From 528a7b5882bbaf27ed3663c70c725ee91a4d02fe Mon Sep 17 00:00:00 2001
From: Michal Podhradsky <mpodhradsky@galois.com>
Date: Fri, 12 Jan 2018 11:36:51 -0800
Subject: [PATCH] Update AggieAir configs

---
 conf/airframes/AGGIEAIR/aggieair_blujay.xml   |  8 ++---
 conf/airframes/AGGIEAIR/aggieair_conf.xml     | 14 +++++++-
 .../AGGIEAIR/aggieair_minion_rp3_lia.xml      |  4 +--
 conf/radios/AGGIEAIR/aggieair_taranis.xml     | 34 +++++++++----------
 .../telemetry/AGGIEAIR/aggieair_fixedwing.xml |  3 +-
 5 files changed, 38 insertions(+), 25 deletions(-)

diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay.xml b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
index 188b3b70f3..03bb8dab7e 100644
--- a/conf/airframes/AGGIEAIR/aggieair_blujay.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
@@ -4,14 +4,14 @@
 AggieAir Blujayujay
 -->
 
-<airframe name="Bl">
+<airframe name="Blujay">
 
   <firmware name="fixedwing">
     <target name="ap" board="lisa_mx_2.1">
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>
-      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="HAS_LUFTBOOT" value="0"/>
       <configure name="FLASH_MODE" value="DFU"/>
     </target>
 
@@ -82,8 +82,8 @@ AggieAir Blujayujay
     <servo name="FLAP" no="0" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
-    <servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
-    <servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
+    <servo name="ELEVATOR" no="3" min="900" neutral="1500" max="92100"/>
+    <servo name="RUDDER" no="4" min="900" neutral="1500" max="2100"/>
     <servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
   </servos>
 
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index efbd9b9538..fde5881372 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -21,6 +21,18 @@
    settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="#ffff954c0000"
   />
+  <aircraft
+   name="Atomic"
+   ac_id="9"
+   airframe="airframes/AGGIEAIR/aggieair_atomic_lia.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
+   flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#ffff42870000"
+   release=""
+  />
   <aircraft
    name="BluJay_Goose"
    ac_id="7"
@@ -41,7 +53,7 @@
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
    settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="#00009e93ffff"
+   gui_color="#ffffffffffff"
   />
   <aircraft
    name="ECU"
diff --git a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
index 95c5b9bb0f..fbda0732c8 100644
--- a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
@@ -11,8 +11,8 @@ AggieAir RP3 Minion
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>
-      <configure name="HAS_LUFTBOOT" value="1"/>
-      <configure name="FLASH_MODE" value="DFU"/>
+      <configure name="HAS_LUFTBOOT" value="0"/>
+      <configure name="FLASH_MODE" value="JTAG"/>
     </target>
 
     <!-- NOTE: if you want to use extra_dl module for HITL
diff --git a/conf/radios/AGGIEAIR/aggieair_taranis.xml b/conf/radios/AGGIEAIR/aggieair_taranis.xml
index b839ab7810..9b832963ea 100644
--- a/conf/radios/AGGIEAIR/aggieair_taranis.xml
+++ b/conf/radios/AGGIEAIR/aggieair_taranis.xml
@@ -21,22 +21,22 @@ Note: a command may be reversed by exchanging min and max values
 -->
 
 <!DOCTYPE radio SYSTEM "../radio.dtd">
-<radio name="Taranis" data_min="987" data_max="2011" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
- <channel ctl="1"  function="THROTTLE"     min="987" neutral="1500" max="2011" average="0"/>
- <channel ctl="2"  function="ROLL"         min="987" neutral="1500" max="2011" average="0"/>
- <channel ctl="3"  function="PITCH"        min="1811" neutral="1500" max="172" average="0"/>
- <channel ctl="4"  function="YAW"          min="987" neutral="1500" max="2011" average="0"/>
- <channel ctl="5"  function="SWITCH_A"     min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="6"  function="FLAP"         min="2011" neutral="1500" max="987" average="1"/>
- <channel ctl="7"  function="SWITCH_C"     min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="8"  function="MODE"         min="2011" neutral="1500" max="987" average="1"/>
- <channel ctl="9"  function="SWITCH_E"     min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="10" function="KILL_SWITCH"  min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="11" function="SIM_SRC"      min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="12" function="SWITCH_H"     min="987" neutral="1500" max="2011" average="1"/>
- <channel ctl="13" function="POT_S1"       min="987" neutral="1500" max="2011" average="0"/>
- <channel ctl="14" function="POT_S2"       min="897" neutral="1500" max="2011" average="0"/>
- <channel ctl="15" function="LEFT_SLIDER"  min="987" neutral="1500" max="2011" average="0"/>
- <channel ctl="16" function="RIGHT_SLIDER" min="987" neutral="1500" max="2011" average="0"/>
+<radio name="Taranis" data_min="987" data_max="2012" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
+ <channel ctl="1"  function="THROTTLE"     min="990" neutral="990" max="2012" average="0"/>
+ <channel ctl="2"  function="ROLL"         min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="3"  function="PITCH"        min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="4"  function="YAW"          min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="5"  function="SWITCH_A"     min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="6"  function="FLAP"         min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="7"  function="SWITCH_C"     min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="8"  function="MODE"         min="2012" neutral="1500" max="990" average="1"/>
+ <channel ctl="9"  function="SWITCH_E"     min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="10" function="KILL_SWITCH"  min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="11" function="SIM_SRC"      min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="12" function="SWITCH_H"     min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="13" function="POT_S1"       min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="14" function="POT_S2"       min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="15" function="LEFT_SLIDER"  min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="16" function="RIGHT_SLIDER" min="990" neutral="1500" max="2012" average="0"/>
 </radio>
 
diff --git a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
index e5131a222b..e4b464a6a6 100644
--- a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
+++ b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
@@ -3,11 +3,12 @@
 <telemetry>
   <process name="Ap">
     <mode name="default">
+      <message name="ACTUATORS"           period=".5"/> <!-- For trimming -->
       <message name="AUTOPILOT_VERSION"   period="11.1"/>
       <message name="ALIVE"               period="5.1"/>
       <message name="GPS_LLA"             period="0.25"/>
       <message name="NAVIGATION"          period="1."/>
-      <message name="ATTITUDE"            period="0.1"/>
+      <message name="ATTITUDE"            period="0.5"/>
       <message name="ESTIMATOR"           period="0.5"/>
       <message name="WP_MOVED"            period="0.5"/>
       <message name="CIRCLE"              period="1.05"/>