--  roll rate loop -->
    <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
    <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
    <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
    <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
    <define name="ROLL_RATE_IGAIN" value="0."/>
    <define name="ROLL_RATE_DGAIN" value="0."/>
    <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>

  </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="0.8"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="GYRO_GAINS">
    <define name="GYRO_MAX_RATE" value="200."/>
    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
    <define name="ALT_ROLL__PGAIN" value="1.0"/>
    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
    <define name="ROLL_RATE_IGAIN" value="0.0"/>
    <define name="ROLL_RATE_DGAIN" value="0.0"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
	<define name="HOME_RADIUS" value="100" unit="m"/>
</section>

<!--
 <section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE" value="XBEE"/>
    <define name="DEVICE_ADDRESS" value="...."/>
  </section>
-->

 <makefile>
CONFIG = \"tiny_2_1.h\"

include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile

FLASH_MODE=IAP

ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
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

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

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

#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c

ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
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

ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400

ap.srcs += gps_ubx.c gps.c latlong.c

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

ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c

# Harware In The Loop

#ap.CFLAGS += -DHITL


# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c

  </makefile>
</airframe>
