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paparazzi/conf/airframes/examples/trashcan.xml
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Christophe De Wagter 951019e34b Cleanup TUD Conf and Airframes (#2690) 
* Cleanup: dual identical conf: mk=delfly, renames, removed doubles

* [airframes] remove doubles, move modules to firmware section

* [airframes] modules -> firmware

* more fixes
2021-04-09 12:59:44 +02:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Trashcan">
<description>
* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally.
+ Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it
+ Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+ Telemetry: Default WiFi Via ESP8266 see
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin
NOTES:
+ All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set (yet..)
+ Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1
+ RC control also possible via wifi telemetry module
+ Vison: added a JeVois on UART1 TX/RX
+ RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out,
+ Wifi telemetry module also allows RC
WIP:
+ GPS: uBlox SAM M8Q with Magneto n Baro GNSS
</description>
<firmware name="rotorcraft">
<target name="ap" board="crazybee_f4_1.0">
<configure name="NO_LUFTBOOT" value="1"/>
<configure name="USE_BARO_BOARD" value="FALSE"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- Starts in KILL, but can now switch to NAV -->
<define name="AHRS_ALIGNER_SAMPLES_NB" value="1200"/> <!--When fidly plugging in a battery, aircraft kind of wobbly, now avoid messing up the aligner this way -->
<!-- <define name="LOW_NOISE_THRESHOLD" value="30000"/>-->
<!-- <define name="LOW_NOISE_TIME" value="10"/>-->
<!-- 2 kHz periodic -->
<configure name="PERIODIC_FREQUENCY" value="2048"/>
<define name="HFF_PRESCALER" value="40"/><!-- FIXME: determine fully correct one-->
<define name="AHRS_PROPAGATE_FREQUENCY" value="2000"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="2000"/>
<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/> <!-- 75 or 160 max -->
<!-- set Gyro/Accel output rate to 2kHz at 8kHz internal sampling -->
<define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/><!--This sets the internal sample rate to 8KHz. -->
<define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_44HZ"/><!-- FIXME check value -->
<define name="IMU_MPU_SMPLRT_DIV" value="3"/> <!-- for 1khz periodic IMU_MPU_SMPLRT_DIV=7 sr = gr(8) /1+IMU_MPU_SMPLRT_DIV (1+7/8=1khz-->
<configure name="NAVIGATION_FREQUENCY" value="16"/>
<configure name="CONTROL_FREQUENCY" value="2000"/>
<configure name="TELEMETRY_FREQUENCY" value="120"/>
<configure name="MODULES_FREQUENCY" value="2048"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/><!-- handy with the short flight time between tuning sets, not tested if it works yet, this board we have 16kb reserved -->
<define name="BAT_CHECKER_DELAY" value="70"/> <!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="90"/> <!-- in 10/s seconds-->
</target>
<module name="radio_control" type="cc2500_frsky">
<define name="CC2500_RX_LED" value="LED_2"/>
<define name="CC2500_BIND_BUTTON" value="BIND_BUTTON"/>
<define name="CC2500_TELEMETRY_SENSORS" value="SENSOR_NONE"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="480"/>
</module>
<module name="dfu_command"/>
<!-- <module name="telemetry" type="transparent_usb"/> -->
<module name="telemetry" type="transparent_frsky_x"/>
<module name="imu" type="mpu6000">
<configure name="IMU_MPU_SPI_DEV" value="spi1"/>
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
<!-- define name="ICM20608"/> --> <!-- Not used atm -->
<!-- To be able (for now) to set AP IMU orientaion -->
<define name="IMU_GYRO_P_SIGN" value="1"/>
<define name="IMU_GYRO_Q_SIGN" value="-1"/>
<define name="IMU_GYRO_R_SIGN" value="-1"/>
<define name="IMU_ACCEL_X_SIGN" value="1"/>
<define name="IMU_ACCEL_Y_SIGN" value="-1"/>
<define name="IMU_ACCEL_Z_SIGN" value="-1"/>
</module>
<!-- not all are tested or tuned -->
<!-- <module name="stabilization" type="rate"/>--><!-- not working yet..) -->
<!-- <module name="stabilization" type="rate_indi"/> -->
<module name="stabilization" type="int_quat"/>
<!--<module name="stabilization" type="float_quat"/>-->
<!-- <module name="stabilization" type="indi_simple" /> -->
<!-- <module name="stabilization" type="indi" /> -->
<module name="ins" type="extended"/>
<!-- Not yet tested -->
<!--<module name="osd_max7456">
<configure name="MAX7456_SPI_DEV" value="SPI2"/>
<configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1"/>
</module>-->
<!-- <module name="filter_1euro_imu"> -->
<!--<define name="IMU_F1E_ID" value="30"/>-->
<!--<define name="AHRS_ICQ_IMU_ID" value="F1E_IMU_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="F1E_IMU_ID"/>-->
<!-- </module> -->
<!--module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
</module-->
<module name="ahrs" type="float_cmpl_quat">
<!--<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>-->
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- True for Optitrack false for real magneto-->
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> <!-- for dronerace -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/> <!-- TODO: determine best... Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. -->
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/> <!-- apply a low pass filter on rotational velocity"-->
</module>
<!-- WIP for setting values e.g. P/D roll tune via RC Tranmitter, need a new setting file WIP -->
<!--<module name="settings" type="rc"/>-->
<!-- only for... dronerace... -->
<!--
<module name="dronerace"/>
-->
<!-- Not yet used ATM
<module name="jevois_mavlink">
<configure name="JEVOIS_UART" value="UART1"/>
<configure name="JEVOIS_BAUD" value="B115200"/>
</module>
-->
<module name="gps" type="datalink"/> <!-- using optitrack and natnet2ivy -->
<!-- No I2C bus yet... still need to find some good spot for I2C pins... except straigt on MCU solder blobs -->
<!--
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="I2C"/>
</module>
-->
<!--<module name="geo_mag"/>
<<module name="air_data"/>-->
<!-- below temporary until tested then disable it -->
<!-- <module name="send_imu_mag_current"/> -->
<!--
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
</module>
</target>
-->
<!-- <target name="FPV Racing" board="crazybee_f4_1.0">
WIP
For FPV setup only
No GPS
No Baro
No Magneto
Highest loop rate possible for board
Flip module
Module for OSD
Tuned for Race and ACRO
Try INDI full
</target>
-->
</firmware>
<servos driver="Pwm">
<servo name="FL" no="3" min="1000" neutral="1030" max="2000"/> <!-- maybe shorter on the cost of resolution... but low high differcnce MUST be bigger than 140-->
<servo name="FR" no="1" min="1000" neutral="1030" max="2000"/>
<servo name="BR" no="0" min="1000" neutral="1030" max="2000"/>
<servo name="BL" no="2" min="1000" neutral="1030" max="2000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<!-- in case we need much more precise mixing use the table here instead of motor_mixing_run -->
<!-- section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section-->
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="FILTER_1EURO" prefix="FILTER_1EURO_">
<define name="ENABLED" value="FALSE"/> <!-- activate or not the filter by default -->
<define name="GYRO_MINCUTOFF" value="10."/> <!-- minimum cutoff freq for gyro signal -->
<define name="GYRO_BETA" value="0.1"/> <!-- adaptation coefficient for gyro signal -->
<define name="ACCEL_MINCUTOFF" value="0.1"/> <!-- minimum cutoff freq for accel signal -->
<define name="ACCEL_BETA" value="0.01"/> <!-- adaptation coefficient for accel signal -->
<!--<define name="FREQ" value="512"set fixed frequency, if not defined but INS/AHRS_PROPAGATE_FREQUENCY is defined it is used, otherwise autofreq is used-->
</section>
<section name="IMU" prefix="IMU_">
<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"/>
<!-- Tere is no MAG per default, but in case one adds one , make it correct -->
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<!-- replace this with your own calibration -->
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="8.0" integer="16"/>
<define name="MAG_Y_SENS" value="8.0" integer="16"/>
<define name="MAG_Z_SENS" value="8.0" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="2400." unit="deg/s"/>
<define name="SP_MAX_Q" value="2400." unit="deg/s"/>
<define name="SP_MAX_R" value="2400" unit="deg/s"/>
<define name="DEADBAND_P" value="10"/>
<define name="DEADBAND_Q" value="10"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="800"/>
<define name="GAIN_Q" value="800"/>
<define name="GAIN_R" value="700"/>
<define name="IGAIN_P" value="140"/>
<define name="IGAIN_Q" value="140"/>
<define name="IGAIN_R" value="90"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="50." unit="deg"/>
<define name="SP_MAX_THETA" value="50." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="2"/>
<define name="DEADBAND_E" value="2"/>
<define name="DEADBAND_R" value="100"/>
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="PHI_PGAIN" value="185"/>
<define name="PHI_DGAIN" value="70"/>
<define name="PHI_IGAIN" value="1"/>
<define name="THETA_PGAIN" value="185"/>
<define name="THETA_DGAIN" value="70"/>
<define name="THETA_IGAIN" value="1"/>
<define name="PSI_PGAIN" value="350"/>
<define name="PSI_DGAIN" value="100"/>
<define name="PSI_IGAIN" value="3"/>
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="0"/>
</section>
<!-- when using stabilization type float_quat use ones below, not tuned yet! -->
<!--
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<define name="REF_OMEGA_P" value="{RadOfDeg(400)}"/>
<define name="REF_ZETA_P" value="{0.85}"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="{RadOfDeg(400)}"/>
<define name="REF_ZETA_Q" value="{0.85}"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="{RadOfDeg(250)}"/>
<define name="REF_ZETA_R" value="{0.85}"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="PHI_PGAIN" value="{1000}"/>
<define name="PHI_DGAIN" value="{1000}"/>
<define name="PHI_IGAIN" value="{200}"/>
<define name="THETA_PGAIN" value="{1000}"/>
<define name="THETA_DGAIN" value="{1000}"/>
<define name="THETA_IGAIN" value="{200}"/>
<define name="PSI_PGAIN" value="{500}"/>
<define name="PSI_DGAIN" value="{500}"/>
<define name="PSI_IGAIN" value="{10}"/>
<define name="PHI_DGAIN_D" value="{100}"/>
<define name="THETA_DGAIN_D" value="{100}"/>
<define name="PSI_DGAIN_D" value="{100}"/>
<define name="PHI_DDGAIN" value="{300}"/>
<define name="THETA_DDGAIN" value="{300}"/>
<define name="PSI_DDGAIN" value="{300}"/>
</section>
-->
<!-- when using stabilization type indi use ones below, not tuned yet! -->
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<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"/>
<!-- For some airframes, e.g. Bebop2 we need to filter the roll rate due to the dampers -->
<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="170.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="14.3"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!-- second order filter parameters -->
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_P" value="5.0"/>
<!-- first order actuator dynamics (indi_simple) -->
<define name="ACT_DYN_P" value="0.06"/>
<define name="ACT_DYN_Q" value="0.06"/>
<define name="ACT_DYN_R" value="0.06"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0003"/>
<!--Maxium yaw rate, to avoid instability -->
<define name="MAX_R" value="120" unit="deg/s"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.33"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="INS" prefix="INS_">
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="60." unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="650"/>
<define name="DGAIN" value="350"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" unit="m/s"/>
<define name="DESCEND_VSPEED" value="-0.7" unit="m/s"/>
</section>
<section name="MISC">
<define name="ARRIVED_AT_WAYPOINT" value="0.2" unit="m"/>
</section>
<!-- ********************** AP ************************** -->
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/><!-- if GNSS use AP_MODE_NAV ...-->
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_RATE_DIRECT"/><!-- for now...-->
<define name="MODE_AUTO2" value="AP_MODE_GUIDED"/> <!-- for dronerrace -->
<!-- <define name="MODE_AUTO2" value="AP_MODE_NAV"/>--> <!-- If GNSS device is added for autonomous flight -->
<!--<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>-->
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<!-- If flying on a 2S1P 300mAh 40/80C LiPo -->
<section name="BAT">
<define name="MAX_BAT_CAPACITY" value="300" unit="mAh"/>
<!-- tested at V 7.6 the avg --> <!-- idle RPM then ?A half throttle ?A-->
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="10" unit="mA"/> <!-- TODO ??mA, with additional RC receiver and wifi and jevois cam ~??mA -->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="240" unit="mA"/> <!-- TODO At 7.2 ?? A at 8.2v ??A rounded then to ?? to be at safe side-->
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/> <!-- TODO: test when AP board switches off -->
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.7" unit="V"/> <!-- 2s LiPo HV 2x4.35 = 8.7 -->
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="FL, FR, BR, BL" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<!-- <define name="JS_AXIS_MODE" value="4"/>-->
</section>
<section name="GCS">
<define name="SPEECH_NAME" value="Trashcan"/>
<define name="AC_ICON" value="quadrotor_x"/>
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/> <!-- 2m low diff for e.g. optitrack, use e.g 10m for outside-->
<define name="ALT_SHIFT_PLUS" value="1" unit="m"/>
<define name="ALT_SHIFT_MINUS" value="-1" unit="m"/>
</section>
</airframe>
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