Explorer/PPRZ

<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Quadricopter XP">

 <description>
   * Autopilot:   Tawaki/ Apogee
   * Actuators:   4 in 1 Holybro BLHELI ESC
   * Telemetry:   XBee and Wifibroadcast (compagnon board)
   * GPS:         ublox M8P (optional DGPS) or Datalink
   * RC:          FrSky XM+ or Datalink

   IMU Apogee :    
     - MPU6050 (acc+gyro), 
     - MPU9150 (acc+gyro+mag) = MPU6050 + AK8975

   MAG Apogee (AK8975 on I2C1) or on external GPS board (LIS3MDL on I2C1) or Datalink

   BARO Apogee (MPL3115A2 on I2C1)

 </description>

 <firmware name="rotorcraft">

   <configure name="PERIODIC_FREQUENCY" value="1000"/>
   <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
   <configure name="KILL_AS_FAILSAFE" value="1"/>
 
   <!-- OPTION 1A & 1B -->
   <target name="ap" board="apogee_1.0_chibios"/>
   <!-- OPTION 1C -->
   <!--
   <target name="nps" board="pc"/-->
   -->

 </firmware>

 <!-- apogee_1.0_chibios -->
 <!-- OPTION 1A -->
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_mpu9150.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/>
 <!-- OPTION 1B -->
 <!--
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_lis3mdl.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_lis3mdl.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/>
 -->
 <!-- OPTION 1C -->
 <!--
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_tawaki.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_lis3mdl.xml"/> 
 -->

 <!-- tawaki_1.0 & apogee_1.0_chibios -->
 <!-- OPTION 2A -->
 <!-- include href="conf/airframes/ENAC/quadrotor/xp/xp_option_indoor.xml"/-->
 <!-- OPTION 2B -->
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_outdoor.xml"/>

 <!-- OPTION 2C -->
 <!--
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_nps.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_outdoor_nps.xml"/>
 -->

 <!-- All targets -->
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_rate.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_attitude.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_guidance.xml"/>
 <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_modules.xml"/>

</airframe>