<!-- TILTROTOR FH-AACHEN
        Bachelorarbeit von MERKEL Kevin, 01.03.16 - 01.08.16 -->
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Tiltrotor">


                        <!-- FIRMWARE & SUBSYSTEMS -->

<firmware name="rotorcraft">
 <target name="nps" board="pc">
  <subsystem name="fdm" type="jsbsim"/>
 </target>
 <target name="ap"  board="lisa_mx_2.1"/>

 <!-- Lisa M V2.1 is designed for the aspirin_v2.1 -->
 <subsystem name="imu"           type="aspirin_v2.1"/>
 <subsystem name="ahrs"          type="int_cmpl_euler"/>
 <subsystem name="radio_control" type="ppm">
   <!-- Put the mode on channel AUX1>
   <define name="RADIO_MODE"     value="RADIO_AUX1"/-->
 </subsystem>
 <subsystem name="telemetry"     type="xbee_api"/>
 <subsystem name="actuators"     type="pwm">
   <define name="SERVO_HZ"       value="400"/>
 </subsystem>
 <subsystem name="stabilization" type="int_euler"/>
 <subsystem name="ins"/>
</firmware>


                        <!-- SERVOS -->

<servos driver="Pwm">
  <servo name="FT"           no="0" min="1000" neutral="1050" max="2000"/>
  <servo name="FB"           no="1" min="1000" neutral="1050" max="2000"/>
  <servo name="BL"           no="2" min="1000" neutral="1050" max="2000"/>
  <servo name="BR"           no="3" min="1000" neutral="1050" max="2000"/>
  <servo name="ELEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
  <servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
  <servo name="TILT"         no="6" min="1000" neutral="1500" max="2000"/>
</servos>

<commands>
 <axis name="PITCH"     failsafe_value="0"/>
 <axis name="ROLL"      failsafe_value="0"/>
 <axis name="YAW"       failsafe_value="0"/>
 <axis name="THRUST"    failsafe_value="0"/>
</commands>

<command_laws>
  <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
  <set servo="FT"  value="motor_mixing.commands[0]"/>
  <set servo="FB"  value="motor_mixing.commands[1]"/>
  <set servo="BL"  value="motor_mixing.commands[2]"/>
  <set servo="BR"  value="motor_mixing.commands[3]"/>

<!-- Definition von Variabeln die den Elevons für Hover- oder für Flugphase zugeordnet werden. Muss noch editiert werden! -->
  <let var="hover_left"  value="0"/>
  <let var="hover_right" value="0"/>
  <let var="forward_left" value="0"/>
  <let var="forward_right" value="0"/>

<!-- Wenn der AP_MODE auf AP_MODE_ATTITUDE_DIRECT eingestellt ist, werden die Werte für hover abgerufen, ansonsten die für flight -->
  <set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_RC_DIRECT ? $hover_left  : $forward_left" />
  <set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_RC_DIRECT ? $hover_right  : $forward_right" />
</command_laws>


                        <!-- MOTOR-MIXING -->

<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"/>

<!-- Variabeln der Motormatrizen für die unterschiedlichen Flugmodi
  Hover-Flugmodus: >
  <let var="hover_pitch"   value="{ 256, 256, -256, -256 }"/>
  <let var="hover_roll"    value="{0, 0, -256, 256 }"/>
  <let var="hover_yaw"     value="{ -256, 256, 0, 0 }"/>
  <let var="hover_thrust"  value="{ 256, 256, 256, 256 }"/>
<! Flight-Flugmodus: >
  <let var="flight_pitch"  value="{ 0, 0, 0, 0 }"/>
  <let var="flight_roll"   value="{ 0, 0, 0, 0 }"/>
  <let var="flight_yaw"    value="{ 0, 0, 0, 0 }"/>
  <let var="flight_thrust" value="{ 256, 256, 0, 0 }"/-->

  <define name="PITCH_COEF"  value="{ 256, 256, -256, -256 }"/>
  <define name="ROLL_COEF"   value="{0, 0, -256, 256 }"/>
  <define name="YAW_COEF"    value="{ -256, 256, 0, 0 }"/>
  <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>



                        <!-- AUTOPILOT -->

<!-- Für Testzwecke, sollte unbedingt AP_MODE_KILL mit eingebaut werden um die Motoren zu jedem Zeitpunkt abschalten zu können -->
<section name="AUTOPILOT">
  <define name="MODE_MANUAL"  value="AP_MODE_KILL"/>
  <!-- AP_MODE_TRANSITION und AP_MODE_FLIGHT müssen in einem eigenen CTRL File programmiert werden -->
  <define name="MODE_AUTO1"   value="AP_MODE_RC_DIRECT"/>
  <define name="MODE_AUTO2"   value="AP_MODE_ATTITUDE_DIRECT"/>

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

<!--section name="BAT">
  <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
  <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section-->


                        <!-- GAIN-SETS -->

<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"/>
  <!-- optional parameters
  <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
  <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
  <define name="REF_MIN_ZD" value="-3.0" unit="m/s"/>
  <define name="REF_MAX_ZD" value="3.0" unit="m/s"/>
  <define name="MAX_RC_CLIMB_SPEED" value="-3.0" unit="m/s"/>
  <define name="MAX_RC_DESCENT_SPEED" value="3.0" unit="m/s"/-->
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
  <define name="PGAIN" value="50"/>
  <define name="DGAIN" value="100"/>
  <define name="IGAIN" value="20"/>
  <!-- optional parameters
  <define name="AGAIN" value="0"/>
  <define name="VGAIN" value="0"/>
  <define name="MAX_BANK" value="20" unit="deg"/>
  <define name="USE_SPEED_REF" value="TRUE"/>
  <define name="REF_MAX_SPEED" value="5.0" unit="m/s"/>
  <define name="REF_MAX_ACCEL" value="5.66" unit="m/s2"/>
  <define name="REF_OMEGA" value="67" unit="deg"/>
  <define name="REF_ZETA" value="0.85"/>
  <define name="REF_TAU" value="0.5"/>
  <define name="APPROX_FORCE_BY_THRUST" value="FALSE"/-->
</section>



                    <!-- STABILIZATION -->

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
  <!-- setpoints -->
  <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"/>

  <!-- reference -->
  <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.)"/>

  <!-- feedback -->
  <define name="PHI_PGAIN"  value="1000"/>
  <define name="PHI_DGAIN"  value="400"/>
  <define name="PHI_IGAIN"  value="200"/>

  <define name="THETA_PGAIN"  value="1000"/>
  <define name="THETA_DGAIN"  value="400"/>
  <define name="THETA_IGAIN"  value="200"/>

  <define name="PSI_PGAIN"  value="500"/>
  <define name="PSI_DGAIN"  value="300"/>
  <define name="PSI_IGAIN"  value="10"/>

  <!-- feedforward -->
  <define name="PHI_DDGAIN"   value="300"/>
  <define name="THETA_DDGAIN" value="300"/>
  <define name="PSI_DDGAIN"   value="300"/>
</section>

</airframe>