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[paparazzi-commits] [6390] add deconfliction Funjets

From: Martin Mueller
Subject: [paparazzi-commits] [6390] add deconfliction Funjets
Date: Thu, 11 Nov 2010 09:56:20 +0000 
Revision: 6390
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6390
Author:   mmm
Date:     2010-11-11 09:56:20 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
add deconfliction Funjets

Added Paths:
-----------
    paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
    paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
    paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml

Added: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml         
                (rev 0)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdca.xml 
2010-11-11 09:56:20 UTC (rev 6390)
@@ -0,0 +1,211 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet deconflict A
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     robbe 6107 SP, LEA 5H
+-->
+
+<airframe name="Funjet deconflict A">
+
+  <firmware name="fixedwing">
+    <target name="ap"                  board="tiny_2.11">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <!-- RC -->
+    <subsystem name="radio_control"    type="ppm"/>
+    <!-- Communication -->
+    <subsystem name="telemetry"        type="xbee_api"/>
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="gps"              type="ublox_lea5h"/>
+    <!-- Nav -->
+    <subsystem name="navigation"/>
+    <!-- Interfaces -->
+    <!--subsystem name="i2c"/-->
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="tiny_2.11"/>
+    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+    <target name="usb_tunnel_1"        board="tiny_2.11"/>
+    <target name="setup_actuators"     board="tiny_2.11"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+  </modules>
+
+  <!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1536" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1491" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"         value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive 
Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+       <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+       <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+       <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+       <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+       <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+</airframe>
+

Added: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml         
                (rev 0)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcb.xml 
2010-11-11 09:56:20 UTC (rev 6390)
@@ -0,0 +1,211 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet deconflict B
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     robbe 6107 SP, LEA 5H
+-->
+
+<airframe name="Funjet deconflict B">
+
+  <firmware name="fixedwing">
+    <target name="ap"                  board="tiny_2.11">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <!-- RC -->
+    <subsystem name="radio_control"    type="ppm"/>
+    <!-- Communication -->
+    <subsystem name="telemetry"        type="xbee_api"/>
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="gps"              type="ublox_lea5h"/>
+    <!-- Nav -->
+    <subsystem name="navigation"/>
+    <!-- Interfaces -->
+    <!--subsystem name="i2c"/-->
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="tiny_2.11"/>
+    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+    <target name="usb_tunnel_1"        board="tiny_2.11"/>
+    <target name="setup_actuators"     board="tiny_2.11"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+  </modules>
+
+  <!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1535" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1507" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"         value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive 
Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+       <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+       <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+       <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+       <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+       <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+</airframe>
+

Added: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml         
                (rev 0)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml 
2010-11-11 09:56:20 UTC (rev 6390)
@@ -0,0 +1,211 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet deconflict C
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     robbe 6107 SP, LEA 5H
+-->
+
+<airframe name="Funjet deconflict C">
+
+  <firmware name="fixedwing">
+    <target name="ap"                  board="tiny_2.11">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <!-- RC -->
+    <subsystem name="radio_control"    type="ppm"/>
+    <!-- Communication -->
+    <subsystem name="telemetry"        type="xbee_api"/>
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="gps"              type="ublox_lea5h"/>
+    <!-- Nav -->
+    <subsystem name="navigation"/>
+    <!-- Interfaces -->
+    <!--subsystem name="i2c"/-->
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="tiny_2.11"/>
+    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+    <target name="usb_tunnel_1"        board="tiny_2.11"/>
+    <target name="setup_actuators"     board="tiny_2.11"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+  </modules>
+
+  <!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"         value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive 
Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+       <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+       <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+       <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+       <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+       <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+</airframe>
+
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