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

<!--
    Multiplex EasyStar, using rudder
    TWOG v1 board
    Tilted infrared sensor
    XBee 2.4GHz modem in transparent mode
-->

<airframe name="EasyStar TWOGv1">

  <firmware name="fixedwing">
    <target name="ap" 			board="twog_1.0"/>
    <target name="sim" 			board="pc"/>

    <define name="LOITER_TRIM"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry" type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="ahrs" type="infrared"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="navigation"/>
    <subsystem name="ins" type="alt_float"/>
  </firmware>

  <firmware name="setup">
    <target name="tunnel" 		board="twog_1.0"/>
  </firmware>

<!-- commands section -->
  <servos>
    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
    <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
    <servo name="RUDDER"        no="4" min="950" neutral="1440" max="2050"/>
  </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="ROLL"      value="@ROLL"/>
    <set command="PITCH"     value="@PITCH"/>
    <set command="THROTTLE"  value="@THROTTLE"/>
  </rc_commands>

  <command_laws>
    <set servo="THROTTLE"    value="@THROTTLE"/>
    <set servo="RUDDER"      value="@ROLL"/>
    <set servo="ELEVATOR"    value="@PITCH"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="50" unit="deg"/>
    <define name="MAX_PITCH" value="40" unit="deg"/>
  </section>

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="510"/>
    <define name="ADC_TOP_NEUTRAL" value="500"/>

    <define name="LATERAL_CORRECTION" value="0.7"/>
    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
    <define name="VERTICAL_CORRECTION" value="1."/>

    <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="-5.3" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" 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_AT_FULL_THROTTLE" value="20000" unit="mA"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="4." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
    <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="100."/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
    <!-- outer loop -->
    <define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
    <define name="THROTTLE_SLEW" value="1.0"/>
  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="0.7"/>
    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
    <define name="PITCH_PGAIN" value="20000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="ELEVATOR_OF_ROLL" value="2500"/>
    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
    <define name="ROLL_RATE_GAIN" value="200"/>
  </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="0.9"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="3" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
    <define name="HOME_RADIUS" value="90" unit="m"/>
  </section>

</airframe>
