From d5097190b84f4b5de09ab9c8d08ae0968de5dc7c Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Wed, 20 Dec 2023 17:39:43 +0100
Subject: [PATCH] New final corrections (#3224)

* Silent warning: accel_x shadows global declaration

* [disco] was a shared airframe file with ENAC
---
 conf/airframes/tudelft/disco.xml              | 236 ++++++++++++++++++
 conf/userconf/tudelft/conf.xml                |   4 +-
 .../rotorcraft/guidance/guidance_h.c          |   8 +-
 3 files changed, 242 insertions(+), 6 deletions(-)
 create mode 100644 conf/airframes/tudelft/disco.xml

diff --git a/conf/airframes/tudelft/disco.xml b/conf/airframes/tudelft/disco.xml
new file mode 100644
index 0000000000..6a5e9ebabd
--- /dev/null
+++ b/conf/airframes/tudelft/disco.xml
@@ -0,0 +1,236 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+     Parrot Disco
+-->
+
+<airframe name="Disco">
+
+  <firmware name="fixedwing">
+    <configure name="USE_MAGNETOMETER" value="TRUE"/>
+
+    <target name="ap" board="disco">
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <module name="radio_control" type="sbus"/>
+    </target>
+    <target name="sim" board="pc">
+      <configure name="SYS_TIME_FREQUENCY" value="120"/>
+      <configure name="PERIODIC_FREQUENCY" value="60"/>
+      <module name="radio_control" type="ppm"/>
+    </target>
+
+    <module name="telemetry" type="transparent_udp"/>
+
+    <module name="imu" type="disco"/>
+    <module name="ahrs" type="float_dcm"/>
+    <module name="gps" type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="ins" type="alt_float"/>
+    <module name="airspeed" type="ms45xx_i2c">
+      <define name="MS45XX_I2C_DEV" value="i2c1"/>
+      <define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
+    </module>
+    <module name="air_data"/>
+    <module name="actuators" type="disco"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
+    <module name="sonar_bebop">
+      <define name="USE_SONAR"/>
+      <define name="SENSOR_SYNC_SEND_SONAR"/>
+    </module>
+  </firmware>
+
+  <servos>
+    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="1900"/>
+  </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="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="-141"/>
+    <define name="ACCEL_Y_NEUTRAL" value="13"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-12"/>
+    <define name="ACCEL_X_SENS" value="2.43116617606" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.46264528353" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.41899590699" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-164"/>
+    <define name="MAG_Y_NEUTRAL" value="-244"/>
+    <define name="MAG_Z_NEUTRAL" value="-590"/>
+    <define name="MAG_X_SENS" value="7.76268606256" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.53777959342" integer="16"/>
+    <define name="MAG_Z_SENS" value="8.13033580043" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0"/>
+    <define name="BODY_TO_IMU_THETA" value="0"/>
+    <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
+
+  <!--section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.5141"/>
+    <define name="H_Y" value="0.0002"/>
+    <define name="H_Z" value="0.8576"/>
+  </section-->
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="H_X" value="0.5141"/>
+    <define name="H_Y" value="0.0002"/>
+    <define name="H_Z" value="0.8576"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+
+    <define name="APP_ANGLE" value="8" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.12"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
+    <!-- disable climb rate limiter -->
+    <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
+
+    <!-- Cruise throttle + limits -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+
+    <!-- Climb loop (throttle) -->
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>
+
+    <!-- Climb loop (pitch) -->
+    <define name="AUTO_PITCH_PGAIN" value="0.027"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.01"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
+    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
+
+    <!-- airspeed control -->
+    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
+    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
+    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
+    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
+    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
+    <define name="AIRSPEED_MAX" value="30"/>
+    <define name="AIRSPEED_MIN" value="10"/>
+
+    <!-- groundspeed control -->
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+
+    <!-- pitch trim -->
+    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
+    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.743"/>
+    <define name="COURSE_TAU" value="0.5"/>
+    <define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="11000."/>
+    <define name="ROLL_RATE_GAIN" value="1000."/>
+    <define name="ROLL_IGAIN" value="100."/>
+    <define name="ROLL_KFFA" value="0"/>
+    <define name="ROLL_KFFD" value="0"/>
+
+    <define name="PITCH_PGAIN" value="17250"/>
+    <define name="PITCH_DGAIN" value="500."/>
+    <define name="PITCH_IGAIN" value="400"/>
+    <define name="PITCH_KFFA" value="0."/>
+    <define name="PITCH_KFFD" value="0."/>
+
+    <define name="PITCH_OF_ROLL" value="1." unit="deg"/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="ELEVATOR_OF_ROLL" value="1400"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_GLIDE_PITCH_TRIM" value="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="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </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="SIMU">
+    <define name="ROLL_RESPONSE_FACTOR" value="20"/>
+    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
+    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
+    <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
+    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+  </section>
+
+</airframe>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 7c2c02787f..6a372371da 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -134,12 +134,12 @@
   <aircraft
    name="Disco"
    ac_id="16"
-   airframe="airframes/ENAC/fixed-wing/disco.xml"
+   airframe="airframes/tudelft/disco.xml"
    radio="radios/T14SG_SBUS.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 8c5d1c0dc6..f66954c423 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -348,10 +348,10 @@ static void guidance_h_update_reference(void)
   /* compute reference even if usage temporarily disabled via guidance_h_use_ref */
 #if GUIDANCE_H_USE_REF
   if (guidance_h.sp.h_mask == GUIDANCE_H_SP_ACCEL) {
-    struct FloatVect2 sp_accel;
-    sp_accel.x = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.x);
-    sp_accel.y = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.y);
-    gh_update_ref_from_accel_sp(sp_accel);
+    struct FloatVect2 sp_accel_local;
+    sp_accel_local.x = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.x);
+    sp_accel_local.y = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.y);
+    gh_update_ref_from_accel_sp(sp_accel_local);
   }
   else if (guidance_h.sp.h_mask == GUIDANCE_H_SP_SPEED) {
     struct FloatVect2 sp_speed;