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22_07_14__11_02_56.log
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22_07_14__11_02_56.log
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<!-- logged with runtime paparazzi_version v6.2_unstable-98-g9eb3d975a-dirty -->
<!-- logged with build paparazzi_version v6.2_unstable-98-g9eb3d975a-dirty -->
<configuration time_of_day="1657789376.8" data_file="22_07_14__11_02_56.data">
<conf>
<aircraft name="Bixler" ac_id="2" airframe="airframes/examples/bixler_lisa_m_2.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_fixedwing_imu.xml" flight_plan="flight_plans/versatile.xml" settings="settings/fixedwing_basic.xml settings/nps.xml" settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml" gui_color="blue">
<airframe NAME="Bixler LisaM 2.0">
<firmware NAME="fixedwing">
<target NAME="ap" BOARD="lisa_m_2.0">
<configure VALUE="120" NAME="PERIODIC_FREQUENCY"/>
<configure VALUE="100" NAME="AHRS_PROPAGATE_FREQUENCY"/>
<configure VALUE="100" NAME="AHRS_CORRECT_FREQUENCY"/>
<define NAME="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
</target>
<target NAME="sim" BOARD="pc"/>
<target NAME="nps" BOARD="pc">
<module TYPE="jsbsim" NAME="fdm"/>
</target>
<define VALUE="FALSE" NAME="USE_MAGNETOMETER"/>
<module TYPE="ppm" NAME="radio_control"/>
<module TYPE="transparent" NAME="telemetry"/>
<module NAME="control"/>
<module TYPE="aspirin_v2.1" NAME="imu"/>
<module TYPE="float_dcm" NAME="ahrs"/>
<module TYPE="ublox" NAME="gps"/>
<module NAME="navigation"/>
<module TYPE="alt_float" NAME="ins"/>
</firmware>
<servos>
<servo NO="1" NEUTRAL="1120" NAME="THROTTLE" MIN="1120" MAX="1920"/>
<servo NO="2" NEUTRAL="1515" NAME="ELEVATOR" MIN="1100" MAX="1900"/>
<servo NO="3" NEUTRAL="1440" NAME="RUDDER" MIN="950" MAX="2050"/>
<servo NO="4" NEUTRAL="1500" NAME="AILERON_RIGHT" MIN="1000" MAX="2000"/>
<servo NO="5" NEUTRAL="1500" NAME="AILERON_LEFT" MIN="1000" MAX="2000"/>
</servos>
<commands>
<axis NAME="THROTTLE" FAILSAFE_VALUE="0"/>
<axis NAME="ROLL" FAILSAFE_VALUE="0"/>
<axis NAME="PITCH" FAILSAFE_VALUE="0"/>
<axis NAME="YAW" FAILSAFE_VALUE="2000"/>
</commands>
<rc_commands>
<set VALUE="@ROLL" COMMAND="ROLL"/>
<set VALUE="@PITCH" COMMAND="PITCH"/>
<set VALUE="@THROTTLE" COMMAND="THROTTLE"/>
<set VALUE="@YAW" COMMAND="YAW"/>
</rc_commands>
<section NAME="MIXER">
<define VALUE="0.3" NAME="COMBI_SWITCH"/>
</section>
<command_laws>
<set VALUE="@THROTTLE" SERVO="THROTTLE"/>
<set VALUE="@PITCH" SERVO="ELEVATOR"/>
<set VALUE="@YAW + @ROLL*COMBI_SWITCH" SERVO="RUDDER"/>
<set VALUE="@ROLL" SERVO="AILERON_LEFT"/>
<set VALUE="@ROLL" SERVO="AILERON_RIGHT"/>
</command_laws>
<section PREFIX="AUTO1_" NAME="AUTO1">
<define VALUE="50" UNIT="deg" NAME="MAX_ROLL"/>
<define VALUE="40" UNIT="deg" NAME="MAX_PITCH"/>
</section>
<section PREFIX="IMU_" NAME="IMU">
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_PHI"/>
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_THETA"/>
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_PSI"/>
<define VALUE="0" NAME="MAG_X_NEUTRAL"/>
<define VALUE="0" NAME="MAG_Y_NEUTRAL"/>
<define VALUE="0" NAME="MAG_Z_NEUTRAL"/>
</section>
<section PREFIX="INS_" NAME="INS">
<define VALUE="0" UNIT="deg" NAME="ROLL_NEUTRAL_DEFAULT"/>
<define VALUE="0" UNIT="deg" NAME="PITCH_NEUTRAL_DEFAULT"/>
</section>
<section NAME="BAT">
<define VALUE="20000" UNIT="mA" NAME="MILLIAMP_AT_FULL_THROTTLE"/>
<define VALUE="9.0" UNIT="V" NAME="CATASTROPHIC_BAT_LEVEL"/>
<define VALUE="9.5" UNIT="V" NAME="CRITIC_BAT_LEVEL"/>
<define VALUE="10.0" UNIT="V" NAME="LOW_BAT_LEVEL"/>
<define VALUE="12.5" UNIT="V" NAME="MAX_BAT_LEVEL"/>
</section>
<section NAME="MISC">
<define VALUE="15." UNIT="m/s" NAME="NOMINAL_AIRSPEED"/>
<define VALUE="4." UNIT="s" NAME="CARROT"/>
<define VALUE="(2.0*MAX_DIST_FROM_HOME)" NAME="KILL_MODE_DISTANCE"/>
<define VALUE="100." NAME="DEFAULT_CIRCLE_RADIUS"/>
</section>
<section PREFIX="V_CTL_" NAME="VERTICAL CONTROL">
<define VALUE="11.0" UNIT="volt" NAME="POWER_CTL_BAT_NOMINAL"/>
<define VALUE="0.075" UNIT="(m/s)/m" NAME="ALTITUDE_PGAIN"/>
<define VALUE="4." UNIT="m/s" NAME="ALTITUDE_MAX_CLIMB"/>
<define VALUE="0.5" UNIT="%" NAME="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
<define VALUE="0.2" UNIT="%" NAME="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
<define VALUE="1.0" UNIT="%" NAME="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
<define VALUE="1500" UNIT="pprz_t" NAME="AUTO_THROTTLE_LOITER_TRIM"/>
<define VALUE="-1000" UNIT="pprz_t" NAME="AUTO_THROTTLE_DASH_TRIM"/>
<define VALUE="0.1" UNIT="%/(m/s)" NAME="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<define VALUE="0.02" UNIT="%/(m/s)" NAME="AUTO_THROTTLE_PGAIN"/>
<define VALUE="0.03" NAME="AUTO_THROTTLE_IGAIN"/>
<define VALUE="0.05" UNIT="rad/(m/s)" NAME="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<define VALUE="0.125" NAME="AUTO_PITCH_PGAIN"/>
<define VALUE="0.025" NAME="AUTO_PITCH_IGAIN"/>
<define VALUE="25" UNIT="deg" NAME="AUTO_PITCH_MAX_PITCH"/>
<define VALUE="-25" UNIT="deg" NAME="AUTO_PITCH_MIN_PITCH"/>
<define VALUE="1.0" NAME="THROTTLE_SLEW"/>
</section>
<section PREFIX="H_CTL_" NAME="HORIZONTAL CONTROL">
<define VALUE="1.0" NAME="COURSE_PGAIN"/>
<define VALUE="0.4" NAME="COURSE_DGAIN"/>
<define VALUE="35" UNIT="deg" NAME="ROLL_MAX_SETPOINT"/>
<define VALUE="25" UNIT="deg" NAME="PITCH_MAX_SETPOINT"/>
<define VALUE="-25" UNIT="deg" NAME="PITCH_MIN_SETPOINT"/>
<define VALUE="20000." NAME="PITCH_PGAIN"/>
<define VALUE="1.5" NAME="PITCH_DGAIN"/>
<define VALUE="2500" NAME="ELEVATOR_OF_ROLL"/>
<define VALUE="7400" NAME="ROLL_ATTITUDE_GAIN"/>
<define VALUE="200" NAME="ROLL_RATE_GAIN"/>
</section>
<section PREFIX="FAILSAFE_" NAME="FAILSAFE">
<define VALUE="3" UNIT="s" NAME="DELAY_WITHOUT_GPS"/>
<define VALUE="0.4" UNIT="%" NAME="DEFAULT_THROTTLE"/>
<define VALUE="15" UNIT="deg" NAME="DEFAULT_ROLL"/>
<define VALUE="0" UNIT="deg" NAME="DEFAULT_PITCH"/>
<define VALUE="90" UNIT="m" NAME="HOME_RADIUS"/>
</section>
<section PREFIX="NPS_" NAME="SIMULATOR">
<define VALUE="15" NAME="JSBSIM_LAUNCHSPEED"/>
<define VALUE="easystar" TYPE="string" NAME="JSBSIM_MODEL"/>
<define VALUE="nps_sensors_params_default.h" TYPE="string" NAME="SENSORS_PARAMS"/>
<define VALUE="0" NAME="JS_AXIS_THROTTLE"/>
<define VALUE="1" NAME="JS_AXIS_THROTTLE_REVERSED"/>
<define VALUE="1" NAME="JS_AXIS_ROLL"/>
<define VALUE="2" NAME="JS_AXIS_PITCH"/>
<define VALUE="1" NAME="JS_AXIS_PITCH_REVERSED"/>
<define VALUE="3" NAME="JS_AXIS_YAW"/>
<define VALUE="1" NAME="JS_AXIS_YAW_REVERSED"/>
<define VALUE="5" NAME="JS_AXIS_FLAPS"/>
<define VALUE="7" NAME="JS_AXIS_MODE"/>
</section>
</airframe>
<flight_plan SECURITY_HEIGHT="25" QFU="270" NAME="Versatile" MAX_DIST_FROM_HOME="1500" LON0="1.2729" LAT0="43.4622" HOME_MODE_HEIGHT="50" GROUND_ALT="185" ALT="260">
<header>#include "modules/datalink/datalink.h"</header>
<waypoints>
<waypoint Y="0" X="0" NAME="HOME"/>
<waypoint Y="80" X="20" NAME="STDBY"/>
<waypoint Y="102.2" X="44.8" NAME="1"/>
<waypoint Y="122.9" X="-63.5" NAME="2"/>
<waypoint Y="-21.2" X="-11.5" NAME="MOB"/>
<waypoint Y="80.4" X="-151.6" NAME="S1"/>
<waypoint Y="214.9" X="180.1" NAME="S2"/>
<waypoint Y="-10" X="200" NAME="AF" ALT="215.0"/>
<waypoint Y="20.0" X="80.0" NAME="TD" ALT="185.0"/>
<waypoint Y="-23.0" X="26.9" NAME="BASELEG"/>
<waypoint Y="0" X="-100" NAME="_1"/>
<waypoint Y="200" X="-100" NAME="_2"/>
<waypoint Y="200" X="100" NAME="_3"/>
<waypoint Y="0" X="100" NAME="_4"/>
<waypoint Y="35.4" X="-122.5" NAME="CLIMB"/>
</waypoints>
<sectors>
<sector NAME="Square">
<corner NAME="_1"/>
<corner NAME="_2"/>
<corner NAME="_3"/>
<corner NAME="_4"/>
</sector>
</sectors>
<variables>
<variable VAR="roll_step" STEP="1.0" MIN="0." MAX="50." INIT="15."/>
</variables>
<modules>
<module NAME="nav_line"/>
</modules>
<exceptions/>
<blocks>
<block NAME="Wait GPS">
<set VAR="autopilot.kill_throttle" VALUE="1"/>
<while COND="!GpsFixValid()"/>
</block>
<block NAME="Geo init">
<while COND="LessThan(NavBlockTime(), 10)"/>
<call_once FUN="NavSetGroundReferenceHere()"/>
</block>
<block NAME="Holding point">
<set VAR="autopilot.kill_throttle" VALUE="1"/>
<attitude VMODE="throttle" THROTTLE="0" ROLL="0"/>
</block>
<block STRIP_ICON="takeoff.png" STRIP_BUTTON="Takeoff (wp CLIMB)" NAME="Takeoff">
<exception DEROUTE="Standby" COND="GetPosAlt() @GT GetAltRef()+25"/>
<set VAR="autopilot.kill_throttle" VALUE="0"/>
<go WP="CLIMB"/>
</block>
<block STRIP_ICON="home.png" STRIP_BUTTON="Standby" NAME="Standby">
<circle WP="STDBY" RADIUS="nav_radius"/>
</block>
<block STRIP_ICON="line.png" STRIP_BUTTON="Line (wp 1-2)" NAME="Line 1-2" GROUP="extra_pattern">
<call_once FUN="nav_line_setup()"/>
<call FUN="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block>
<block STRIP_ICON="eight.png" STRIP_BUTTON="Figure 8 (wp 1-2)" NAME="Figure 8 around wp 1">
<eight TURN_AROUND="2" RADIUS="nav_radius" CENTER="1"/>
</block>
<block STRIP_ICON="oval.png" STRIP_BUTTON="Oval (wp 1-2)" NAME="Oval 1-2">
<oval RADIUS="nav_radius" P2="2" P1="1"/>
</block>
<block STRIP_ICON="mob.png" STRIP_BUTTON="Circle around here" NAME="MOB">
<call_once FUN="NavSetWaypointHere(WP_MOB)"/>
<circle WP="MOB" RADIUS="100"/>
</block>
<block NAME="Auto pitch (circle wp 1)">
<circle WP="1" THROTTLE="0.7" RADIUS="75" PITCH="auto"/>
</block>
<block NAME="Climb 75% throttle">
<circle WP="1" VMODE="throttle" UNTIL="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" THROTTLE="0.75" RADIUS="50+(GetPosAlt()-GetAltRef())/2" PITCH="10"/>
</block>
<block NAME="Climb 0m/s">
<circle WP="1" VMODE="climb" UNTIL="10 @GT PowerVoltage()" RADIUS="nav_radius" CLIMB="0"/>
</block>
<block NAME="Climb 1m/s">
<circle WP="1" VMODE="climb" UNTIL="10 @GT PowerVoltage()" RADIUS="50+(GetPosAlt()-GetAltRef())/2" PITCH="5" CLIMB="1"/>
</block>
<block NAME="Climb nav_climb m/s">
<circle WP="1" VMODE="climb" UNTIL="(10 @GT PowerVoltage()) || (GetPosAlt() @GT GetAltRef()+ 1350)" RADIUS="nav_radius" CLIMB="nav_climb"/>
</block>
<block NAME="Circle 0% throttle">
<circle WP="1" VMODE="throttle" UNTIL="GetAltRef()+50 @GT GetPosAlt()" THROTTLE="0.0" RADIUS="nav_radius" PITCH="fp_pitch"/>
<deroute BLOCK="Standby"/>
</block>
<block NAME="Oval 0% throttle">
<oval VMODE="throttle" UNTIL="GetAltRef()+50 @GT GetPosAlt()" THROTTLE="0.0" RADIUS="nav_radius" PITCH="fp_pitch" P2="2" P1="1"/>
<deroute BLOCK="Standby"/>
</block>
<block NAME="Route 1-2">
<go WP="2" HMODE="route" FROM="1" APPROACHING_TIME="0"/>
</block>
<block NAME="Stack wp 2">
<circle WP="2" RADIUS="75"/>
</block>
<block NAME="Route 2-1">
<go WP="1" HMODE="route" FROM="2" APPROACHING_TIME="0"/>
</block>
<block NAME="Stack wp 1">
<circle WP="1" RADIUS="75"/>
</block>
<block NAME="Glide 1-2">
<go WP="2" VMODE="glide" HMODE="route" FROM="1"/>
<deroute BLOCK="Standby"/>
</block>
<block STRIP_ICON="survey.png" STRIP_BUTTON="Survey (wp S1-S2)" NAME="Survey S1-S2">
<survey_rectangle WP2="S2" WP1="S1" GRID="150"/>
</block>
<block STRIP_ICON="land-right.png" STRIP_BUTTON="Land right (wp AF-TD)" NAME="Land Right AF-TD">
<set VAR="nav_radius" VALUE="DEFAULT_CIRCLE_RADIUS"/>
<deroute BLOCK="land"/>
</block>
<block STRIP_ICON="land-left.png" STRIP_BUTTON="Land left (wp AF-TD)" NAME="Land Left AF-TD">
<set VAR="nav_radius" VALUE="-DEFAULT_CIRCLE_RADIUS"/>
<deroute BLOCK="land"/>
</block>
<block NAME="land">
<call_once FUN="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
<circle WP="BASELEG" UNTIL="NavCircleCount() @GT 0.5" RADIUS="nav_radius"/>
<set VAR="v_ctl_auto_throttle_cruise_throttle" VALUE="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
<circle WP="BASELEG" UNTIL="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) @AND 10 @GT fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" RADIUS="nav_radius"/>
</block>
<block NAME="final">
<exception DEROUTE="flare" COND="GetAltRef() + 10 @GT GetPosAlt()"/>
<go WP="TD" VMODE="glide" HMODE="route" FROM="AF"/>
</block>
<block NAME="flare">
<go WP="TD" VMODE="throttle" THROTTLE="0.0" HMODE="route" FROM="AF" APPROACHING_TIME="0"/>
<attitude VMODE="throttle" UNTIL="FALSE" THROTTLE="0.0" ROLL="0.0"/>
</block>
<block NAME="Steps roll -10, +10">
<while COND="TRUE">
<attitude VMODE="alt" UNTIL=" stage_time @GT 6" ROLL="10.0" ALT="250"/>
<attitude VMODE="alt" UNTIL="stage_time @GT 6" ROLL="-10.0" ALT="250"/>
</while>
</block>
<block NAME="Steps roll -20, +20">
<while COND="TRUE">
<attitude VMODE="alt" UNTIL=" stage_time @GT 3" ROLL="20.0" ALT="250"/>
<attitude VMODE="alt" UNTIL="stage_time @GT 3" ROLL="-20.0" ALT="250"/>
</while>
</block>
<block NAME="Steps roll from var">
<while COND="TRUE">
<attitude VMODE="alt" UNTIL=" stage_time @GT 3" ROLL="roll_step" ALT="250"/>
<attitude VMODE="alt" UNTIL="stage_time @GT 3" ROLL="-roll_step" ALT="250"/>
</while>
</block>
<block NAME="Steps pitch -10, +10">
<while COND="TRUE">
<attitude VMODE="alt" UNTIL=" stage_time @GT 2" ROLL="0.0" PITCH="10" ALT="250"/>
<attitude VMODE="alt" UNTIL=" stage_time @GT 2" ROLL="0.0" PITCH="-10" ALT="250"/>
</while>
</block>
<block NAME="Heading 30">
<heading UNTIL="FALSE" COURSE="30" ALT="GetAltRef()+50"/>
</block>
<block NAME="For loop (circles wp 1)">
<for VAR="i" TO="3" FROM="0">
<circle WP="1" UNTIL="NavCircleCount() @GT 1" RADIUS="DEFAULT_CIRCLE_RADIUS+ $i*10"/>
</for>
<deroute BLOCK="Standby"/>
</block>
<block NAME="Test datalink (go to wp 2)">
<exception DEROUTE="Standby" COND="datalink_time @GT 22"/>
<go WP="2" HMODE="route" FROM="STDBY"/>
<go WP="STDBY" HMODE="route" FROM="2"/>
</block>
<block NAME="Fly in Square">
<exception DEROUTE="Come back wp 1" COND="! InsideSquare(GetPosX(), GetPosY())"/>
<attitude VMODE="alt" ROLL="0" ALT="GetAltRef()+75"/>
</block>
<block NAME="Come back wp 1">
<exception DEROUTE="Fly in Square" COND="InsideSquare(GetPosX(), GetPosY())"/>
<go WP="1"/>
<deroute BLOCK="Fly in Square"/>
</block>
</blocks>
</flight_plan>
<radio SYNC_MIN="5000" SYNC_MAX="15000" PULSE_TYPE="POSITIVE" NAME="cockpitSX (easy)" DATA_MIN="900" DATA_MAX="2100">
<channel REVERSE="1" NEUTRAL="1500" MIN="950" MAX="2050" FUNCTION="ROLL" AVERAGE="0"/>
<channel REVERSE="1" NEUTRAL="1500" MIN="950" MAX="2050" FUNCTION="PITCH" AVERAGE="0"/>
<channel NEUTRAL="1500" MIN="950" MAX="2050" FUNCTION="YAW" AVERAGE="0"/>
<channel NEUTRAL="1223" MIN="1223" MAX="2050" FUNCTION="THROTTLE" AVERAGE="0"/>
<channel REVERSE="1" NEUTRAL="1500" MIN="950" MAX="2050" FUNCTION="UNUSED" AVERAGE="1"/>
<channel REVERSE="1" NEUTRAL="1496" MIN="948" MAX="2050" FUNCTION="GAIN1" AVERAGE="1"/>
<channel REVERSE="1" NEUTRAL="1500" MIN="948" MAX="2050" FUNCTION="MODE" AVERAGE="1"/>
</radio>
<telemetry>
<process NAME="Ap">
<mode NAME="default">
<message PERIOD="11.1" NAME="AUTOPILOT_VERSION"/>
<message PERIOD="1" NAME="AIRSPEED"/>
<message PERIOD="5.1" NAME="ALIVE"/>
<message PERIOD="0.25" NAME="GPS"/>
<message PERIOD="1." NAME="NAVIGATION"/>
<message PERIOD="0.1" NAME="ATTITUDE"/>
<message PERIOD="0.5" NAME="ESTIMATOR"/>
<message PERIOD="1.1" NAME="ENERGY"/>
<message PERIOD="0.5" NAME="WP_MOVED"/>
<message PERIOD="1.05" NAME="CIRCLE"/>
<message PERIOD="0.2" NAME="DESIRED"/>
<message PERIOD="1.2" NAME="SEGMENT"/>
<message PERIOD="2.1" NAME="CALIBRATION"/>
<message PERIOD="9." NAME="NAVIGATION_REF"/>
<message PERIOD="4.9" NAME="PPRZ_MODE"/>
<message PERIOD="5." NAME="SETTINGS"/>
<message PERIOD="2.2" NAME="STATE_FILTER_STATUS"/>
<message PERIOD="5.1" NAME="DATALINK_REPORT"/>
<message PERIOD="1.5" NAME="DL_VALUE"/>
<message PERIOD="1.2" NAME="IR_SENSORS"/>
<message PERIOD="2.1" NAME="SURVEY"/>
<message PERIOD="2.0" NAME="GPS_SOL"/>
<message PERIOD=".8" NAME="IMU_ACCEL"/>
<message PERIOD=".6" NAME="IMU_GYRO"/>
<message PERIOD="1.3" NAME="IMU_MAG"/>
<message PERIOD="0.5" NAME="CAM"/>
<message PERIOD="1.0" NAME="CAM_POINT"/>
<message PERIOD="5" NAME="COMMANDS"/>
<message PERIOD="2" NAME="FBW_STATUS"/>
<message PERIOD="1.3" NAME="AIR_DATA"/>
</mode>
<mode NAME="minimal">
<message PERIOD="5" NAME="ALIVE"/>
<message PERIOD="4" NAME="ATTITUDE"/>
<message PERIOD="1.05" NAME="GPS"/>
<message PERIOD="1.3" NAME="ESTIMATOR"/>
<message PERIOD="1.4" NAME="WP_MOVED"/>
<message PERIOD="3.05" NAME="CIRCLE"/>
<message PERIOD="4.05" NAME="DESIRED"/>
<message PERIOD="1.1" NAME="ENERGY"/>
<message PERIOD="3.2" NAME="SEGMENT"/>
<message PERIOD="5.1" NAME="CALIBRATION"/>
<message PERIOD="9." NAME="NAVIGATION_REF"/>
<message PERIOD="3." NAME="NAVIGATION"/>
<message PERIOD="5." NAME="PPRZ_MODE"/>
<message PERIOD="5." NAME="STATE_FILTER_STATUS"/>
<message PERIOD="5.1" NAME="DATALINK_REPORT"/>
<message PERIOD="1.5" NAME="DL_VALUE"/>
<message PERIOD="5.2" NAME="IR_SENSORS"/>
<message PERIOD="2.1" NAME="SURVEY"/>
<message PERIOD="5.0" NAME="GPS_SOL"/>
</mode>
<mode NAME="extremal">
<message PERIOD="5" NAME="ALIVE"/>
<message PERIOD="5.1" NAME="GPS"/>
<message PERIOD="5.3" NAME="ESTIMATOR"/>
<message PERIOD="10.1" NAME="ENERGY"/>
<message PERIOD="10.2" NAME="DESIRED"/>
<message PERIOD="5.4" NAME="NAVIGATION"/>
<message PERIOD="7.5" NAME="PPRZ_MODE"/>
<message PERIOD="8." NAME="STATE_FILTER_STATUS"/>
<message PERIOD="5.7" NAME="DATALINK_REPORT"/>
</mode>
<mode NAME="raw_sensors">
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".05" NAME="IMU_ACCEL_RAW"/>
<message PERIOD=".05" NAME="IMU_GYRO_RAW"/>
<message PERIOD=".05" NAME="IMU_MAG_RAW"/>
<message PERIOD="0.5" NAME="BARO_RAW"/>
</mode>
<mode NAME="scaled_sensors">
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".075" NAME="IMU_GYRO"/>
<message PERIOD=".075" NAME="IMU_ACCEL"/>
<message PERIOD=".1" NAME="IMU_MAG"/>
</mode>
<mode NAME="debug_imu">
<message PERIOD="0.1" NAME="ATTITUDE"/>
<message PERIOD="5" NAME="ALIVE"/>
<message PERIOD="5.1" NAME="GPS"/>
<message PERIOD="5.3" NAME="ESTIMATOR"/>
<message PERIOD="10.1" NAME="ENERGY"/>
<message PERIOD="10.2" NAME="DESIRED"/>
<message PERIOD="5.4" NAME="NAVIGATION"/>
<message PERIOD="5.5" NAME="PPRZ_MODE"/>
<message PERIOD="5." NAME="STATE_FILTER_STATUS"/>
<message PERIOD="5.7" NAME="DATALINK_REPORT"/>
<message PERIOD=".5" NAME="IMU_ACCEL"/>
<message PERIOD=".5" NAME="IMU_GYRO"/>
<message PERIOD=".5" NAME="IMU_MAG"/>
<message PERIOD=".5" NAME="IMU_ACCEL_RAW"/>
<message PERIOD=".5" NAME="IMU_GYRO_RAW"/>
<message PERIOD=".5" NAME="IMU_MAG_RAW"/>
</mode>
</process>
<process NAME="Fbw">
<mode NAME="default">
<message PERIOD="5" NAME="COMMANDS"/>
<message PERIOD="2" NAME="FBW_STATUS"/>
<message PERIOD="5" NAME="ACTUATORS"/>
</mode>
<mode NAME="debug">
<message PERIOD="0.5" NAME="PPM"/>
<message PERIOD="0.5" NAME="RC"/>
<message PERIOD="0.5" NAME="COMMANDS"/>
<message PERIOD="1" NAME="FBW_STATUS"/>
<message PERIOD="5" NAME="ACTUATORS"/>
</mode>
</process>
</telemetry>
<settings>
<dl_settings>
<dl_settings name="System">
<dl_settings name="Telemetry">
<dl_setting min="0" step="1" max="5" var="telemetry_mode_Ap" shortname="Ap" values="default|minimal|extremal|raw_sensors|scaled_sensors|debug_imu" header="generated/periodic_telemetry"/>
<dl_setting min="0" step="1" max="1" var="telemetry_mode_Fbw" shortname="Fbw" values="default|debug" header="generated/periodic_telemetry"/>
</dl_settings>
<dl_settings name="Flight Plan">
<dl_setting VAR="roll_step" STEP="1.0" MIN="0." MAX="50." INIT="15."/>
</dl_settings>
</dl_settings>
<dl_settings NAME="mcu">
<dl_setting VAR="mcu_reboot" VALUES="NORMAL|POWEROFF|FAST|BOOTLOADER" TYPE="fun" STEP="1" SHORTNAME="reboot" MODULE="mcu" MIN="0" MAX="3" HANDLER="reboot"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting VAR="autopilot.mode" VALUES="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE" STEP="1" MODULE="autopilot" MIN="0" MAX="2"/>
<dl_setting VAR="autopilot.launch" STEP="1" MIN="0" MAX="1"/>
<dl_setting VAR="autopilot.kill_throttle" STEP="1" MIN="0" MAX="1"/>
</dl_settings>
<dl_settings NAME="flight params">
<dl_setting VAR="flight_altitude" STEP="10" SHORTNAME="altitude" MIN="0" MAX="1000"/>
<dl_setting VAR="nav_course" STEP="1" MIN="0" MAX="360"/>
<dl_setting VAR="nav_shift" STEP="5" SHORTNAME="inc. shift" MODULE="firmwares/fixedwing/nav" MIN="-10" MAX="10" HANDLER="IncreaseShift"/>
<dl_setting VAR="autopilot.flight_time" STEP="1" SHORTNAME="flight time" MODULE="autopilot" MIN="0" MAX="0" HANDLER="ResetFlightTimeAndLaunch"/>
<dl_setting VAR="nav_radius" STEP="10" MODULE="firmwares/fixedwing/nav" MIN="-200" MAX="200" HANDLER="SetNavRadius">
<strip_button VALUE="1" NAME="Circle right" ICON="circle-right.png" GROUP="circle"/>
<strip_button VALUE="-1" NAME="Circle left" ICON="circle-left.png" GROUP="circle"/>
<key_press VALUE="1" KEY="greater"/>
<key_press VALUE="-1" KEY="less"/>
</dl_setting>
</dl_settings>
</dl_settings>
</settings>
</aircraft>
<aircraft name="Bumblebee_Quad" ac_id="40" airframe="airframes/examples/bumblebee_quad.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml settings/nps.xml" settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml" gui_color="white">
<airframe NAME="Bumblebee Lisa/M 2.0">
<firmware NAME="rotorcraft">
<target NAME="ap" BOARD="lisa_m_2.0"/>
<target NAME="nps" BOARD="pc">
<module TYPE="jsbsim" NAME="fdm"/>
</target>
<module TYPE="spektrum" NAME="radio_control">
<define VALUE="RADIO_FLAP" NAME="RADIO_MODE"/>
<define VALUE="RADIO_GEAR" NAME="RADIO_KILL_SWITCH"/>
<configure VALUE="1" NAME="USE_SECONDARY_SPEKTRUM_RECEIVER"/>
</module>
<module NAME="motor_mixing"/>
<module TYPE="pwm" NAME="actuators">
<define VALUE="400" NAME="SERVO_HZ"/>
</module>
<module TYPE="transparent" NAME="telemetry"/>
<module TYPE="aspirin_v2.1" NAME="imu"/>
<module TYPE="ublox" NAME="gps"/>
<module TYPE="int_quat" NAME="stabilization"/>
<module TYPE="int_cmpl_quat" NAME="ahrs">
<define VALUE="30" NAME="AHRS_GRAVITY_HEURISTIC_FACTOR"/>
</module>
<module NAME="ins"/>
<module TYPE="ubx_ucenter" NAME="gps"/>
</firmware>
<servos DRIVER="Pwm">
<servo NO="0" NEUTRAL="1150" NAME="SE" MIN="1000" MAX="1900"/>
<servo NO="1" NEUTRAL="1150" NAME="SW" MIN="1000" MAX="1900"/>
<servo NO="2" NEUTRAL="1150" NAME="NW" MIN="1000" MAX="1900"/>
<servo NO="3" NEUTRAL="1150" NAME="NE" MIN="1000" MAX="1900"/>
</servos>
<commands>
<axis NAME="ROLL" FAILSAFE_VALUE="0"/>
<axis NAME="PITCH" FAILSAFE_VALUE="0"/>
<axis NAME="YAW" FAILSAFE_VALUE="0"/>
<axis NAME="THRUST" FAILSAFE_VALUE="0"/>
</commands>
<section PREFIX="MOTOR_MIXING_" NAME="MIXING">
<define VALUE="0" NAME="TRIM_ROLL"/>
<define VALUE="0" NAME="TRIM_PITCH"/>
<define VALUE="0" NAME="TRIM_YAW"/>
<define VALUE="4" NAME="NB_MOTOR"/>
<define VALUE="256" NAME="SCALE"/>
<define VALUE="{ -256, 256, 256, -256 }" NAME="ROLL_COEF"/>
<define VALUE="{ -256, -256, 256, 256 }" NAME="PITCH_COEF"/>
<define VALUE="{ 256, -256, 256, -256 }" NAME="YAW_COEF"/>
<define VALUE="{ 256, 256, 256, 256 }" NAME="THRUST_COEF"/>
</section>
<command_laws>
<call FUN="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set VALUE="motor_mixing.commands[0]" SERVO="SE"/>
<set VALUE="motor_mixing.commands[1]" SERVO="SW"/>
<set VALUE="motor_mixing.commands[2]" SERVO="NW"/>
<set VALUE="motor_mixing.commands[3]" SERVO="NE"/>
</command_laws>
<section PREFIX="IMU_" NAME="IMU">
<define VALUE="0" NAME="MAG_X_NEUTRAL"/>
<define VALUE="0" NAME="MAG_Y_NEUTRAL"/>
<define VALUE="0" NAME="MAG_Z_NEUTRAL"/>
<define VALUE="3.15" NAME="MAG_X_SENS" INTEGER="16"/>
<define VALUE="3.15" NAME="MAG_Y_SENS" INTEGER="16"/>
<define VALUE="3.15" NAME="MAG_Z_SENS" INTEGER="16"/>
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_PHI"/>
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_THETA"/>
<define VALUE="0." UNIT="deg" NAME="BODY_TO_IMU_PSI"/>
</section>
<section PREFIX="AHRS_" NAME="AHRS">
<define VALUE="0.3770441" NAME="H_X"/>
<define VALUE="0.0193986" NAME="H_Y"/>
<define VALUE="0.9259921" NAME="H_Z"/>
</section>
<section PREFIX="INS_" NAME="INS"/>
<section PREFIX="STABILIZATION_ATTITUDE_" NAME="STABILIZATION_ATTITUDE">
<define VALUE="45." UNIT="deg" NAME="SP_MAX_PHI"/>
<define VALUE="45." UNIT="deg" NAME="SP_MAX_THETA"/>
<define VALUE="90." UNIT="deg/s" NAME="SP_MAX_R"/>
<define VALUE="0" NAME="DEADBAND_A"/>
<define VALUE="0" NAME="DEADBAND_E"/>
<define VALUE="250" NAME="DEADBAND_R"/>
<define VALUE="400" UNIT="deg/s" NAME="REF_OMEGA_P"/>
<define VALUE="0.85" NAME="REF_ZETA_P"/>
<define VALUE="400." UNIT="deg/s" NAME="REF_MAX_P"/>
<define VALUE="RadOfDeg(8000.)" NAME="REF_MAX_PDOT"/>
<define VALUE="400" UNIT="deg/s" NAME="REF_OMEGA_Q"/>
<define VALUE="0.85" NAME="REF_ZETA_Q"/>
<define VALUE="400." UNIT="deg/s" NAME="REF_MAX_Q"/>
<define VALUE="RadOfDeg(8000.)" NAME="REF_MAX_QDOT"/>
<define VALUE="250" UNIT="deg/s" NAME="REF_OMEGA_R"/>
<define VALUE="0.85" NAME="REF_ZETA_R"/>
<define VALUE="180." UNIT="deg/s" NAME="REF_MAX_R"/>
<define VALUE="RadOfDeg(1800.)" NAME="REF_MAX_RDOT"/>
<define VALUE="1000" NAME="PHI_PGAIN"/>
<define VALUE="400" NAME="PHI_DGAIN"/>
<define VALUE="200" NAME="PHI_IGAIN"/>
<define VALUE="1000" NAME="THETA_PGAIN"/>
<define VALUE="400" NAME="THETA_DGAIN"/>
<define VALUE="200" NAME="THETA_IGAIN"/>
<define VALUE="500" NAME="PSI_PGAIN"/>
<define VALUE="300" NAME="PSI_DGAIN"/>
<define VALUE="10" NAME="PSI_IGAIN"/>
<define VALUE="300" NAME="PHI_DDGAIN"/>
<define VALUE="300" NAME="THETA_DDGAIN"/>
<define VALUE="300" NAME="PSI_DDGAIN"/>
</section>
<section PREFIX="GUIDANCE_V_" NAME="GUIDANCE_V">
<define VALUE="POS_BFP_OF_REAL(-10.)" NAME="MIN_ERR_Z"/>
<define VALUE="POS_BFP_OF_REAL( 10.)" NAME="MAX_ERR_Z"/>
<define VALUE="SPEED_BFP_OF_REAL(-10.)" NAME="MIN_ERR_ZD"/>
<define VALUE="SPEED_BFP_OF_REAL( 10.)" NAME="MAX_ERR_ZD"/>
<define VALUE="2000000" NAME="MAX_SUM_ERR"/>
<define VALUE="150" NAME="HOVER_KP"/>
<define VALUE="80" NAME="HOVER_KD"/>
<define VALUE="20" NAME="HOVER_KI"/>
<define VALUE="0.5" NAME="NOMINAL_HOVER_THROTTLE"/>
<define VALUE="TRUE" NAME="ADAPT_THROTTLE_ENABLED"/>
</section>
<section PREFIX="GUIDANCE_H_" NAME="GUIDANCE_H">
<define VALUE="20" UNIT="deg" NAME="MAX_BANK"/>
<define VALUE="TRUE" NAME="USE_SPEED_REF"/>
<define VALUE="50" NAME="PGAIN"/>
<define VALUE="100" NAME="DGAIN"/>
<define VALUE="70" NAME="AGAIN"/>
<define VALUE="20" NAME="IGAIN"/>
</section>
<section PREFIX="NPS_" NAME="SIMULATOR">
<define VALUE="se_motor, sw_motor, nw_motor, ne_motor" TYPE="string[]" NAME="ACTUATOR_NAMES"/>
<define VALUE="simple_x_quad" TYPE="string" NAME="JSBSIM_MODEL"/>
<define VALUE="nps_sensors_params_default.h" TYPE="string" NAME="SENSORS_PARAMS"/>
<define VALUE="4" NAME="JS_AXIS_MODE"/>
</section>
<section NAME="AUTOPILOT">
<define VALUE="AP_MODE_ATTITUDE_DIRECT" NAME="MODE_MANUAL"/>
<define VALUE="AP_MODE_HOVER_Z_HOLD" NAME="MODE_AUTO1"/>
<define VALUE="AP_MODE_NAV" NAME="MODE_AUTO2"/>
</section>
<section NAME="BAT">
<define VALUE="9.3" UNIT="V" NAME="CATASTROPHIC_BAT_LEVEL"/>
<define VALUE="9.6" UNIT="V" NAME="CRITIC_BAT_LEVEL"/>
<define VALUE="10.1" UNIT="V" NAME="LOW_BAT_LEVEL"/>
<define VALUE="12.4" UNIT="V" NAME="MAX_BAT_LEVEL"/>
<define VALUE="30000" NAME="MILLIAMP_AT_FULL_THROTTLE"/>
</section>
</airframe>
<flight_plan SECURITY_HEIGHT="2" NAME="Rotorcraft Basic (Enac)" MAX_DIST_FROM_HOME="150" LON0="1 28 52.61" LAT0="43 33 50.83" GROUND_ALT="147" ALT="152">
<header>#include "autopilot.h"</header>
<waypoints>
<waypoint Y="0.0" X="0.0" NAME="HOME"/>
<waypoint Y="5.0" X="0.0" NAME="CLIMB"/>
<waypoint Y="-5.0" X="-2.0" NAME="STDBY"/>
<waypoint Y="-13.9" X="3.6" NAME="p1"/>
<waypoint Y="-48.2" X="27.5" NAME="p2"/>
<waypoint Y="-19.6" X="16.7" NAME="p3"/>
<waypoint Y="-40.7" X="13.7" NAME="p4"/>
<waypoint Y="-50" X="-20" NAME="CAM" HEIGHT="2."/>
<waypoint Y="-10.9" X="5.6" NAME="TD"/>
</waypoints>
<blocks>
<block NAME="Wait GPS">
<call_once FUN="NavKillThrottle()"/>
<while COND="!GpsFixValid()"/>
</block>
<block NAME="Geo init">
<while COND="LessThan(NavBlockTime(), 10)"/>
<call_once FUN="NavSetGroundReferenceHere()"/>
</block>
<block NAME="Holding point">
<call_once FUN="NavKillThrottle()"/>
<attitude VMODE="throttle" UNTIL="FALSE" THROTTLE="0" ROLL="0" PITCH="0"/>
</block>
<block NAME="Start Engine">
<call_once FUN="NavResurrect()"/>
<attitude VMODE="throttle" UNTIL="FALSE" THROTTLE="0" ROLL="0" PITCH="0"/>
</block>
<block STRIP_ICON="takeoff.png" STRIP_BUTTON="Takeoff" NAME="Takeoff">
<exception DEROUTE="Standby" COND="stateGetPositionEnu_f() @DEREF z @GT 2.0"/>
<call_once FUN="NavSetWaypointHere(WP_CLIMB)"/>
<stay WP="CLIMB" VMODE="climb" CLIMB="nav_climb_vspeed"/>
</block>
<block STRIP_ICON="home.png" STRIP_BUTTON="Standby" NAME="Standby">
<stay WP="STDBY"/>
</block>
<block NAME="stay_p1">
<stay WP="p1"/>
</block>
<block NAME="go_p2">
<call_once FUN="nav_set_heading_deg(90)"/>
<go WP="p2"/>
<deroute BLOCK="stay_p1"/>
</block>
<block NAME="line_p1_p2">
<go WP="p2" HMODE="route" FROM="p1"/>
<stay WP="p2" UNTIL="stage_time @GT 10"/>
<go WP="p1" HMODE="route" FROM="p2"/>
<deroute BLOCK="stay_p1"/>
</block>
<block NAME="route">
<go WP="p3" HMODE="route" FROM="p1"/>
<go WP="p4" HMODE="route" FROM="p3"/>
<go WP="p1" HMODE="route" FROM="p4"/>
<deroute BLOCK="stay_p1"/>
</block>
<block NAME="Oval">
<oval RADIUS="-1" P2="p2" P1="p1"/>
</block>
<block NAME="test yaw">
<go WP="p1"/>
<for VAR="i" TO="16" FROM="1">
<heading UNTIL="stage_time @GT 3" COURSE="90 * $i" ALT="WaypointAlt(WP_p1)"/>
</for>
<deroute BLOCK="Standby"/>
</block>
<block PRE_CALL="nav_set_heading_towards_waypoint(WP_CAM)" NAME="circle CAM">
<circle WP="CAM" RADIUS="nav_radius"/>
</block>
<block STRIP_ICON="land-right.png" STRIP_BUTTON="Land Here" NAME="land here">
<call_once FUN="NavSetWaypointHere(WP_TD)"/>
</block>
<block NAME="land">
<go WP="TD"/>
</block>
<block NAME="flare">
<exception DEROUTE="Holding point" COND="NavDetectGround()"/>
<exception DEROUTE="landed" COND="!nav_is_in_flight()"/>
<call_once FUN="NavStartDetectGround()"/>
<stay WP="TD" VMODE="climb" CLIMB="nav_descend_vspeed"/>
</block>
<block NAME="landed">
<attitude VMODE="throttle" UNTIL="FALSE" THROTTLE="0" ROLL="0" PITCH="0"/>
</block>
</blocks>
</flight_plan>
<radio SYNC_MIN="5000" SYNC_MAX="15000" PULSE_TYPE="POSITIVE" NAME="cockpitMM" DATA_MIN="900" DATA_MAX="2100">
<channel NEUTRAL="1120" MIN="1120" MAX="2000" FUNCTION="THROTTLE" AVERAGE="0"/>
</radio>
<telemetry>
<process NAME="Main">
<mode NAME="default" KEY_PRESS="d">
<message PERIOD="11.1" NAME="AUTOPILOT_VERSION"/>
<message PERIOD="1.1" NAME="DL_VALUE"/>
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.25" NAME="ROTORCRAFT_FP"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD="5.1" NAME="INS_REF"/>
<message PERIOD="1.6" NAME="ROTORCRAFT_NAV_STATUS"/>
<message PERIOD="1.3" NAME="WP_MOVED"/>
<message PERIOD="1." NAME="ROTORCRAFT_CAM"/>
<message PERIOD=".25" NAME="GPS_INT"/>
<message PERIOD=".25" NAME="INS"/>
<message PERIOD="4.1" NAME="I2C_ERRORS"/>
<message PERIOD="3.1" NAME="UART_ERRORS"/>
<message PERIOD="3" NAME="SUPERBITRF"/>
<message PERIOD="2.5" NAME="ENERGY"/>
<message PERIOD="5.1" NAME="DATALINK_REPORT"/>
<message PERIOD="3.2" NAME="STATE_FILTER_STATUS"/>
<message PERIOD="1.3" NAME="AIR_DATA"/>
<message PERIOD="2.5" NAME="SURVEY"/>
<message PERIOD="0.05" NAME="OPTIC_FLOW_EST"/>
<message PERIOD="0.5" NAME="VECTORNAV_INFO"/>
<message PERIOD="0.05" NAME="OPTICAL_FLOW_HOVER"/>
<message PERIOD="0.10" NAME="VISUALTARGET"/>
<message PERIOD="0.1" NAME="VISION_POSITION_ESTIMATE"/>
<message PERIOD="0.05" NAME="DIVERGENCE"/>
<message PERIOD="0.02" NAME="DRAGSPEED"/>
<message PERIOD="5.1" NAME="LOGGER_STATUS"/>
<message PERIOD="1.2" NAME="LIDAR"/>
<message PERIOD=".25" NAME="INS_EKF2"/>
<message PERIOD="1." NAME="WIND_INFO_RET"/>
</mode>
<mode NAME="ppm">
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".05" NAME="ROTORCRAFT_CMD"/>
<message PERIOD="0.5" NAME="PPM"/>
<message PERIOD="0.5" NAME="RC"/>
<message PERIOD="0.5" NAME="ROTORCRAFT_RADIO_CONTROL"/>
<message PERIOD="1" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.2" NAME="BEBOP_ACTUATORS"/>
</mode>
<mode NAME="raw_sensors">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".05" NAME="IMU_ACCEL_RAW"/>
<message PERIOD=".05" NAME="IMU_GYRO_RAW"/>
<message PERIOD=".05" NAME="IMU_MAG_RAW"/>
<message PERIOD=".1" NAME="BARO_RAW"/>
<message PERIOD=".05" NAME="ARDRONE_NAVDATA"/>
</mode>
<mode NAME="scaled_sensors">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".075" NAME="IMU_GYRO_SCALED"/>
<message PERIOD=".075" NAME="IMU_ACCEL_SCALED"/>
<message PERIOD=".1" NAME="IMU_MAG_SCALED"/>
</mode>
<mode NAME="ahrs">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD="2.2" NAME="FILTER_ALIGNER"/>
<message PERIOD=".5" NAME="FILTER"/>
<message PERIOD="5." NAME="GEO_MAG"/>
<message PERIOD="0.08" NAME="AHRS_GYRO_BIAS_INT"/>
<message PERIOD=".25" NAME="AHRS_QUAT_INT"/>
<message PERIOD=".1" NAME="AHRS_EULER_INT"/>
<message PERIOD=".1" NAME="AHRS_EULER"/>
</mode>
<mode NAME="rate_loop">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD=".02" NAME="RATE_LOOP"/>
</mode>
<mode NAME="attitude_setpoint_viz" KEY_PRESS="v">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD="0.1" NAME="ROTORCRAFT_RADIO_CONTROL"/>
<message PERIOD="0.05" NAME="AHRS_REF_QUAT"/>
</mode>
<mode NAME="attitude_loop" KEY_PRESS="a">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD=".03" NAME="STAB_ATTITUDE_INT"/>
<message PERIOD=".03" NAME="STAB_ATTITUDE_REF_INT"/>
<message PERIOD=".03" NAME="STAB_ATTITUDE_FLOAT"/>
<message PERIOD=".03" NAME="STAB_ATTITUDE_REF_FLOAT"/>
<message PERIOD=".25" NAME="STAB_ATTITUDE_INDI"/>
<message PERIOD="2.0" NAME="INDI_G"/>
</mode>
<mode NAME="vert_loop" KEY_PRESS="v">
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.5" NAME="DL_VALUE"/>
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD=".05" NAME="VFF"/>
<message PERIOD=".05" NAME="VFF_EXTENDED"/>
<message PERIOD=".05" NAME="VERT_LOOP"/>
<message PERIOD=".05" NAME="INS_Z"/>
<message PERIOD=".11" NAME="INS"/>
<message PERIOD="5.1" NAME="INS_REF"/>
</mode>
<mode NAME="vel_guidance" KEY_PRESS="q">
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD="0.062" NAME="HYBRID_GUIDANCE"/>
<message PERIOD="0.8" NAME="ROTORCRAFT_FP"/>
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="1.6" NAME="ROTORCRAFT_NAV_STATUS"/>
<message PERIOD="5.1" NAME="INS_REF"/>
<message PERIOD="1.3" NAME="WP_MOVED"/>
<message PERIOD="1.0" NAME="GPS_INT"/>
<message PERIOD="1.0" NAME="INS"/>
</mode>
<mode NAME="h_loop" KEY_PRESS="h">
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD="0.062" NAME="HOVER_LOOP"/>
<message PERIOD="0.062" NAME="GUIDANCE_H_REF_INT"/>
<message PERIOD="0.4" NAME="STAB_ATTITUDE_INT"/>
<message PERIOD="0.4" NAME="STAB_ATTITUDE_FLOAT"/>
<message PERIOD="0.8" NAME="ROTORCRAFT_FP"/>
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="1.6" NAME="ROTORCRAFT_NAV_STATUS"/>
<message PERIOD="5.1" NAME="INS_REF"/>
<message PERIOD=".05" NAME="HFF"/>
<message PERIOD=".03" NAME="HFF_GPS"/>
<message PERIOD=".2" NAME="HFF_DBG"/>
</mode>
<mode NAME="aligner">
<message PERIOD="0.9" NAME="ALIVE"/>
<message PERIOD="0.02" NAME="FILTER_ALIGNER"/>
</mode>
<mode NAME="tune_hover">
<message PERIOD="1.1" NAME="DL_VALUE"/>
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="2.1" NAME="ALIVE"/>
<message PERIOD="0.05" NAME="GUIDANCE_H_INT"/>
<message PERIOD=".1" NAME="ROTORCRAFT_TUNE_HOVER"/>
<message PERIOD="5.1" NAME="INS_REF"/>
</mode>
<mode NAME="RTCM3">
<message PERIOD="1" NAME="GPS_RXMRTCM"/>
<message PERIOD=".25" NAME="GPS_INT"/>
<message PERIOD="1" NAME="GPS_RTK"/>
</mode>
</process>
<process NAME="FlightRecorder">
<mode NAME="default">
<message PERIOD="11.1" NAME="AUTOPILOT_VERSION"/>
<message PERIOD="1.1" NAME="DL_VALUE"/>
<message PERIOD="1.2" NAME="ROTORCRAFT_STATUS"/>
<message PERIOD="0.25" NAME="ROTORCRAFT_FP"/>
<message PERIOD="5.1" NAME="INS_REF"/>
<message PERIOD="1.6" NAME="ROTORCRAFT_NAV_STATUS"/>
<message PERIOD="1.3" NAME="WP_MOVED"/>
<message PERIOD=".1" NAME="GPS_INT"/>
<message PERIOD=".1" NAME="INS"/>
<message PERIOD="4.1" NAME="I2C_ERRORS"/>
<message PERIOD="3.1" NAME="UART_ERRORS"/>
<message PERIOD="2.5" NAME="ENERGY"/>
<message PERIOD="5.1" NAME="DATALINK_REPORT"/>
<message PERIOD="3.2" NAME="STATE_FILTER_STATUS"/>
<message PERIOD="1.3" NAME="AIR_DATA"/>
<message PERIOD="2.5" NAME="SURVEY"/>
<message PERIOD=".075" NAME="IMU_GYRO_SCALED"/>
<message PERIOD=".075" NAME="IMU_ACCEL_SCALED"/>
<message PERIOD=".2" NAME="IMU_MAG_SCALED"/>
<message PERIOD="0.05" NAME="LIDAR"/>
</mode>
</process>
</telemetry>
<settings>
<dl_settings>
<dl_settings name="System">
<dl_settings name="Telemetry">
<dl_setting min="0" step="1" max="13" var="telemetry_mode_Main" shortname="Main" values="default|ppm|raw_sensors|scaled_sensors|ahrs|rate_loop|attitude_setpoint_viz|attitude_loop|vert_loop|vel_guidance|h_loop|aligner|tune_hover|RTCM3" header="generated/periodic_telemetry">
<key_press key="h" value="10"/>
<key_press key="q" value="9"/>
<key_press key="v" value="8"/>
<key_press key="a" value="7"/>
<key_press key="v" value="6"/>
<key_press key="d" value="0"/>
</dl_setting>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
</aircraft>
<aircraft name="LadyLisa" ac_id="6" airframe="airframes/examples/ladybird_lisa_s.xml" radio="radios/cockpitSX.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml" settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml" gui_color="white">
<airframe name="quadrotor_lisa_s">
<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
</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_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>
<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"/>
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</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="-13." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="MAG_X_NEUTRAL" value="286"/>
<define name="MAG_Y_NEUTRAL" value="-72"/>
<define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</section>
<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_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
<section name="STABILIZATION_ATTITUDE" 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_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<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="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>