paparazzi/conf/airframes/OPENUAS/openuas_parrot_bebop.xml

<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Bebop">
  <description>
  Parrot Bebop Quadcopter (https://www.openuas.org/airframes/)
+ Airframe to validate all onboard functionally...
  Parrot Bebop
     + Autopilot:   Default Parrot Bebop board
     + Actuators:   Default Motors
     + GPS:         Default Furuno
     + TELEMETRY:   Default WiFi
     + CURRENT:     Default Build in V/A sensing
     + RC RX:       Joystick on USB of a GCS forward via Wifi (for now...)

 NOTES:
     + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
     + Yeah.. and your Accelometer also... EKF2 will like you if you use it :)
     + Uses PAPARAZZI "standard" radio channel settings
     + One could make a flightplan mimicing exact default behaviour of Parrot App
     + Tested with Firmware v4.0.6, update to this Bebop firmware version if not done already
     + Can use INDI full for control
     + Flash the PPRZ firmware via WiFi or USB
     + Regular Telemetry is possible via USB to FTDI serial to Modem, added kernel drivers see:
        https://wiki.paparazziuav.org/wiki/Howto.crosscompile_for_parrot_drones
        https://wiki.paparazziuav.org/wiki/Use_the_USB_port_on_Parrot_Drones
     + Bottom camera can used just for some mapping, not high resolution but still fun...
     + PPRZLink v2 advised for tcas fun
     + Theoretically an RC receiver can be added with e.g. SBus RX out via FTDI to USB
     + There are no other modification, also not on the vibration absorbers. Oh yeah, it is black ;)
     + To testfly this airframe yourself you need to:
     ++ point to your own calibrations xml, search for 'calibration' in this document
     ++ Make sure your drone runs firmware 4.0.6

 WIP:
     + Not all gains are tuned to optimum, feel free to enhance and a PR...
     + The front cam is not yet fully supported with internal code
     + Sonar needs to be put to good use
     + SD SRTM via onboard storage not implemented (yet..)
     + likely more, but we forgot...

 Launching
     + 1)Set TX to AUTO2 (or even switch off your TX is you dare)
       2) wait until props spins after a second or so
       3) There it goes...

  Setting1:
  + All setting a so this object is ment to fly inide a "virtual" box of 10m x 10m with RTK to the max of its envelope with no wind
   The values are tuned so that the flight speed is limited and the drone does not over-shoot the waypoints as it would in outdoor settings.
  Setting2:
  + All setting a so this object is ment to fly outside to the max of its envelope unde various wind conditions
  </description>

  <firmware name="rotorcraft">

    <!-- ************************* MODULES ************************* -->
    <!-- Warning: unit conversion does not work in this section of airframe,
    so use the native units, or you'll have big trouble... -->
    <target name="ap" board="bebop">

      <!-- Towards less aligner issues -->
      <!--
      <define name="AHRS_ALIGNER_SAMPLES_NB" value="600"/>
      <define name="LOW_NOISE_THRESHOLD" value="30000"/>
      <define name="LOW_NOISE_TIME" value="10"/>
      -->
      <module name="stabilization" type="rate_indi"/>
      <!--<module name="stabilization" type="indi_simple"/>--><!-- not used ATM -->
      <module name="stabilization" type="indi">
        <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
        <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
        <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
        <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
      </module>
    </target>

    <target name="nps" board="pc">
      <module name="fdm" type="jsbsim"/>
      <module name="udp"/>
      <!-- INDI RPM feedback not implemented in sim, will it be YOU who adds this? TIA! -->
      <module name="stabilization" type="indi">
      </module>
      <define name="STABILIZATION_INDI_G2_R" value="0.0"/><!-- for jsbsim (rotor inertia is not modelled) or if one wants to use Gazebo sim -->
      <!--<module name="uart"/>--><!-- TODO: Exteral HITL PC debugging e.g test external device triggering while mission flying in sim -->
    </target>

    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>

    <!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>--><!-- TODO test on Busybox -->

    <!-- amount of time it take for the bat to trigger check -->
    <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
    <!-- TODO: specificaly test for Disco see if needed or which value -->
    <define name="BAT_CHECKER_DELAY" value="60"/><!-- unit="s/10", thus tenth of seconds per default use ELECTRICAL_PERIODIC_FREQ if you for some reason want it differently-->
    <!-- Only one main battery so CATASTROPHIC_BATTERY kill should be somewhat delayed -->
    <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/> <!-- unit="s/10, thus  tenth of seconds for engine kill or in ELECTRICAL_PERIODIC_FREQ-->
    <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
    <configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/><!-- HZ-->
    <configure name="USE_BARO_BOARD" value="TRUE"/>

    <!-- USE_SONAR means the device can read values. It does not mean we want to use those values in AHRS yet
    For that you have a setting <define name="AHRS_USE_SONAR" value="TRUE"/>
    Since sometimes you want to just read sonar values to scan an area surface height difference but not do
    anything with it AGL in control -->
    <define name="USE_SONAR" value="TRUE"/>

    <define name="AHRS_USE_SONAR" value="TRUE"/>
    <define name="SENSOR_SYNC_SEND_SONAR"/><!-- Enable if you want it debug sonar device, eg raw values -->

    <module name="telemetry" type="transparent_udp"/>
     <!-- By adding new kernel drivers to the airframe it is very well possible to use all kinds of external devices. -->

    <!-- E.g. a serial modem via FTDI cable on Micro USB 2, testflights performed, all works well -->
    <!-- Possible if one connect other serial devices they present them as ttyACMx devices, if so try UART5 or UART6 -->
    <!-- For this to work out kernel drivers ( xyz.ko ) must be installed on the Airframe -->

    <!-- One can also use type="xbee_api" if Digi Xbee modem is connected-->
    <!-- <module name="telemetry" type="transparent"
      <configure name="MODEM_PORT" value="UART2"/>
      <configure name="MODEM_BAUD" value="B57600"/>
    </module>-->

    <!-- <module name="extra_pprz_dl"/>--> <!-- e.g. for WiFi *AND* a LongRangeModem -->

    <module name="radio_control" type="datalink"/>

    <!-- Or.... -->
    <!-- SBUS out is AETR by default, our transmitter sends TAER as per standard so correct in radio file -->
      <!--<module name="radio_control" type="sbus"> --><!-- The output type of RX, over the air it can can be all kinds e.g. DSMX, FRSky-->
      <!-- <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/> --> <!-- Set the OpenRXSR receiver to maximum channel output of 8 9ms -->
      <!-- <define name="RADIO_CONTROL_NB_CHANNEL" value="12"/>--> <!-- An Orange R620X Has maximum sbus channel output of 12 -->
    <!--</module>-->

    <!-- This GPS setting can be set using Sirftool -->
    <module name="gps" type="furuno"/><!-- For Optitrack use type= datalink-->


    <!--<module name="mag_calib_ukf"/>--><!-- New, and needs more testing, be careful with testflights if enabled -->

    <module name="motor_mixing"/>
    <module name="actuators" type="bebop"/>
    <module name="imu" type="bebop"/>

    <module name="ins" type="extended"/> <!-- type="ekf2, or extended"/>-->
    <module name="ahrs" type="float_cmpl_quat"><!-- or float_cmpl_quat ?-->
      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
      <configure name="USE_MAGNETOMETER" value="TRUE"/><!-- if using INS EKF2 this forced already-->
      <configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/>
      <define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/>
      <!-- <define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/>-->
      <define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="3.0" unit="m/s"/>
      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0f"/>
    </module>

    <!-- Also used if QNH needed -->
    <module name="air_data">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>
     <define name="CALC_AMSL_BARO" value="TRUE"/>
    </module>

    <module name="geo_mag"/>

    <module name="send_imu_mag_current"/> <!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->

    <module name="nav" type="survey_rectangle_rotorcraft">
      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/><!-- in deg -->
    </module>
    <module name="nav" type="survey_poly_rotorcraft">
      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/><!-- in M -->
    </module>

    <!--<module name="logger_file">
      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
    </module>-->

    <!-- can be used in flightplan during takeoff/landing or lowflyby with default sonar -->
    <module name="agl_dist">
        <!-- Make sure something like this is defined <define name="USE_SONAR"/>-->
    </module>

    <module name="bebop_cam"/>

    <module name="video_capture">
      <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/media/ouas"/>
    </module>

    <module name="video_rtp_stream">
      <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
      <!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
    </module>

    <!--<module name="bebop_ae_awb"/>-->

    <!--
    <module name="cv_blob_locator">
      <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
    </module>
    -->

    <!-- Embed State data in your Photo file, e.g. Position of photo when taken  -->
    <module name="video_exif">
    </module>

    <module name="digital_cam_video">
      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5.0"/> <!-- unit="s"/> -->
    </module>

    <!-- When flying multiple airframes over eg a mesh they can have info of eachothers position etc. -->
    <module name="traffic_info">
    </module>
<!--
    <module name="tcas">
    </module>
-->

    <module name="sys_mon"/><!-- for MCU load debugging -->
  </firmware>

<!-- ********************** RC COMMANDS ************************** -->
<!--  <rc_commands>
    <set command="THRUST" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="YAW" value="@YAW"/>
  </rc_commands>-->

<!-- ************************ COMMANDS ***************************** -->
  <commands>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="5800"/>
  </commands>

  <servos driver="Default">
   <!-- Simple <servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
    <servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
    <servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
    <servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>-->

    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800"/>
    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800"/>
    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800"/>
    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800"/>

  </servos>

  <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>

    <!-- Time cross layout (X), with order NW (CCW), NE (CW), SE (CCW), SW (CW) -->
    <define name="REVERSE" value="TRUE"/>
    <define name="TYPE" value="QUAD_X"/>
  </section>

  <command_laws>
   <!--<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>-->

    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
  </command_laws>

  <!--<include href="conf/airframes/OPENUAS/calibrations/openuas_cal_parrot_bebop.xml"/>-->

  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
    <define name="OUTPUT_HEIGHT" value="640"/>
    <define name="OUTPUT_WIDTH" value="640"/>
    <define name="OFFSET_X" value="0.15"/>
    <define name="TARGET_EXPOSURE" value="30"/>
    <define name="ZOOM" value="1.25"/>
  </section>

  <section name="BEBOP_BOTTOM_CAMERA" prefix="MT9V117_">
    <!--<define name="TARGET_FPS" value="2"/>
    <define name="FOCAL_X" value="0.48686"/>
    <define name="OFFSET_X" value="0.48908"/>
    <define name="CENTER_X" value="0.51015"/>
    <define name="CENTER_Y" value="0.51015"/>
    <define name="DHANE_K" value="1.25"/>-->
  </section>

  <section name="AIR_DATA" prefix="AIR_DATA_">
    <define name="CALC_AIRSPEED" value="FALSE"/>
    <define name="CALC_TAS_FACTOR" value="FALSE"/>
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

<!-- ************************* IMU ************************* -->
  <section name="IMU" prefix="IMU_">
    <!-- Accelerometer calibrated for THIS, for your airframe RECALIBRATE -->
    <define name="ACCEL_X_NEUTRAL" value="45"/>
    <define name="ACCEL_Y_NEUTRAL" value="3"/>
    <define name="ACCEL_Z_NEUTRAL" value="123"/>
    <define name="ACCEL_X_SENS" value="2.43271539166" integer="16"/>
    <define name="ACCEL_Y_SENS" value="2.44118861813" integer="16"/>
    <define name="ACCEL_Z_SENS" value="2.41672180127" integer="16"/>

<!--
Calibrating the Magnetometer

First of all it is important to know that all ferromagnetic materials near the mag distort the measurements.
So preferably you do the mag calibration with the mag/autopilot mounted in your frame and as far away from metal and magnets as possible.
Calibrating for the Earth magnetic field

The most crucial part for the magnetometer calibration:

1) Stop Server, start server, creates new log file we need for calibration
2) Slowly spin your aircraft around all axes round a minute or so...
3) Stop the server so it will write the log file
4) Run a Calibartion calculation script to get your calibration coefficients:

 sw/tools/calibration/calibrate.py -s MAG var/logs/YY_MM_DD__hh_mm_ss.data -vp

 ( Where YY_MM_DD__hh_mm_ss.data is the name of the log data file that was just generated.)

5) Paste the results below (CTRL+SHIFT+C to copy form terminal) overwriteing
6) Save this file, then in PPRZ center: clean, build and upload to aircraft... Done!
-->

    <!-- ***************** MAGNETO ********************************-->
      <!-- Magnetometer still needs to be calibrated -->
    <define name="MAG_X_NEUTRAL" value="100"/>
    <define name="MAG_Y_NEUTRAL" value="-25"/>
    <define name="MAG_Z_NEUTRAL" value="-233"/>
    <define name="MAG_X_SENS" value="8.85770945687" integer="16"/>
    <define name="MAG_Y_SENS" value="9.44123598656" integer="16"/>
    <define name="MAG_Z_SENS" value="9.50485406332" integer="16"/>


    <!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!--  TODO: at least 3 axis in worst case -->

    <!-- Magneto current calibration TODO:
    Best done outside, set it to RC direct and throttle up and down with raw messages -->
    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>

    <!-- most likly OK with an physically unmodified airframe -->
    <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="0." unit="deg"/>
  </section>

  <!-- local magnetic field -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
  <section name="AHRS" prefix="AHRS_">
    <!-- <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>--> <!-- only for Optitrack -->

    <!-- Values used if no GNSS fix, on 3D fix is updated by geo_mag module -->
    <!-- Better use the geo_mag module if you have a GNSS, else replace the values with your local magnetic field -->

    <!--North, East and Vertical Components do: Normalize[{19738.7, 899.5, 44845.6}] -->
    <!-- Local Magnetic field DE2020 -->
    <define name="H_X" value="0.402784"/>
    <define name="H_Y" value="0.018355"/>
    <define name="H_Z" value="0.915111"/>
  </section>

<!-- *************************** SONAR DEVICE ***************************** -->
  <section name="SONAR" prefix="SONAR_">
    <define name="SCALE" value="0.016775" integer="16"/>
    <define name="OFFSET" value="0.03" unit="m"/><!-- The landing gear height to tarmac, well ~0 m with this flyingwing -->
    <define name="MAX_RANGE" value="9.0" unit="m"/>
    <define name="MIN_RANGE" value="0.18" unit="m"/>
  </section>

  <!-- *************************** AGL **************************** -->
  <section name="AGL" prefix="AGL_DIST_SONAR_">
    <define name="ID" value="ABI_BROADCAST"/>
    <define name="MAX_RANGE" value="9." unit="m"/>
    <define name="MIN_RANGE" value="0.018" unit="m"/>
    <define name="FILTER" value="0.15"/> <!--Low pass filter time constant-->
  </section>

<!-- ************************ MAG_CALIB_UKF ************************ -->
<!-- HOTSTART TRUE for faster convergence flights to flight -->
<!-- <define name="HOTSTART_SAVE_FILE" value="/data/ftp/internal_000/mag_ukf_calib.txt"/>-->
  <section name="MAG_CALIB_UKF" prefix="MAG_CALIB_UKF_">
    <define name="HOTSTART" value="FALSE"/>
    <define name="HOTSTART_SAVE_FILE" value="/data/ftp/internal_000/mag_ukf_calib.txt"/>
    <define name="NORM" value="1.0f"/>
    <define name="NOISE_RMS" value="5e-2f"/>
    <define name="GEO_MAG_TIMEOUT" value="0"/>
    <define name="INITIAL_STATE" value="0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0" type="float[]"/>
    <define name="VERBOSE" value="FALSE"/><!-- Disable after testing -->
  </section>

  <section name="INS" prefix="INS_">
    <!-- For those super precice target landings... well better swap the M8N GNSS for a M8P or M9P -->
    <define name="BODY_TO_GPS_X" value="0.08" unit="m"/>
    <define name="BODY_TO_GPS_Y" value="0.0" unit="m"/>
    <define name="BODY_TO_GPS_Z" value="0.07" unit="m"/>

    <!-- <define name="USE_INS_MODULE"/> -->
    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>

    <define name="SONAR_COMPENSATE_ROTATION" value="TRUE"/><!-- compensate AGL for body rotation -->

    <define name="USE_GPS_ALT" value="TRUE"/>
    <define name="USE_GPS_ALT_SPEED" value="FALSE"/>
    <define name="VFF_R_GPS" value="0.1"/>

    <!-- trust more the baro over the gps alt -->
    <define name="INV_NXZ" value="0.3"/>
    <define name="INV_NH" value="2.0"/>
  </section>

  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
    <!-- setpoint limits for attitude stabilization rc flight -->
    <define name="SP_MAX_PHI" value="45" unit="deg"/>
    <define name="SP_MAX_THETA" value="45" unit="deg"/>
    <define name="SP_MAX_R" value="300" unit="deg/s"/>
    <define name="DEADBAND_A" value="0"/>
    <define name="DEADBAND_E" value="0"/>
    <define name="DEADBAND_R" value="50"/>
  </section>

  <!-- only for classic control enable attitude reference generation model
  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">-->

    <!-- attitude reference generation model -->
<!--
    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
    <define name="REF_ZETA_P" value="0.9"/>
    <define name="REF_MAX_P" value="600." unit="deg/s"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
    <define name="REF_ZETA_Q" value="0.9"/>
    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
    <define name="REF_ZETA_R" value="0.9"/>
    <define name="REF_MAX_R" value="600." unit="deg/s"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
  </section>-->

  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
    <!-- control effectiveness -->
    <define name="G1_ROLL" value="{20 , -20, -20 , 20 }"/>
    <define name="G1_PITCH" value="{14 , 14, -14 , -14 }"/>
    <define name="G1_YAW" value="{-1, 1, -1, 1}"/>
    <define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}"/>
    <!--Counter torque effect of spinning up a rotor-->
    <define name="G2" value="{-61.2093, 65.3670, -65.7419, 65.4516}"/>

<!-- OLD ask -->
<!--
    <define name="G1_P" value="0.05"/>
    <define name="G1_Q" value="0.025"/>
    <define name="G1_R" value="0.0022"/>
    <define name="G2_R" value="0.20"/>-->

    <!-- ? Maybe with a High capacity battery(heavier, and weight lies higher) for the bebop1 we also need to filter the roll rate due to the dampers -->
    <define name="FILTER_ROLL_RATE" value="TRUE"/>
    <define name="FILTER_PITCH_RATE" value="FALSE"/>
    <define name="FILTER_YAW_RATE" value="FALSE"/>

    <!-- Here it is assumed that your removed the damping from your bebop!
         The dampers damp, but also cause oscillation. By making them fix, the bebop could fly better with INDI -->
    <!--<define name="FILTER_ROLL_RATE" value="FALSE"/>
    <define name="FILTER_PITCH_RATE" value="FALSE"/>
    <define name="FILTER_YAW_RATE" value="FALSE"/>-->

    <!-- reference acceleration for attitude control -->
    <define name="REF_ERR_P" value="600.0"/>
    <define name="REF_ERR_Q" value="600.0"/>
    <define name="REF_ERR_R" value="600.0"/>
    <define name="REF_RATE_P" value="28.0"/>
    <define name="REF_RATE_Q" value="28.0"/>
    <define name="REF_RATE_R" value="28.0"/>

    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
    <define name="FILT_CUTOFF" value="5.0"/>

    <!-- OLD - ASK

second order filter parameters -->
    <!-- NOT USED <define name="FILT_CUTOFF" value="4.0"/>
    <define name="FILT_CUTOFF_R" value="4.0"/> -->

    <!-- first order actuator dynamics -->
 <!--   <define name="ACT_DYN_P" value="0.06"/>
    <define name="ACT_DYN_Q" value="0.06"/>
    <define name="ACT_DYN_R" value="0.06"/>-->

    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>

    <!-- Adaptive Learning Rate -->
    <define name="USE_ADAPTIVE" value="TRUE"/>
    <define name="ADAPTIVE_MU" value="0.0001"/> <!-- TODO: tune better -->

    <!--Priority for each axis (roll, pitch, yaw and thrust)-->
    <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
  </section>

  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
    <define name="HOVER_KP" value="283"/>
    <define name="HOVER_KD" value="82"/>
    <define name="HOVER_KI" value="20"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  </section>

  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="22" unit="deg"/><!-- TODO: determine -->
    <define name="REF_MAX_SPEED" value="2.5" unit="m/s"/>
    <define name="PGAIN" value="79"/>
    <define name="DGAIN" value="100"/>
    <define name="IGAIN" value="30"/>
    <define name="REF_ZETA" value="1.0"/> <!-- 1.0 or more for no waypoint overshooting -->
  </section>

  <section name="MISC">
    <define name="ARRIVED_AT_WAYPOINT" value="2.2" unit="m"/> <!-- To set how far away you find OK that drone thnks the waypoint is reached -->
    <define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.1+HOME_RADIUS" unit="m"/>  <!--  improve value by default turn radius calc -->
    <define name="DEFAULT_CIRCLE_RADIUS" value="5." unit="m"/><!-- for if you want to.... circle ;) -->
    <define name="CARROT" value="4." unit="s"/>
    <!-- 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="AP_MODE_AUTO2" value="MODE_AUTO2"/>-->
    <!--<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>-->

    <!-- TODO: SET some modem values with multipoint also the $AC_ID -->
    <!--  Here XBEE init will be misused to set SiK Si10xx based modems as the Hope and RFdesign -->
    <!--  <define name="XBEE_INIT" value="ATS17=$AC_ID\rATS16=134\rAT&W\rATZ\r" type="string"/>  -->
    <!--  <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
  </section>

  <section name="NAVIGATION" prefix="NAV_">
    <define name="CLIMB_VSPEED" value="2.7" unit="m/s"/>
    <define name="DESCEND_VSPEED" value="-1.5" unit="m/s"/>
  </section>

  <section name="AUTOPILOT">
    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/> <!--or use AP_MODE_ATTITUDE_Z_HOLD"/>-->
    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>

    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
  </section>

<!-- **************************** BAT ****************************** -->
  <section name="BAT">
    <define name="MAX_BAT_CAPACITY" value="1600" unit="mAh"/> <!-- Original Parrot battery -->
    <!-- <define name="MAX_BAT_CAPACITY" value="2150" unit="mAh"/>--> <!-- 3rd party battery -->
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="11000" unit="mA"/>  <!-- At 11.7 10.6 A at 12.2v 11.0A rounded then to 11000 to be at safe side-->
    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="500" unit="mA"/> <!-- 500mA, with additional device on must remeasure -->
    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
    <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/> <!-- 3S lipo 3x4.2 = 12.6 -->
    <define name="LOW_BAT_LEVEL" value="10.8" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10.4" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/> <!-- TODO: test when AP board switches off -->
    <define name="MIN_BAT_LEVEL" value="9.0" unit="V"/>
  </section>

<!-- ********************** GCS SPECIFICS ************************** -->
  <section name="GCS">
    <!--<define name="SPEECH_NAME" value="Bebop"/>Not for multiple-->
    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
    <define name="ALT_SHIFT_PLUS"      value="1"/>
    <define name="ALT_SHIFT_MINUS"     value="-1"/>
    <define name="AC_ICON"             value="quadrotor_xi"/>
  </section>

<!-- ************************ NPSSIM ******************************* -->
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
    <define name="JSBSIM_MODEL" value="bebop" type="string"/>
    <define name="WEIGHT" value="0.4"/>
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
    <define name="NO_MOTOR_MIXING" value="TRUE"/>
  </section>

</airframe>