<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Corsica Prototype Tiny 0.99">

<!-- commands section -->
  <servos>
    <servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
    <servo name="AILERON_LEFT" no="4" min="1840" neutral="1706" max="1520"/>
    <servo name="AILERON_RIGHT" no="5" min="1639" neutral="1420" max="1266"/>
    <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/>
    <servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
  </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="FLAPS" 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="FLAPS" value="@FLAPS"/>
  </rc_commands>

  <section name="MIXER">
     <define name="AILERON_DIFF" value="0.66"/>
     <define name="COMBI_SWITCH" value="0.0"/>
     <define name="FLAPS_COEFF" value="0.5"/>
     <define name="FLAPS_CONSTANT" value="1200"/>
  </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) * $roll - (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll + (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>


  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="1.0"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="adc" prefix="ADC_CHANNEL_">
    <define name="IR1" value="ADC_2"/>
    <define name="IR2" value="ADC_1"/>
    <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="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="1.10599994659"/>
    <define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="-6.47442293167" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="12.261297226" 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_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="20." 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="14.8" 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="0.80"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.70"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
    <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="0.0280000008643"/>

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

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.499000012875"/>

    <define name="ROLL_MAX_SETPOINT" value="0.5" 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="19703.390625"/>
    <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="8669.72460938"/>
    <define name="ROLL_RATE_GAIN" value="963.302978516"/>
   </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="0.1"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.15"/><!-- 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>

 <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
 </section>

 <makefile>
CONFIG=\"tiny_0_99.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_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c

# 41.200MHz
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c

# transparent
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400

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

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

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

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

# Current sensor
ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
ap.srcs += adc_generic.c

# Configuration for Hardware In The Loop
# ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600

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

ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c

  </makefile>
</airframe>
