<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
     Graupner C19 receiver
     TWOG V1 board
     PerkinElmer TPS334 IR Sensors
     Tilted infrared sensor
     Radiotronix modem
     K66, LEA 4P (set to POSLLH)
-->

<airframe name="Twinstar K66">

<!-- commands section -->
  <servos>
    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILERON_LEFT"  no="1" min="1900" neutral="1480" max="1050"/>
    <servo name="ELEVATOR"      no="2" min="1750" neutral="1530" max="1250"/>
    <servo name="RUDDER"        no="3" min="1100" neutral="1500" max="1900"/>
    <servo name="AILERON_RIGHT" no="4" min="2000" neutral="1610" max="1200"/>
    <servo name="FWHEEL"        no="5" min="1900" neutral="1470" max="1100"/>
    <servo name="HATCH"         no="6" min="1000" neutral="1500" max="2000"/>
    <servo name="CAM_ROLL"      no="7" min="1000" neutral="1500" max="2000"/>
    <servo name="CAM_PITCH"     no="8" min="1000" neutral="1500" max="2000"/>
  </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"/>
    <axis name="CAM_ROLL"  failsafe_value="0"/>
    <axis name="CAM_PITCH" 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="HATCH"    value="@CALIB"/>
  </rc_commands>

  <auto_rc_commands>
    <set command="YAW" value="@YAW"/>
  </auto_rc_commands>

  <section name="MIXER">
    <define name="AILERON_DIFF" value="0.8"/>
  </section>

  <command_laws>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <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"/>
    <set servo="RUDDER" value="@YAW"/>
    <set servo="FWHEEL" value="@YAW"/>
    <set servo="HATCH" value="@HATCH"/>
    <set servo="CAM_ROLL" value="@CAM_ROLL"/>
    <set servo="CAM_PITCH" value="@CAM_PITCH"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </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="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>

    <define name="LATERAL_CORRECTION" value="-1"/>
    <define name="LONGITUDINAL_CORRECTION" value="1"/>
    <define name="VERTICAL_CORRECTION" value="1.7"/>

    <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="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                        <!-- 0.0247311828 -->
                                        <!-- 0.02432905 -->
    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
  </section>

  <section name="MISC">
    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
    <define name="MAXIMUM_AIRSPEED" value="18." 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="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
  </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="0.06"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- 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="-1200"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
    <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="0.06"/>
    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

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

  </section>


  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.0"/>
    <define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
    <define name="AILERON_OF_THROTTLE" value="0.0"/>
    <define name="PITCH_PGAIN" value="9000."/>
    <define name="PITCH_DGAIN" value="1700."/>

    <define name="ELEVATOR_OF_ROLL" value="1500"/>

    <!--define name="ROLL_ATTITUDE_GAIN" value="5900"/>
    <define name="ROLL_RATE_GAIN" value="2900"/-->
 </section>

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

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="0.17" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </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 -DSYS_TIME_LED=1
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.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 -DRADIO_CONTROL_AUTO1
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

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

#TRANSPARENT
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_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
ap.srcs += gps_ubx.c gps.c latlong.c

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

ap.CFLAGS += -DNAV -DAGR_CLIMB -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

ap.srcs += subsystems/navigation/bomb.c

ap.srcs += subsystems/navigation/snav.c

# Config for SITL simulation
# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c mcu_periph/sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c

sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c

sim.srcs += subsystems/navigation/bomb.c

  </makefile>
</airframe>
