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

<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
     Umarim Lite
     Radiotronix modem
     UBX GPS
     Airspeed sensor
     Digital camera
-->

<airframe name="Funjet II">

  <modules>
    <!--load name="light.xml">
      <define name="LIGHT_LED_STROBE" value="5"/>
      <define name="LIGHT_LED_NAV" value="3"/>
    </load-->
    <!--load name="baro_board.xml">
      <define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
    </load-->
    <load name="pbn.xml"/>
  </modules>

  <firmware name="fixedwing">
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <define name="AGR_CLIMB"/>
    <define name="ALT_KALMAN"/>
    <define name="LOITER_TRIM"/>
    <define name="USE_AIRSPEED"/>

    <target name="sim" board="pc"/>
    <target name="ap" board="umarim_lite_2.0"/>

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

    <!-- Communication -->
    <subsystem name="telemetry"     type="transparent"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="imu"     type="umarim"/>
    <subsystem name="ahrs"    type="float_dcm">
      <define name="USE_HIGH_ACCEL_FLAG"/>
    </subsystem>
    <subsystem name="ins"     type="alt_float"/>
    <subsystem name="control" type="new">
      <define name="USE_GYRO_PITCH_RATE"/>
    </subsystem>
    <!-- Sensors -->
    <subsystem name="gps"           type="ublox"/>

    <subsystem name="current_sensor">
      <configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
    </subsystem>

    <subsystem name="navigation"/>
  </firmware>

  <servos>
    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
    <servo name="AILEVON_RIGHT" no="1" min="1120" neutral="1540" max="1980"/>
  </servos>

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

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

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="-1"/>
    <define name="GYRO_R_SIGN" value="-1"/>

    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="5"/>
    <define name="GYRO_Q_NEUTRAL" value="17"/>
    <define name="GYRO_R_NEUTRAL" value="-5 "/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="-1"/>
    <define name="ACCEL_Z_SIGN" value="-1"/>

    <define name="ACCEL_X_NEUTRAL" value="6"/>
    <define name="ACCEL_Y_NEUTRAL" value="-3"/>
    <define name="ACCEL_Z_NEUTRAL" value="-8"/>

    <define name="ACCEL_X_SENS" value="38.273044006" integer="16"/>
    <define name="ACCEL_Y_SENS" value="39.3799642589" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.6142126316" integer="16"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="8." unit="deg"/>
  </section>

  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-100)*26.9"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.1"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
    <!-- disable climb rate limiter -->
    <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
    <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="1000"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.005"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.003"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
    <define name="AUTO_PITCH_DGAIN" value="0.03"/>
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

    <!-- airspeed control -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
    <define name="AIRSPEED_MAX" value="30"/>
    <define name="AIRSPEED_MIN" value="10"/>

    <!-- groundspeed control -->
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

    <!-- pitch trim -->
    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

    <define name="THROTTLE_SLEW" value="0.1"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.6"/>
    <define name="ROLL_MAX_SETPOINT" value="0.8" 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_ATTITUDE_GAIN" value="9000."/>
    <define name="ROLL_RATE_GAIN" value="1000."/>
    <define name="ROLL_IGAIN" value="150."/>

    <define name="PITCH_PGAIN" value="18000."/>
    <define name="PITCH_DGAIN" value="500"/>
    <define name="PITCH_IGAIN" value="250."/>

    <define name="PITCH_OF_ROLL" value="1." unit="deg"/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
  </section>

  <section name="NAV">
    <define name="NAV_GLIDE_PITCH_TRIM" value="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"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

  <section name="SIMU">
    <define name="YAW_RESPONSE_FACTOR" value="0.6"/>
  </section>

</airframe>
