#ifndef AIRFRAME_H
#define AIRFRAME_H

#define AIRFRAME_NAME "DUMMY"
#define AC_ID 42

// basic plane
#define COMMAND_THROTTLE 0
#define COMMAND_ROLL 1
#define COMMAND_PITCH 2
#define COMMANDS_NB 3
#define COMMANDS_FAILSAFE {0,0,0}

// basic rotorcraft
//#define COMMAND_PITCH 0
//#define COMMAND_ROLL 1
#define COMMAND_YAW 2
#define COMMAND_THRUST 3

// extra commands
#define COMMAND_FLAPS 4

#define SetCommandsFromRC(_commands_array, _rc_array) { }
#define AllActuatorsInit() { }
#define AllActuatorsCommit() { }
#define SetActuatorsFromCommands(values, AP_MODE) { }

#define KILL_MODE_DISTANCE (1.5*MAX_DIST_FROM_HOME)
#define DEFAULT_CIRCLE_RADIUS 80.
#define NOMINAL_AIRSPEED 12.
#define CARROT 5.

#define V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE 0.4

#define SECTION_FAILSAFE 1
#define FAILSAFE_DELAY_WITHOUT_GPS 2
#define FAILSAFE_DEFAULT_THROTTLE 0.3
#define FAILSAFE_DEFAULT_ROLL 0.3
#define FAILSAFE_DEFAULT_PITCH 0.
#define FAILSAFE_HOME_RADIUS 100

#define SECTION_IMU 1
#define IMU_BODY_TO_IMU_PHI 0.
#define IMU_BODY_TO_IMU_THETA 0.
#define IMU_BODY_TO_IMU_PSI 0


#define SECTION_INS 1
#define INS_H_X 0.3892503
#define INS_H_Y 0.0017972
#define INS_H_Z 0.9211303
#define INS_USE_GPS_ALT 1
#define INS_SONAR_MIN_RANGE 0.0
#define INS_SONAR_MAX_RANGE 3.5
#define INS_SONAR_UPDATE_ON_AGL TRUE
#define INS_ROLL_NEUTRAL_DEFAULT 0.
#define INS_PITCH_NEUTRAL_DEFAULT 0.

#define SECTION_STABILIZATION_ATTITUDE 1
#define STABILIZATION_ATTITUDE_SP_MAX_PHI 0.7853981625
#define STABILIZATION_ATTITUDE_SP_MAX_THETA 0.7853981625
#define STABILIZATION_ATTITUDE_SP_MAX_R 1.04719755
#define STABILIZATION_ATTITUDE_DEADBAND_R 250

#define SECTION_STABILIZATION_ATTITUDE_INDI_HINF 1
#define STABILIZATION_INDI_HINF_Ap 1.
#define STABILIZATION_INDI_HINF_Bp 0.03518
#define STABILIZATION_INDI_HINF_Cp 0.0191
#define STABILIZATION_INDI_HINF_Dp 7.643
#define STABILIZATION_INDI_HINF_Ad 0.9013
#define STABILIZATION_INDI_HINF_Bd -0.02509
#define STABILIZATION_INDI_HINF_Cd 91.15
#define STABILIZATION_INDI_HINF_Dd 44.57

#define SECTION_GUIDANCE_INDI_HINF 1
#define GUIDANCE_INDI_HINF_Ap 0.9985
#define GUIDANCE_INDI_HINF_Bp 0.04362
#define GUIDANCE_INDI_HINF_Cp 0.009739
#define GUIDANCE_INDI_HINF_Dp 0.5602
#define GUIDANCE_INDI_HINF_Ad  1
#define GUIDANCE_INDI_HINF_Bd -0.01418
#define GUIDANCE_INDI_HINF_Cd -0.2814
#define GUIDANCE_INDI_HINF_Dd  2.397
#define GUIDANCE_INDI_HINF_Apz  0.9987
#define GUIDANCE_INDI_HINF_Bpz -0.0003935
#define GUIDANCE_INDI_HINF_Cpz -1.052
#define GUIDANCE_INDI_HINF_Dpz  1.084
#define GUIDANCE_INDI_HINF_Adz  1
#define GUIDANCE_INDI_HINF_Bdz  0.003449
#define GUIDANCE_INDI_HINF_Cdz  1.548
#define GUIDANCE_INDI_HINF_Ddz  3.357

#endif // AIRFRAME_H