Showing with 3,986 additions and 232 deletions.
  1. +1 −0 conf/airframes/examples/cube_orange.xml
  2. +2 −0 conf/airframes/tudelft/bebop_indi.xml
  3. +212 −0 conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
  4. +167 −0 conf/airframes/tudelft/bebop_oneloop_ekf2.xml
  5. +168 −0 conf/airframes/tudelft/bebop_oneloop_generated_ekf2.xml
  6. +1 −0 conf/airframes/tudelft/nederdrone4.xml
  7. +5 −0 conf/airframes/tudelft/rot_wing_25kg.xml
  8. +177 −0 conf/autopilot/rotorcraft_oneloop.xml
  9. +198 −0 conf/autopilot/rotorcraft_oneloop_with_backup.xml
  10. +135 −0 conf/flight_plans/tudelft/oneloop_cyberzoo.xml
  11. +161 −0 conf/flight_plans/tudelft/oneloop_valkenburg.xml
  12. +3 −1 conf/modules/electrical.xml
  13. +19 −0 conf/modules/guidance_oneloop.xml
  14. +1 −0 conf/modules/logger_sd_chibios.xml
  15. +40 −0 conf/modules/oneloop_andi.xml
  16. +33 −0 conf/modules/preflight_checks.xml
  17. +21 −0 conf/modules/stabilization_oneloop.xml
  18. +1 −1 conf/telemetry/AGGIEAIR/aggieair_iris.xml
  19. +1 −1 conf/telemetry/AGGIEAIR/aggieair_rotorcraft.xml
  20. +1 −1 conf/telemetry/DB/db_default_rotorcraft.xml
  21. +2 −2 conf/telemetry/DB/db_quadshot.xml
  22. +2 −2 conf/telemetry/default_quadshot.xml
  23. +4 −2 conf/telemetry/default_rotorcraft.xml
  24. +1 −1 conf/telemetry/default_rotorcraft_mavlink.xml
  25. +1 −1 conf/telemetry/default_rotorcraft_slow.xml
  26. +51 −52 conf/telemetry/highspeed_rotorcraft.xml
  27. +1 −1 conf/telemetry/rotorcraft_with_logger.xml
  28. +1 −1 conf/telemetry/tudelft/outback.xml
  29. +2 −2 conf/userconf/tudelft/conf.xml
  30. +45 −3 sw/airborne/autopilot.c
  31. +18 −1 sw/airborne/autopilot.h
  32. +1 −1 sw/airborne/boards/ardrone/actuators.c
  33. +1 −1 sw/airborne/boards/bebop/actuators.c
  34. +0 −3 sw/airborne/firmwares/rotorcraft/autopilot_arming_common.h
  35. +8 −6 sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
  36. +11 −7 sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
  37. +15 −10 sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
  38. +3 −8 sw/airborne/firmwares/rotorcraft/autopilot_generated.c
  39. +3 −14 sw/airborne/firmwares/rotorcraft/autopilot_static.c
  40. +0 −14 sw/airborne/firmwares/rotorcraft/autopilot_utils.c
  41. +0 −1 sw/airborne/firmwares/rotorcraft/autopilot_utils.h
  42. +123 −0 sw/airborne/firmwares/rotorcraft/guidance/guidance_oneloop.c
  43. +47 −0 sw/airborne/firmwares/rotorcraft/guidance/guidance_oneloop.h
  44. +2 −2 sw/airborne/firmwares/rotorcraft/navigation.h
  45. +1,538 −0 sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
  46. +134 −0 sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h
  47. +31 −31 sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
  48. +31 −20 sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
  49. +94 −0 sw/airborne/firmwares/rotorcraft/stabilization/stabilization_oneloop.c
  50. +43 −0 sw/airborne/firmwares/rotorcraft/stabilization/stabilization_oneloop.h
  51. +1 −1 sw/airborne/firmwares/rover/autopilot_generated.c
  52. +0 −15 sw/airborne/firmwares/rover/autopilot_utils.c
  53. +0 −1 sw/airborne/firmwares/rover/autopilot_utils.h
  54. +2 −2 sw/airborne/firmwares/rover/navigation.h
  55. +220 −0 sw/airborne/modules/checks/preflight_checks.c
  56. +55 −0 sw/airborne/modules/checks/preflight_checks.h
  57. +44 −20 sw/airborne/modules/energy/electrical.c
  58. +19 −0 sw/airborne/modules/gps/gps.c
  59. +22 −0 sw/airborne/modules/loggers/sdlog_chibios.c
  60. +21 −0 sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
  61. +1 −0 sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h
  62. +20 −1 sw/airborne/modules/sonar/agl_dist.c
  63. +19 −0 sw/airborne/state.c
  64. +1 −1 sw/ext/pprzlink
  65. +1 −1 sw/ground_segment/python/rot_wing_mon/rot_wing_viewer.py
1 change: 1 addition & 0 deletions conf/airframes/examples/cube_orange.xml
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Expand Up @@ -73,6 +73,7 @@
<define name="RADIO_KILL_SWITCH" value="0"/>
</target>

<module name="preflight_checks"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
<configure name="MODEM_PORT" value="usb_serial"/>
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2 changes: 2 additions & 0 deletions conf/airframes/tudelft/bebop_indi.xml
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Expand Up @@ -41,6 +41,8 @@
<module name="logger_file">
<define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
</module>

<module name="preflight_checks"/>
</firmware>


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212 changes: 212 additions & 0 deletions conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
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@@ -0,0 +1,212 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<airframe name="bebop_one_indi_ekf2">
<description> bebop with a oneloop ANDI and backup INDI controller and EKF2
</description>

<firmware name="rotorcraft">
<autopilot name="rotorcraft_oneloop_with_backup.xml"/>
<target name="ap" board="bebop">
<define name="RADIO_TH_HOLD" value="0"/>
</target>

<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>

<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>

<!-- <module name="gps" type="furuno"/> -->
<module name="gps" type="datalink"/>

<module name="oneloop" type="andi">
<configure name="ANDI_NUM_ACT" value="4"/>
<configure name="ANDI_NUM_VIRTUAL_ACT" value="2"/>
<configure name="ANDI_OUTPUTS" value="6"/>
</module>

<module name="stabilization" type="indi" >
<configure name="INDI_NUM_ACT" value="4"/>
</module>

<module name="ins" type="ekf2">
<define name="INS_EKF2_OPTITRACK" value="true"/>
</module>
<module name="nav_hybrid"/>

<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module>

<module name="geo_mag"/>
<module name="air_data"/>

<module name="wls">
<define name="WLS_N_U" value = "6"/>
<define name="WLS_N_V" value = "6"/>
</module>

<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/"/>
</module>
</firmware>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="4000"/>
</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>

<command_laws>
<let VAR="th_hold" value="!autopilot_get_motors_on()"/>
<set value="($th_hold? -9600 : actuators_pprz[0])" SERVO="TOP_LEFT"/>
<set value="($th_hold? -9600 : actuators_pprz[1])" SERVO="TOP_RIGHT"/>
<set value="($th_hold? -9600 : actuators_pprz[2])" SERVO="BOTTOM_RIGHT"/>
<set value="($th_hold? -9600 : actuators_pprz[3])" SERVO="BOTTOM_LEFT"/>
</command_laws>

<section name="MISC">
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value = "300"/>
<define name="THRESHOLD_GROUND_DETECT" value = "40"/>
<define name="AUTOPILOT_ARMING_DELAY" value = "2"/>
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value = "5.0f"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid-->
<define name="GUIDANCE_INDI_NAV_SPEED_MARGIN" value = "0.0"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid-->
</section>

<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>

<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="0." unit="deg"/>
<define name="ACCEL_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={171,25,-326}, .scale={{22001,54059,59579},{8998,22092,24933}}}}"/>
<define name="IMU_MAG_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={-9,8,121}, .scale={{1143,47395,48383},{152,5978,5811}}}}"/>
</section>

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>
<section name="RC_SETPOINT" 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="400" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<define name="G1_ROLL" value="{20 , -20, -20 , 20 }"/>
<define name="G1_PITCH" value="{14 , 14, -14 , -14 }"/>
<define name="G1_YAW" value="{-1, 1, -1, 1}"/>
<define name="G1_THRUST" value="{-.4, -.4, -.4, -.4}"/>
<define name="G2" value="{-61.2093, 65.3670, -65.7419, 65.4516}"/>
<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"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF" value="5.0"/>
<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</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="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>

<section PREFIX="ONELOOP_ANDI_" name="ONELOOP_ANDI">
<define name = "G1_ROLL" value = "{20.0f , -20.0f, -20.0f, 20.0f , 0.0f, 0.0f }"/>
<define name = "G1_PITCH" value = "{10.0f , 10.0f , -10.0f, -10.0f, 0.0f, 0.0f }"/>
<define name = "G1_YAW" value = "{-1.0f , 1.0f , -1.0f , 1.0f , 0.0f, 0.0f }"/>
<define name = "G1_THRUST" value = "{-.4f , -.4f , -.4f , -.4f , 0.0f, 0.0f }"/>
<define name = "G1_ZERO" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }"/>
<define name = "G2" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "MAX_R" value = "120.0" unit="deg/s"/>
<define name = "FILT_CUTOFF" value = "1.0" />
<define name = "FILT_CUTOFF_ACC" value = "1.0" />
<define name = "FILT_CUTOFF_VEL" value = "10.0"/>
<define name = "FILT_CUTOFF_POS" value = "10.0"/>
<define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" />
<define name = "FILT_CUTOFF_P" value = "5.0" />
<define name = "FILT_CUTOFF_Q" value = "5.0" />
<define name = "FILT_CUTOFF_R" value = "5.0" />
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<define name = "ACT_DYN" value = "{50.0f, 50.0f, 50.0f, 50.0f, 0.0f,0.0f}" />
<define name = "ACT_IS_SERVO" value = "{0, 0, 0, 0, 0, 0}" />
<define name = "ACT_MAX" value = "{9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{0.0f , 0.0f, 0.0f, 0.0f, -M_PI_4, -M_PI_4}"/>
<define name = "ACT_MAX_NORM" value = "{1.0f , 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/>
<define name = "ACT_MIN_NORM" value = "{0.0f , 0.0f, 0.0f, 0.0f, -1.0f, -1.0f}"/>
<define name = "DEBUG_MODE" value = "FALSE"/>
<define name = "AC_HAS_PUSHER" value = "FALSE"/>
<define name = "WV" value = "{1.0f, 1.0f, 1.0f, 1000.0f, 1000.0f, 100.0f}"/>
<define name = "WU" value = "{3.0f, 3.0f, 3.0f, 3.0f, 2.0f, 2.0f}"/>
<define name = "U_PREF" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "MAX_AIRSPEED" value = "5.0f"/>
</section>

<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5"/>
<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="bebop" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<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="9.9" 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>
167 changes: 167 additions & 0 deletions conf/airframes/tudelft/bebop_oneloop_ekf2.xml
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@@ -0,0 +1,167 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<airframe name="bebop_oneloop_ekf2">
<description> bebop with a oneloop ANDI controller and EKF2
</description>

<firmware name="rotorcraft">
<target name="ap" board="bebop">
<define name="RADIO_TH_HOLD" value="0"/>
</target>

<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>

<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>

<module name="gps" type="furuno"/>
<!-- <module name="gps" type="datalink"/> -->

<module name="stabilization" type="oneloop" >
<configure name="INDI_NUM_ACT" value="4"/>
</module>

<module name="ins" type="ekf2">
<!-- <define name="INS_EKF2_OPTITRACK" value="true"/> -->
</module>

<module name="guidance" type="oneloop"/>
<module name="nav_hybrid"/>

<module name="oneloop" type="andi">
<configure name="ANDI_NUM_ACT" value="4"/>
<configure name="ANDI_NUM_VIRTUAL_ACT" value="2"/>
<configure name="ANDI_OUTPUTS" value="6"/>
</module>

<module name="geo_mag"/>
<module name="air_data"/>

<module name="wls">
<define name="WLS_N_U" value = "6"/>
<define name="WLS_N_V" value = "6"/>
</module>

<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/"/>
</module>
</firmware>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="4000"/>
</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>

<command_laws>
<let VAR="th_hold" value="!autopilot_get_motors_on()"/>
<set value="($th_hold? -9600 : actuators_pprz[0])" SERVO="TOP_LEFT"/>
<set value="($th_hold? -9600 : actuators_pprz[1])" SERVO="TOP_RIGHT"/>
<set value="($th_hold? -9600 : actuators_pprz[2])" SERVO="BOTTOM_RIGHT"/>
<set value="($th_hold? -9600 : actuators_pprz[3])" SERVO="BOTTOM_LEFT"/>
</command_laws>

<section name="MISC">
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value = "300"/>
<define name="THRESHOLD_GROUND_DETECT" value = "40"/>
<define name="AUTOPILOT_ARMING_DELAY" value = "2"/>
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value = "5.0f"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid-->
<define name="GUIDANCE_INDI_NAV_SPEED_MARGIN" value = "0.0"/> <!--remove once hybrid nav is made not dependent on guidance indi hybrid-->
<define NAME="STABILIZATION_ATTITUDE_SP_MAX_PHI" value = "45." UNIT="deg" />
<define NAME="STABILIZATION_ATTITUDE_SP_MAX_THETA" value = "45." UNIT="deg" />
<define NAME="STABILIZATION_ATTITUDE_SP_MAX_R" value = "90." UNIT="deg/s" />
<define NAME="STABILIZATION_ATTITUDE_DEADBAND_R" value = "200" />
</section>

<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>

<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="0." unit="deg"/>
<define name="ACCEL_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={171,25,-326}, .scale={{22001,54059,59579},{8998,22092,24933}}}}"/>
<define name="IMU_MAG_CALIB" value="{{.abi_id=1, .calibrated={.neutral=true, .scale=true},.neutral={-9,8,121}, .scale={{1143,47395,48383},{152,5978,5811}}}}"/>
</section>

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>

<section PREFIX="ONELOOP_ANDI_" name="ONELOOP_ANDI">
<define name = "G1_ROLL" value = "{20.0f , -20.0f, -20.0f, 20.0f , 0.0f, 0.0f }"/>
<define name = "G1_PITCH" value = "{10.0f , 10.0f , -10.0f, -10.0f, 0.0f, 0.0f }"/>
<define name = "G1_YAW" value = "{-1.0f , 1.0f , -1.0f , 1.0f , 0.0f, 0.0f }"/>
<define name = "G1_THRUST" value = "{-.4f , -.4f , -.4f , -.4f , 0.0f, 0.0f }"/>
<define name = "G1_ZERO" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }"/>
<define name = "G2" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "MAX_R" value = "120.0" unit="deg/s"/>
<define name = "FILT_CUTOFF" value = "1.0" />
<define name = "FILT_CUTOFF_ACC" value = "1.0" />
<define name = "FILT_CUTOFF_VEL" value = "10.0"/>
<define name = "FILT_CUTOFF_POS" value = "10.0"/>
<define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" />
<define name = "FILT_CUTOFF_P" value = "5.0" />
<define name = "FILT_CUTOFF_Q" value = "5.0" />
<define name = "FILT_CUTOFF_R" value = "5.0" />
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<define name = "ACT_DYN" value = "{50.0f, 50.0f, 50.0f, 50.0f, 0.0f,0.0f}" />
<define name = "ACT_IS_SERVO" value = "{0, 0, 0, 0, 0, 0}" />
<define name = "ACT_MAX" value = "{9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{0.0f , 0.0f, 0.0f, 0.0f, -M_PI_4, -M_PI_4}"/>
<define name = "ACT_MAX_NORM" value = "{1.0f , 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/>
<define name = "ACT_MIN_NORM" value = "{0.0f , 0.0f, 0.0f, 0.0f, -1.0f, -1.0f}"/>
<define name = "DEBUG_MODE" value = "FALSE"/>
<define name = "AC_HAS_PUSHER" value = "FALSE"/>
<define name = "WV" value = "{1.0f, 1.0f, 1.0f, 1000.0f, 1000.0f, 100.0f}"/>
<define name = "WU" value = "{3.0f, 3.0f, 3.0f, 3.0f, 2.0f, 2.0f}"/>
<define name = "U_PREF" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "MAX_AIRSPEED" value = "5.0f"/>
</section>

<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5"/>
<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="bebop" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<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="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="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>