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

<airframe name="Easy Glider Tiny 0.99">

<!-- commands section -->
  <servos>
    <servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
    <servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
    <servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
    <servo name="AILERON_LEFT" no="4" min="2000" neutral="1508" max="1000"/>
    <servo name="AILERON_RIGHT" no="5" min="2000" neutral="1527" max="1000"/>
  </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="BRAKE" 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"/>
    <set command="BRAKE" value="@GAIN1"/>
  </rc_commands>

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

     <define name="BRAKE_DEFLECTION_TIME" value="2.0" /> <!-- seconds -->
     <define name="MAX_BRAKE_RATE" value="(MAX_PPRZ / (60 * BRAKE_DEFLECTION_TIME ))" />
     <define name="BRAKE_AILEVON" value="-0.68f"/>
     <define name="BRAKE_PITCH" value="0.01f"/>
  </section>

  <command_laws>
    <ratelimit var="brake_value" value="Chop(@BRAKE, 0, MAX_PPRZ)" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />

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

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

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.7"/>
    <define name="MAX_PITCH" value="0.6"/>
  </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_TILTED" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="1"/>

    <define name="LATERAL_CORRECTION" value="0.75"/>
    <define name="LONGITUDINAL_CORRECTION" value="0.75"/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="18" unit="deg"/>

    <define name="CORRECTION_UP" value="1.0"/>
    <define name="CORRECTION_DOWN" value="1.0"/>
    <define name="CORRECTION_LEFT" value="1.0"/>
    <define name="CORRECTION_RIGHT" value="1.0"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="13." 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="ALT_KALMAN_ENABLED" value="TRUE"/>

    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

  </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="0.03"/>
    <!-- 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="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

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

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.10800004005"/>

    <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="PITCH_PGAIN" value="15184.5644531"/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1250"/>

    <define name="ROLL_SLEW" value="0.1"/>

    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
    <define name="ROLL_RATE_GAIN" value="1500"/>
   </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="1.00"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="2" 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"/>
  </section>

  <firmware name="fixedwing">
    <target name="sim" 			board="pc"/>
    <target name="ap" 			board="tiny_0.99"/>

    <define name="AGR_CLIMB" />
    <define name="LOITER_TRIM" />

    <subsystem name="radio_control" type="ppm"/>

    <!-- Communication -->
    <subsystem name="telemetry" 	type="transparent">
      <configure name="MODEM_BAUD" 		value="B9600"/>
    </subsystem>

    <!-- Actuators are automatically chosen according to board -->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="ahrs" 		type="infrared"/>
    <subsystem name="gps" 		    type="ublox_utm"/>
    <subsystem name="navigation"/>
    <subsystem name="ins" type="alt_float"/>
  </firmware>

  <firmware name="setup">
    <target name="tunnel" 		    board="tiny_0.99" />
  </firmware>

  <modules>
    <load name="adc_generic.xml">
      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
    </load>
    <load name="infrared_adc.xml"/>
  </modules>

</airframe>
