Revert "Start of config cleanup"

conf/airframes/TUDELFT/tudelft_conf.xml

@@ -156,7 +156,7 @@
   <aircraft
    name="GeniusDDBart"
    ac_id="130"
-   airframe="airframes/TUDELFT/tudelft_bs_helidd_indi.xml"
+   airframe="airframes/TUDELFT/Bart_heliDD_INDI.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"

conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml

@@ -0,0 +1,236 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- And example airframe to be use in the TU DElft Course 2016 -->
+<airframe name="AvoiderBob"> <!-- The name of your airframe -->
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="bebop"/> <!-- The type of Autopilot board hardware one uses -->
+
+    <!--define name="USE_SONAR" value="TRUE"/-->
+
+	<!-- Subsystem section -->
+    <module name="telemetry" type="transparent_udp"/>
+    <module name="radio_control" type="datalink"/> <!-- We control the bebop through wifi -->
+    <module name="motor_mixing"/>
+    <module name="actuators" type="bebop"/>
+    <module name="imu" type="bebop"/>
+    <module name="gps" type="optitrack"/> <!-- The GPS information also comes over this wifi, as we are sitting in the cyberzoo all the time -->
+    <module name="stabilization" type="indi_simple"/>
+    <module name="ahrs" type="int_cmpl_quat">
+      <configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- Heading is from Optitrack, in reguler outside flight case one would use and Magnetometer-->
+      <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
+    </module>
+    <module name="ins" type="extended"/>
+  </firmware>
+
+<!-- This is the place where you add all your modules -->
+<!-- If there is a variable you can define in your module you can add it within the load node-->
+<!-- Note that for vision the order in which modules are loaded is important -->
+<!-- If you place cv_colorfilter before your own module your own module will only get the filtered image-->
+  <modules main_freq="512">
+    <module name="geo_mag"/>
+    <module name="air_data"/>
+    <module name="send_imu_mag_current"/>
+    <!--module name="logger_file">
+      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
+    </module-->
+    <module name="video_thread">
+      <define name="VIDEO_THREAD_FPS" value="4"/>
+      <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
+    </module>
+   <!--
+    <module name="video_rtp_stream">
+      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
+      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
+      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
+    </module>
+    -->
+    <module name="cv_colorfilter">
+        <define name="COLORFILTER_CAMERA" value="front_camera"/>
+    </module>
+    <module name="orange_avoider"/>
+  </modules>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="6000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
+</servos>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
+    <define name="TYPE" value="QUAD_X"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_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]"/>
+  </command_laws>
+
+  <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>
+
+<!-- The IMU calibration can be quite important -->
+<!-- Follow the MAVLab video to see how you can calibrate it -->
+<!-- If your drone tends to always go forward check your primary flight display -->
+<!-- Put the drone on a table, if the horizon is not perfectly straight you might want -->
+<!-- to adjust your body to imu variables until it is -->
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="18"/>
+    <define name="MAG_Y_NEUTRAL" value="157"/>
+    <define name="MAG_Z_NEUTRAL" value="49"/>
+    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
+    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
+    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <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"/>
+
+    <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_">
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
+    <!-- Delft, The Netherlands 2014 -->
+    <define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/>
+
+    <!-- For vibrating airfames -->
+    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
+  </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="100" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+  </section>
+
+  <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_P" value="0.0639"/>
+    <define name="G1_Q" value="0.0361"/>
+    <define name="G1_R" value="0.0022"/>
+    <define name="G2_R" value="0.1450"/>
+
+    <!-- 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"/>
+
+    <!--Maxium yaw rate, to avoid instability-->
+    <define name="MAX_R" value="120.0"/> <!--deg/s-->
+
+    <!-- second order filter parameters -->
+    <define name="FILT_CUTOFF" value="8.0"/>
+    <define name="FILT_CUTOFF_R" value="8.0"/>
+
+    <!-- first order actuator dynamics -->
+    <define name="ACT_DYN_P" value="0.1"/>
+    <define name="ACT_DYN_Q" value="0.1"/>
+    <define name="ACT_DYN_R" value="0.1"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+  </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="70"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="32" unit="deg"/>
+    <define name="PGAIN" value="79"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="30"/>
+  </section>
+
+  <section name="NAVIGATION" prefix="NAV_">
+    <define  name="CLIMB_VSPEED" value="1.0" />
+    <define  name="DESCEND_VSPEED" value="-1.0" />
+  </section>
+
+  <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="simple_x_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+  </section>
+
+<!-- Here you put the modes that your drone can fly in -->
+<!-- If you are using a hobbyking joystick mode_manual and mode_auto2 have to be set-->
+<!-- These settings are probably ok for your project! -->
+  <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_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+</section>
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+</airframe>