<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->

<airframe name="booz2_a7">

  <servos>
    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
    <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
    <servo name="RIGHT"   no="3" min="0" neutral="0" max="255"/>
  </servos>

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

  <!-- for the sim -->
  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
  </section>


  <section name="SUPERVISION" prefix="SUPERVISION_">
    <define name="MIN_MOTOR" value="3"/>
    <define name="MAX_MOTOR" value="200"/>
    <define name="TRIM_A" value="0"/>
    <define name="TRIM_E" value="0"/>
    <define name="TRIM_R" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
    <define name="YAW_COEF"    value="{  256,  256, -256, -256 }"/>
    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
  </section>

  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_NEUTRAL" value="32858"/>
    <define name="GYRO_Q_NEUTRAL" value="33152"/>
    <define name="GYRO_R_NEUTRAL" value="31779"/>
    <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
    <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
    <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>


    <define name="ACCEL_X_NEUTRAL" value="32899"/>
    <define name="ACCEL_Y_NEUTRAL" value="33281"/>
    <define name="ACCEL_Z_NEUTRAL" value="32569"/>
    <define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="58"/>
    <define name="MAG_Y_NEUTRAL" value="92"/>
    <define name="MAG_Z_NEUTRAL" value="-3"/>
    <define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
    <define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
    <define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>

    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="135." unit="deg"/>

  </section>

 <section name="AUTOPILOT">
   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
 </section>

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


  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

    <define name="SP_MAX_P" value="10000"/>
    <define name="SP_MAX_Q" value="10000"/>
    <define name="SP_MAX_R" value="10000"/>

    <define name="GAIN_P" value="400"/>
    <define name="GAIN_Q" value="400"/>
    <define name="GAIN_R" value="350"/>

  </section>

  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

    <!-- setpoints -->
    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
    <define name="DEADBAND_R"     value="250"/>

    <!-- reference -->
    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
    <define name="REF_ZETA_P"   value="0.85"/>
    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>

    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
    <define name="REF_ZETA_Q"   value="0.85"/>
    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>

    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
    <define name="REF_ZETA_R"   value="0.85"/>
    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

   <!--  gaui props
    <define name="PHI_PGAIN"  value="900"/>
    <define name="PHI_DGAIN"  value="200"/>
    <define name="PHI_IGAIN"  value="200"/>

    <define name="THETA_PGAIN"  value="900"/>
    <define name="THETA_DGAIN"  value="200"/>
    <define name="THETA_IGAIN"  value="200"/>

    <define name="PSI_PGAIN"  value="900"/>
    <define name="PSI_DGAIN"  value="200"/>
    <define name="PSI_IGAIN"  value="10"/>

    <define name="PHI_DDGAIN"   value=" 200"/>
    <define name="THETA_DDGAIN" value=" 200"/>
    <define name="PSI_DDGAIN"   value=" 200"/>
  -->

    <!-- feedback -->
    <define name="PHI_PGAIN"  value="2000"/>
    <define name="PHI_DGAIN"  value="400"/>
    <define name="PHI_IGAIN"  value="200"/>

    <define name="THETA_PGAIN"  value="2000"/>
    <define name="THETA_DGAIN"  value="400"/>
    <define name="THETA_IGAIN"  value="200"/>

    <define name="PSI_PGAIN"  value="2000"/>
    <define name="PSI_DGAIN"  value="400"/>
    <define name="PSI_IGAIN"  value="10"/>

    <!-- feedforward -->
    <define name="PHI_DDGAIN"   value=" 300"/>
    <define name="THETA_DDGAIN" value=" 300"/>
    <define name="PSI_DDGAIN"   value=" 300"/>

  </section>

  <section name="AHRS" prefix="AHRS_">
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="H_X" value=" 0.51562740288882"/>
    <define name="H_Y" value="-0.05707735220832"/>
    <define name="H_Z" value=" 0.85490967783446"/>
  </section>


  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="10." integer="16"/>
  </section>

 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
   <define name="MAX_SUM_ERR" value="2000000"/>

<!--
   <define name="HOVER_KP"    value="500"/>
   <define name="HOVER_KD"    value="200"/>
   <define name="HOVER_KI"    value="0"/>
-->
   <define name="HOVER_KP"     value="150"/>
   <define name="HOVER_KD"     value="80"/>
   <define name="HOVER_KI"     value="0"/>

   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
   <define name="RC_CLIMB_COEF" value ="163"/>
   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value ="0.2"/> -->
  </section>


 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="50"/>
   <define name="DGAIN" value="100"/>
   <define name="IGAIN" value="15"/>
   <define name="NGAIN" value="0"/>
 </section>

 <section name="MISC">
   <define name="FACE_REINJ_1"  value="1024"/>
 </section>

 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
 </section>

<!--
 <modules main_freq="512">
   <load name="vehicle_interface_overo_link.xml"/>
 </modules>
-->

  <firmware name="rotorcraft">
<!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
<!--     <define name="USE_INS_NAV_INIT"/> -->
     <define name="FAILSAFE_GROUND_DETECT"/>
     <define name="USE_GPS_ACC4R"/>
     <target name="ap" board="lisa_l_1.0">
      <subsystem name="radio_control" type="spektrum"/>
      <subsystem name="actuators"     type="asctec"/>
    </target>
    <target name="nps" board="pc">
      <subsystem name="fdm"           type="jsbsim"/>
      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="actuators"     type="mkk"/>
    </target>
    <subsystem name="telemetry"     type="transparent"/>
    <subsystem name="imu"           type="b2_v1.1"/>
    <subsystem name="gps"           type="ublox">
      <configure name="GPS_BAUD"    value="B57600"/>
    </subsystem>
    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
    <subsystem name="stabilization"   type="euler"/>
    <subsystem name="ahrs"          type="int_cmpl_quat"/>
    <subsystem name="ins"/>
    <subsystem name="ins"           type="hff"/>
  </firmware>

  <firmware name="lisa_test_progs">
    <target name="test_led"                 board="lisa_l_1.0"/>
    <target name="test_uart"                board="lisa_l_1.0"/>
    <target name="test_servos"              board="lisa_l_1.0"/>
    <target name="test_telemetry"           board="lisa_l_1.0"/>
    <target name="test_baro"                board="lisa_l_1.0"/>
    <target name="test_imu_b2"              board="lisa_l_1.0"/>
    <target name="test_imu_b2_2"            board="lisa_l_1.0"/>
    <target name="test_imu_aspirin"         board="lisa_l_1.0"/>
    <target name="test_rc_spektrum"         board="lisa_l_1.0"/>
    <target name="test_rc_ppm"              board="lisa_l_1.0"/>
    <target name="test_adc"                 board="lisa_l_1.0"/>
    <target name="test_hmc5843"             board="lisa_l_1.0"/>
    <target name="test_itg3200"             board="lisa_l_1.0"/>
    <target name="test_adxl345"             board="lisa_l_1.0"/>
    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
    <target name="tunnel_sw"                board="lisa_l_1.0"/>
    <target name="tunnel_hw"                board="lisa_l_1.0"/>
  </firmware>

  <firmware name="lisa_passthrough">
    <target name="overo_test_passthrough" board="lisa_l_1.0"  >
      <configure name="HOST"          value="A7"/>
      <configure name="USER"          value=""/>
      <configure name="TARGET_DIR"    value="~"/>
      <configure name="PERIODIC_FREQ" value="512"/>
    </target>
    <target name="stm_passthrough" board="lisa_l_1.0">
      <subsystem name="radio_control" type="spektrum"/>
      <subsystem name="imu" type="b2_v1.1"/>
    </target>
 </firmware>


</airframe>
