From a6730fb148939df082180742c5d1d4e62e128fd1 Mon Sep 17 00:00:00 2001
From: hendrixgr <hendrixgr@gmail.com>
Date: Tue, 13 Oct 2020 19:49:50 +0300
Subject: [PATCH] Easyglider airframe file corrected.

It had the parachute radio channel in it which doesn't exist but strangely it was compiling fine here until i deleted the aircraft and created a new one.
---
 .../Easyglider_matek_f405_wing.xml            | 348 ++++++++++++++++++
 1 file changed, 348 insertions(+)
 create mode 100644 conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml

diff --git a/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml b/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml
new file mode 100644
index 0000000000..1f400355a9
--- /dev/null
+++ b/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml
@@ -0,0 +1,348 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="Easyglider Matek">
+  <description>
+    Easyglider from Multiplex
+    BOARD = Matek f405 Wing
+    IMU = MPU6000
+    BARO = BMP280
+    Radio modem:   OPENLRSNG
+    Radio control: OPENLRSNG
+    GPS:           Ublox
+    On Board OSD
+    On board current sensor
+  </description>
+
+  <firmware name="fixedwing">
+    <target name="ap" board="matek_f405_wing_v1"/>
+    <target name="sim" board="pc"/>
+
+      <define name="AGR_CLIMB"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+      <define name="STRONG_WIND"/>
+      <define name="USE_ADC_1"/>
+      <define name="USE_ADC_2"/>
+      <define name="USE_ADC_3"/>	
+      <define name="USE_ADC_4"/>
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+      <define name="USE_AHRS_GPS_ACCELERATIONS"/>
+      <define name="MAGNETOMETER_AVAILABLE" value="0" />
+      <define name="BAROMETER_AVAILABLE" value="0" />
+
+      <module name="telemetry" type="transparent">  
+        <configure  name="MODEM_BAUD" value="B57600"/>
+        <configure  name="MODEM_PORT" value="UART6 "/>
+      </module>
+      <module name="gps"  type="ublox" >
+        <configure name="GPS_BAUD" value="B38400"/>
+        <configure name="GPS_PORT" value="UART1"/>
+        <configure name="GPS_LED" value="2"/>
+      </module>
+      <module name="control" /> 
+      <module name="radio_control" type="ppm">
+        <define name="RADIO_CONTROL_PPM_PIN" value="UART2_RX"/>
+      </module>
+      <module name="navigation"/>
+      <module name="imu" type="mpu6000" />
+      <module name="ahrs" type="float_dcm"/>
+      <module name="ins" type="alt_float">
+        <configure name="USE_MAGNETOMETER" value="0"/>
+        <define name="AHRS_USE_GPS_HEADING" value="1"/>
+        <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
+      </module>
+      <module name="spi" type="master"/>
+      <module name="nav_line.xml"/>
+      <module name="gps_ubx_ucenter.xml"/> 
+      <module name="baro_bmp280_i2c.xml">
+        <define name="BMP280_SYNC_SEND"/>
+        <configure name="BMP280_I2C_DEV" value="i2c1" />
+        <configure name="BMP280_SLAVE_ADDR" value="BMP280_I2C_ADDR" />
+      </module>
+      <module name="osd_max7456.xml">
+        <configure name="MAX7456_SPI_DEV" value="spi2" />
+        <configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1" />
+        <define name="USE_MATEK_TYPE_OSD_CHIP" value="1" />
+        <define name="USE_PAL_FOR_OSD_VIDEO" value="1" />
+        <define name="OSD_USE_BARO_ALTITUDE" value="0" />
+        <define name="BARO_ALTITUDE_VAR" value="baro_alt" /> <!-- if non defined the default var is ''baro_alt'' -->
+        <define name="OSD_USE_MAG_COMPASS" value="0" />
+      </module>
+
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" board="matek_f405_wing_v1" />
+    <target name="usb_tunnel" board="matek_f405_wing_v1">
+      <configure name="TUNNEL_PORT" value="UART3"/>
+    </target>
+  </firmware>
+
+  <servos>
+    <servo name="MOTOR" no="0" min="1100" neutral="1100" max="2000"/>
+    <servo name="AILERON" no="2" min="2000" neutral="1500" max="1000"/>
+    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
+    <servo name="RUDDER" no="4" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_PAN" no="5" min="943" neutral="1520" max="2056"/>
+    <servo name="CAM_TILT" no="6" min="996" neutral="1221" max="2004"/>
+    <servo name="PARACHUTE" no="7" min="950" neutral="950" max="2050"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="2000"/>
+    <axis name="CAM_PAN" failsafe_value="0"/>
+    <axis name="CAM_TILT" failsafe_value="0"/>
+    <axis name="PARACHUTE" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="YAW" value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.66"/>
+    <define name="COMBI_SWITCH" value="0.3"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="AILERON" value="@ROLL"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <set servo="CAM_PAN" value="@CAM_PAN"/>
+    <set servo="CAM_TILT" value="@CAM_TILT"/>
+    <set servo="PARACHUTE" value="@PARACHUTE"/>
+  </command_laws>
+
+  <!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
+  <auto_rc_commands>
+  <!--
+  <set command="YAW" value="@YAW"/>
+  -->
+  </auto_rc_commands>
+
+
+  <ap_only_commands>
+    <copy command="CAM_PAN"/>
+    <copy command="CAM_TILT"/>
+  </ap_only_commands>
+
+<!--
+   Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
+   Magnetic field intensity (North-East-vertical) / total field strength
+   H_x = INTENSITY_x / Total Magnetic Field
+   Total Magnetic Field = (intensityEAST^2+intensityNORTH^2+intensityVERTICAL^2) 
+   Calculated for LAGONISI ATTIKI 21 AUGUST 2020
+-->
+  <section name="AHRS" prefix="AHRS_" >
+    <define name="MAG_DECLINATION"  value="5.3" />
+    <define name="H_X" value="(25242.1/47035.5)" />
+    <define name="H_Y" value="(2224.0/47035.5)" />
+    <define name="H_Z" value="(39626.2/47035.5) " />
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="0"/>
+    <define name="GYRO_R_NEUTRAL" value="0"/>
+
+    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <define name="GYRO_P_SENS" value="4.947"  integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.947"  integer="16"/>
+    <define name="GYRO_R_SENS" value="4.947"  integer="16"/>
+
+    <define name="GYRO_P_Q" value="0."/>
+    <define name="GYRO_P_R" value="0"/>
+    <define name="GYRO_Q_P" value="0."/>
+    <define name="GYRO_Q_R" value="0."/>
+    <define name="GYRO_R_P" value="0."/>
+    <define name="GYRO_R_Q" value="0."/>
+
+    <define name="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
+
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
+
+    <define name="MAG_X_SIGN" value="1"/>
+    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_Z_SIGN" value="1"/>
+
+    <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="-90." unit="deg"/> <!-- YAW -->
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="50" unit="deg"/>
+    <define name="MAX_PITCH" value="40" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+                    <!-- OUTER LOOP PARAMETERS  -->
+<!-- The below definition affect the throttle percentage shown on the GCS. -->
+    <define name="POWER_CTL_BAT_NOMINAL" value="12.6" unit="volt"/>
+    <!-- outer loop ALTITUDE proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.07" unit="(m/s)/m"/>
+    <!-- outer loop ALTITUDE LIMIT (saturation) -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
+    <!-- outer loop AIRSPEED proportional gain -->
+    <define name="AIRSPEED_PGAIN" value="0.2"/>
+
+                   <!-- INNER LOOP PARAMETERS -->
+    <!-- The below definitions are used almost always -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60" unit="%"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="0.6" unit="s"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
+
+    <!-- Climb loop (throttle) -->
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0.0" unit="rad"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/> 
+    <define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.001"/>
+
+    <!-- Climb loop (pitch) -->
+    <!-- magnitude of elevator movement on altitude change -->
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15" unit="rad/(m/s)"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.04"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
+
+    <!-- Loiter and Dash trimming -->
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
+    <define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
+    <define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.8"/>
+    <define name="COURSE_DGAIN" value="0.8"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
+    <define name="PITCH_MAX_SETPOINT" value="20" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-20" unit="deg"/>
+    <define name="PITCH_PGAIN" value="8000."/>
+    <define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
+    <define name="ROLL_SLEW" value="0.1"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8000"/>
+    <define name="ROLL_RATE_GAIN" value="500."/>
+    <define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_DGAIN" value="6."/>
+    <define name="PITCH_IGAIN" value="100."/>
+  </section>
+
+  <section name="BAT">
+    <!-- FOR USE WITH A CURRENT SENSOR  -->
+    <define name="CATASTROPHIC_BAT_LEVEL" value="7.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="CLIMB_AIRSPEED" value="15." unit="m/s"/>
+    <define name="GLIDE_AIRSPEED" value="14." unit="m/s"/>
+    <define name="RACE_AIRSPEED" value="25." unit="m/s"/>
+    <define name="STALL_AIRSPEED" value="10." unit="m/s"/>
+    <define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/>
+    <define name="NOMINAL_AIRSPEED" value="16" unit="m/s"/>
+    <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="26." unit="m/s"/>
+    <define name="CARROT" value="3." unit="s"/>
+    <define name="GLIDE_RATIO" value="7."/>
+    <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="\"ATPL2\rATRN1\rATTT80\r\""/>
+    <define name="NO_XBEE_API_INIT"  value="TRUE"/>
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
+
+    <!-- MIN_CIRCLE_RADIUS used and needed for spiral navigation function and panic autolanding turns-->
+    <define name="MIN_CIRCLE_RADIUS" value="40."/>
+
+    <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
+    If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+
+    <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
+    or  fly a long range mission you define the wanted mode behaviour here.
+    If you do not define it, it defaults to flying to the flightplan HOME -->
+	<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="40"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="1.0"/> <!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="RadOfDeg(20)"/> <!-- 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="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
+    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
+  </section>
+
+  <section name="GLS_APPROACH" prefix="APP_">
+    <define name="ANGLE" value="5"/>
+    <define name="INTERCEPT_AF_TOD" value="10"/>
+    <define name="TARGET_SPEED" value="13"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.8" unit="%"/>
+    <define name="DEFAULT_ROLL" value="10" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="10" unit="deg"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+  </section>
+
+  <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="PPRZ"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+
+  <section name="GCS">
+    <define name="AC_ICON" value="flyingwing"/>
+    <define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
+    <define name="ALT_SHIFT_PLUS" value="10"/>
+    <define name="ALT_SHIFT_MINUS" value="-10"/>
+    <define name="SPEECH_NAME" value="DART"/>
+  </section>
+
+  <section name="SIMU">
+    <define name="WEIGHT" value ="1."/>
+    <define name="YAW_RESPONSE_FACTOR" value =".9"/>
+    <define name="PITCH_RESPONSE_FACTOR" value ="1.5"/>
+    <define name="ROLL_RESPONSE_FACTOR" value ="20."/>
+  </section>
+
+</airframe>
+