Nederdrones...

paparazzi · Dec 14, 2023 · 6f5df22 · 6f5df22
1 parent 38a6ad2
commit 6f5df22
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Showing 8 changed files with 140 additions and 100 deletions.
diff --git a/conf/airframes/ENAC/cyfoam.xml b/conf/airframes/ENAC/cyfoam.xml
@@ -156,18 +156,23 @@
     <!--<servo name="SERVO_TEST" no="4" min="1000" neutral="1500" max="2000"/>-->
   </servos>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="ELEVON_LEFT"  failsafe_value="0"/>
+    <axis name="ELEVON_RIGHT" failsafe_value="0"/>
+    <axis name="MOTOR_RIGHT"   failsafe_value="0"/>
+    <axis name="MOTOR_LEFT"  failsafe_value="0"/>
+
     <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>
-    <set servo="ELEVON_LEFT"     value="autopilot.motors_on ? actuators_pprz[0] : 0"/>
-    <set servo="ELEVON_RIGHT"    value="autopilot.motors_on ? actuators_pprz[1] : 0"/>
-    <set servo="RM"              value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
-    <set servo="LM"              value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
+    <set servo="ELEVON_LEFT"     value="autopilot.motors_on ? @ELEVON_LEFT : 0"/>
+    <set servo="ELEVON_RIGHT"    value="autopilot.motors_on ? @ELEVON_RIGHT : 0"/>
+    <set servo="RM"              value="autopilot.motors_on ? @MOTOR_RIGHT : -MAX_PPRZ"/>
+    <set servo="LM"              value="autopilot.motors_on ? @MOTOR_LEFT : -MAX_PPRZ"/>
     <!--<set servo="RM"              value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
     <!--<set servo="LM"              value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
   </command_laws>

diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
@@ -67,7 +67,7 @@
       <module name="fdm" type="jsbsim"/>
 
       <module name="logger_file">
-        <define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
+        <define name="FILE_LOGGER_PATH" value="~/"/>
       </module>
 
       <!--Not dealing with these in the simulation-->
@@ -225,38 +225,38 @@
     <define name="ROLL_COEF"   value="{256,  253,  159, -159, -253, -256,  256,  157,   56,  -56, -157, -256}"/>
     <define name="PITCH_COEF"  value="{256,  256,  256,  256,  256,  256, -256, -256, -256, -256, -256, -256}"/>
     <define name="YAW_COEF"    value="{251, -256,  252, -252,  256, -251, -256,  252, -254,  254, -252,  256}"/>
-    <!--<define name="YAW_COEF"    value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
     <define name="THRUST_COEF" value="{256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256}"/>
   </section>
 
   <command_laws>
     <let var="th_hold"     value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
 
     <!-- Tip props always at 80% -->
-    <call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props);"/>
-    <call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
-    <call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
-
-    <set servo="MOTOR_1"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_2"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_3"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_4"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_5"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_6"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_7"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_8"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_9"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_10"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_11"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_12"  value="($th_hold? -9600 : actuators_pprz[3])"/>
+    <let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props)"/>
+    <call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,values)"/>
+    <call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,values)"/>
+
+    <set servo="MOTOR_1"   value="($th_hold? -9600 : $tip_thruster)"/>
+    <set servo="MOTOR_2"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_3"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_4"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_5"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_6"   value="($th_hold? -9600 : $tip_thruster)"/>
+
+    <set servo="MOTOR_7"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_8"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_9"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_10"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_11"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_12"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
 
     <!-- Removed ApplyDiff for differential control -->
-    <set servo="AIL_1"     value="($th_hold? 9600 : actuators_pprz[4])"/>
-    <set servo="AIL_2"     value="($th_hold? 9600 : actuators_pprz[5])"/>
-    <set servo="AIL_3"     value="actuators_pprz[6]"/>
-    <set servo="AIL_4"     value="actuators_pprz[7]"/>
-    <set servo="FLAP_3"    value="actuators_pprz[6]"/>
-    <set servo="FLAP_4"    value="actuators_pprz[7]"/>
+    <set servo="AIL_1"     value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
+    <set servo="AIL_2"     value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
+    <set servo="AIL_3"     value="@REAR_LEFT_FLAP"/>
+    <set servo="AIL_4"     value="@REAR_RIGHT_FLAP"/>
+    <set servo="FLAP_3"    value="@REAR_LEFT_FLAP"/>
+    <set servo="FLAP_4"    value="@REAR_RIGHT_FLAP"/>
   </command_laws>
 
   <section name="MISC">

diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
@@ -68,7 +68,7 @@
       <module name="fdm" type="jsbsim"/>
 
       <module name="logger_file">
-        <define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
+        <define name="FILE_LOGGER_PATH" value="~/"/>
       </module>
 
       <!--Not dealing with these in the simulation-->
@@ -189,7 +189,20 @@
     <servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
   </servos>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="FRONT_LEFT"       failsafe_value="0"/>
+    <axis name="FRONT_RIGHT"      failsafe_value="0"/>
+    <axis name="REAR_LEFT"        failsafe_value="0"/>
+    <axis name="REAR_RIGHT"       failsafe_value="0"/>
+
+    <axis name="FRONT_LEFT_FLAP"  failsafe_value="0"/>
+    <axis name="FRONT_RIGHT_FLAP" failsafe_value="0"/>
+    <axis name="REAR_LEFT_FLAP"   failsafe_value="0"/>
+    <axis name="REAR_RIGHT_FLAP"  failsafe_value="0"/>
+
+    <axis name="TIP_THRUSTERS"    failsafe_value="0"/>
+
+    <!-- Default commands -->
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="PITCH"  failsafe_value="-300"/>
     <axis name="YAW"    failsafe_value="0"/>
@@ -204,34 +217,34 @@
     <define name="ROLL_COEF"   value="{256,  157,   56,  -56, -157, -256,  256,  157,   56,  -56, -157, -256}"/>
     <define name="PITCH_COEF"  value="{256,  256,  256,  256,  256,  256, -256, -256, -256, -256, -256, -256}"/>
     <define name="YAW_COEF"    value="{251, -256,  252, -252,  256, -251, -256,  252, -254,  254, -252,  256}"/>
-    <!--<define name="YAW_COEF"    value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
     <define name="THRUST_COEF" value="{256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256}"/>
   </section>
 
   <command_laws>
     <let var="th_hold"     value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
 
     <!-- Tip props always at 80% -->
-    <call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>
-
-    <set servo="MOTOR_1"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_2"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_3"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_4"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_5"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_6"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_7"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_8"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_9"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_10"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_11"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_12"  value="($th_hold? -9600 : actuators_pprz[3])"/>
+    <let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>
+
+    <set servo="MOTOR_1"   value="($th_hold? -9600 : $tip_thruster)"/>
+    <set servo="MOTOR_2"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_3"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_4"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_5"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_6"   value="($th_hold? -9600 : $tip_thruster)"/>
+
+    <set servo="MOTOR_7"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_8"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_9"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_10"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_11"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_12"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
 
     <!-- Removed ApplyDiff for differential control -->
-    <set servo="AIL_1"     value="($th_hold? 9600 : actuators_pprz[4])"/>
-    <set servo="AIL_2"     value="($th_hold? 9600 : actuators_pprz[5])"/>
-    <set servo="AIL_3"     value="actuators_pprz[6]"/>
-    <set servo="AIL_4"     value="actuators_pprz[7]"/>
+    <set servo="AIL_1"     value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
+    <set servo="AIL_2"     value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
+    <set servo="AIL_3"     value="@REAR_LEFT_FLAP"/>
+    <set servo="AIL_4"     value="@REAR_RIGHT_FLAP"/>
   </command_laws>
 
   <section name="MISC">

diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
@@ -247,7 +247,20 @@
     <servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
   </servos>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="FRONT_LEFT"       failsafe_value="0"/>
+    <axis name="FRONT_RIGHT"      failsafe_value="0"/>
+    <axis name="REAR_LEFT"        failsafe_value="0"/>
+    <axis name="REAR_RIGHT"       failsafe_value="0"/>
+
+    <axis name="FRONT_LEFT_FLAP"  failsafe_value="0"/>
+    <axis name="FRONT_RIGHT_FLAP" failsafe_value="0"/>
+    <axis name="REAR_LEFT_FLAP"   failsafe_value="0"/>
+    <axis name="REAR_RIGHT_FLAP"  failsafe_value="0"/>
+
+    <axis name="TIP_THRUSTERS"    failsafe_value="0"/>
+
+    <!-- Default commands -->
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="PITCH"  failsafe_value="-300"/>
     <axis name="YAW"    failsafe_value="0"/>
@@ -262,34 +275,34 @@
     <define name="ROLL_COEF"   value="{256,  157,   56,  -56, -157, -256,  256,  157,   56,  -56, -157, -256}"/>
     <define name="PITCH_COEF"  value="{256,  256,  256,  256,  256,  256, -256, -256, -256, -256, -256, -256}"/>
     <define name="YAW_COEF"    value="{251, -256,  252, -252,  256, -251, -256,  252, -254,  254, -252,  256}"/>
-    <!--<define name="YAW_COEF"    value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
     <define name="THRUST_COEF" value="{256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256}"/>
   </section>
 
   <command_laws>
     <let var="th_hold"     value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
 
     <!-- Tip props always at 80% -->
-    <call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>
-
-    <set servo="MOTOR_1"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_2"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_3"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_4"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_5"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_6"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_7"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_8"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_9"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_10"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_11"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_12"  value="($th_hold? -9600 : actuators_pprz[3])"/>
+    <let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>
+
+    <set servo="MOTOR_1"   value="($th_hold? -9600 : $tip_thruster)"/>
+    <set servo="MOTOR_2"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_3"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_4"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_5"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_6"   value="($th_hold? -9600 : $tip_thruster)"/>
+
+    <set servo="MOTOR_7"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_8"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_9"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_10"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_11"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_12"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
 
     <!-- Removed ApplyDiff for differential control -->
-    <set servo="AIL_1"     value="($th_hold? 9600 : actuators_pprz[4])"/>
-    <set servo="AIL_2"     value="($th_hold? 9600 : actuators_pprz[5])"/>
-    <set servo="AIL_3"     value="actuators_pprz[6]"/>
-    <set servo="AIL_4"     value="actuators_pprz[7]"/>
+    <set servo="AIL_1"     value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
+    <set servo="AIL_2"     value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
+    <set servo="AIL_3"     value="@REAR_LEFT_FLAP"/>
+    <set servo="AIL_4"     value="@REAR_RIGHT_FLAP"/>
   </command_laws>
 
   <section name="MISC">
@@ -398,9 +411,9 @@
     <define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
     <define name="FILT_CUTOFF_P" value="20."/>
     <define name="FILT_CUTOFF_Q" value="20."/>
-    <define name="FILT_CUTOFF_R" value="4."/>
+    <define name="FILT_CUTOFF_R" value="4.0"/>
+
     <!-- first order actuator dynamics -->
-    <!--define name="ACT_DYN" value="{0.009, 0.009, 0.009, 0.009, 0.05, 0.05, 0.05, 0.05}"/-->
     <define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
     <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
     <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>

diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
@@ -68,7 +68,7 @@
       <module name="fdm" type="jsbsim"/>
 
       <module name="logger_file">
-        <define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
+        <define name="FILE_LOGGER_PATH" value="~/"/>
       </module>
 
       <!--Not dealing with these in the simulation-->
@@ -189,7 +189,20 @@
     <servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
   </servos>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="FRONT_LEFT"       failsafe_value="0"/>
+    <axis name="FRONT_RIGHT"      failsafe_value="0"/>
+    <axis name="REAR_LEFT"        failsafe_value="0"/>
+    <axis name="REAR_RIGHT"       failsafe_value="0"/>
+
+    <axis name="FRONT_LEFT_FLAP"  failsafe_value="0"/>
+    <axis name="FRONT_RIGHT_FLAP" failsafe_value="0"/>
+    <axis name="REAR_LEFT_FLAP"   failsafe_value="0"/>
+    <axis name="REAR_RIGHT_FLAP"  failsafe_value="0"/>
+
+    <axis name="TIP_THRUSTERS"    failsafe_value="0"/>
+
+    <!-- Default commands -->
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="PITCH"  failsafe_value="-300"/>
     <axis name="YAW"    failsafe_value="0"/>
@@ -204,34 +217,34 @@
     <define name="ROLL_COEF"   value="{256,  157,   56,  -56, -157, -256,  256,  157,   56,  -56, -157, -256}"/>
     <define name="PITCH_COEF"  value="{256,  256,  256,  256,  256,  256, -256, -256, -256, -256, -256, -256}"/>
     <define name="YAW_COEF"    value="{251, -256,  252, -252,  256, -251, -256,  252, -254,  254, -252,  256}"/>
-    <!--<define name="YAW_COEF"    value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
     <define name="THRUST_COEF" value="{256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256,  256}"/>
   </section>
 
   <command_laws>
     <let var="th_hold"     value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
 
     <!-- Tip props always at 80% -->
-    <call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>
-
-    <set servo="MOTOR_1"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_2"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_3"   value="($th_hold? -9600 : actuators_pprz[0])"/>
-    <set servo="MOTOR_4"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_5"   value="($th_hold? -9600 : actuators_pprz[1])"/>
-    <set servo="MOTOR_6"   value="($th_hold? -9600 : actuators_pprz[8])"/>
-    <set servo="MOTOR_7"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_8"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_9"   value="($th_hold? -9600 : actuators_pprz[2])"/>
-    <set servo="MOTOR_10"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_11"  value="($th_hold? -9600 : actuators_pprz[3])"/>
-    <set servo="MOTOR_12"  value="($th_hold? -9600 : actuators_pprz[3])"/>
+    <let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>
+
+    <set servo="MOTOR_1"   value="($th_hold? -9600 : $tip_thruster)"/>
+    <set servo="MOTOR_2"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_3"   value="($th_hold? -9600 : @FRONT_LEFT)"/>
+    <set servo="MOTOR_4"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_5"   value="($th_hold? -9600 : @FRONT_RIGHT)"/>
+    <set servo="MOTOR_6"   value="($th_hold? -9600 : $tip_thruster)"/>
+
+    <set servo="MOTOR_7"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_8"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_9"   value="($th_hold? -9600 : @REAR_LEFT)"/>
+    <set servo="MOTOR_10"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_11"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
+    <set servo="MOTOR_12"  value="($th_hold? -9600 : @REAR_RIGHT)"/>
 
     <!-- Removed ApplyDiff for differential control -->
-    <set servo="AIL_1"     value="($th_hold? 9600 : actuators_pprz[4])"/>
-    <set servo="AIL_2"     value="($th_hold? 9600 : actuators_pprz[5])"/>
-    <set servo="AIL_3"     value="actuators_pprz[6]"/>
-    <set servo="AIL_4"     value="actuators_pprz[7]"/>
+    <set servo="AIL_1"     value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
+    <set servo="AIL_2"     value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
+    <set servo="AIL_3"     value="@REAR_LEFT_FLAP"/>
+    <set servo="AIL_4"     value="@REAR_RIGHT_FLAP"/>
   </command_laws>
 
   <section name="MISC">