From 7244177a26d0ac598c43db4ea3aace1bfe4121d0 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Tue, 15 Sep 2015 21:52:49 +0200
Subject: [PATCH] [conf] BR / CDW

---
 conf/airframes/BR/bebop_indi.xml           |  8 ++++----
 conf/airframes/BR/bebop_indi_frog.xml      | 11 +++++++----
 conf/airframes/BR/bebop_indi_frog_flip.xml | 11 +++++++----
 conf/airframes/CDW/bebop.xml               |  9 +++++----
 conf/airframes/CDW/conf.xml                |  2 +-
 conf/settings/control/rotorcraft_speed.xml | 16 ++++++++++++++++
 6 files changed, 40 insertions(+), 17 deletions(-)
 create mode 100644 conf/settings/control/rotorcraft_speed.xml

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index ecf72eceb63..c18db26654b 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -20,7 +20,7 @@
     <subsystem name="imu" type="bebop"/>
     <subsystem name="gps" type="furuno"/>
     <subsystem name="stabilization" type="indi"/>
-    <subsystem name="ahrs"          type="float_mlkf"/>
+    <subsystem name="ahrs" type="float_mlkf"/>
     <subsystem name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
@@ -53,7 +53,7 @@
       <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
     </load>
     <load name="digital_cam_video.xml">
-      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
+      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </load>
     <load name="video_exif.xml"/>
   </modules>
@@ -244,8 +244,8 @@
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10.9" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
     <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
   </section>
 </airframe>
diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index aa17310dd4a..cf04ff63c39 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -37,10 +37,11 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
     <load name="video_thread.xml">
-      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_FPS" value="4"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
+    <load name="cv_blob_locator.xml"/>
     <load name="video_rtp_stream.xml">
       <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
       <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -48,11 +49,13 @@
     <load name="nav_survey_rectangle_rotorcraft.xml">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
     </load>
+    <load name="nav_survey_poly_rotorcraft.xml">
+      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
+    </load>
     <load name="digital_cam_video.xml">
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </load>
     <load name="video_exif.xml"/>
-    <load name="cv_colorfilter.xml"/>
   </modules>
 
   <commands>
@@ -215,8 +218,8 @@
     <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="7"/>
-    <define name="DGAIN" value="76"/>
+    <define name="PGAIN" value="15"/>
+    <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
index cfcf01e9397..7342abbc2b0 100644
--- a/conf/airframes/BR/bebop_indi_frog_flip.xml
+++ b/conf/airframes/BR/bebop_indi_frog_flip.xml
@@ -37,10 +37,11 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
     <load name="video_thread.xml">
-      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_FPS" value="4"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
+    <load name="cv_blob_locator.xml"/>
     <load name="video_rtp_stream.xml">
       <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
       <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -48,11 +49,13 @@
     <load name="nav_survey_rectangle_rotorcraft.xml">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
     </load>
+    <load name="nav_survey_poly_rotorcraft.xml">
+      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
+    </load>
     <load name="digital_cam_video.xml">
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </load>
     <load name="video_exif.xml"/>
-    <load name="cv_colorfilter.xml"/>
   </modules>
 
   <commands>
@@ -228,8 +231,8 @@
     <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="7"/>
-    <define name="DGAIN" value="76"/>
+    <define name="PGAIN" value="15"/>
+    <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
index 7c275030547..490a329f8a8 100644
--- a/conf/airframes/CDW/bebop.xml
+++ b/conf/airframes/CDW/bebop.xml
@@ -20,11 +20,12 @@
     <subsystem name="imu" type="bebop"/>
     <subsystem name="gps" type="furuno"/>
     <subsystem name="stabilization" type="indi"/>
-    <subsystem name="ahrs"          type="float_mlkf"/>
     <subsystem name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-      <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
+    </subsystem>
+    <subsystem name="ahrs" type="float_mlkf">
+      <configure name="SECONDARY_AHRS" value="float_mlkf"/>
     </subsystem>
     <subsystem name="ins" type="extended"/>
   </firmware>
@@ -244,8 +245,8 @@
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10.9" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
     <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
   </section>
 </airframe>
diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml
index 5b0dfddcc6a..25e2144bc1d 100644
--- a/conf/airframes/CDW/conf.xml
+++ b/conf/airframes/CDW/conf.xml
@@ -16,7 +16,7 @@
    airframe="airframes/CDW/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_aubel.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
diff --git a/conf/settings/control/rotorcraft_speed.xml b/conf/settings/control/rotorcraft_speed.xml
new file mode 100644
index 00000000000..4e8c33c67ea
--- /dev/null
+++ b/conf/settings/control/rotorcraft_speed.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings target="ap|nps">
+  <dl_settings>
+
+    <dl_settings NAME="Horiz Loop">
+      <dl_setting var="gh_ref.max_speed" min="0.1" step="0.1" max="15.0" module="guidance/guidance_h" shortname="max_speed" handler="SetMaxSpeed" param="GUIDANCE_H_REF_MAX_SPEED">
+        <strip_button name="V1" value="1" group="speed"/>
+        <strip_button name="V2" value="2" group="speed"/>
+        <strip_button name="V5" value="5" group="speed"/>
+        <strip_button name="V10" value="10" group="speed"/>
+      </dl_setting>
+    </dl_settings>
+
+  </dl_settings>
+</settings>