__max_num_mc_motors: &max_num_mc_motors 8
__max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4

module_name: Control Allocation

parameters:
    - group: Geometry
      definitions:
        CA_AIRFRAME:
            description:
                short: Airframe selection
                long: |
                  Defines which mixer implementation to use.
                  Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.

                  'Custom' should only be used if noting else can be used.
            type: enum
            values:
                0: Multirotor
                1: Fixed-wing
                2: Standard VTOL
                3: Tiltrotor VTOL
                4: Tailsitter VTOL
                5: Rover (Ackermann)
                6: Rover (Differential)
                7: Motors (6DOF)
                8: Multirotor with Tilt
                9: Custom
            default: 0

        CA_METHOD:
            description:
                short: Control allocation method
                long: |
                  Selects the algorithm and desaturation method.
                  If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).
            type: enum
            values:
                0: Pseudo-inverse with output clipping
                1: Pseudo-inverse with sequential desaturation technique
                2: Automatic
            default: 2

        # Motor parameters
        CA_R_REV:
            description:
                short: Reversible motors
                long: |
                  Configure motors to be reversible. Note that the output driver needs to support this as well.
            type: bitmask
            bit:
                0: Motor 1
                1: Motor 2
                2: Motor 3
                3: Motor 4
                4: Motor 5
                5: Motor 6
                6: Motor 7
                7: Motor 8
            default: 0
        CA_R${i}_SLEW:
            description:
                short: Motor ${i} slew rate limit
                long: |
                  Minimum time allowed for the motor input signal to pass through
                  the full output range. A value x means that the motor signal
                  can only go from 0 to 1 in minimum x seconds (in case of
                  reversible motors, the range is -1 to 1).

                  Zero means that slew rate limiting is disabled.
            type: float
            decimal: 2
            increment: 0.01
            num_instances: *max_num_mc_motors
            min: 0
            max: 10
            default: 0.0

        # Servo params
        CA_SV${i}_SLEW:
            description:
                short: Servo ${i} slew rate limit
                long: |
                  Minimum time allowed for the servo input signal to pass through
                  the full output range. A value x means that the servo signal
                  can only go from -1 to 1 in minimum x seconds.

                  Zero means that slew rate limiting is disabled.
            type: float
            decimal: 2
            increment: 0.05
            num_instances: *max_num_servos
            min: 0
            max: 10
            default: 0.0


        # (MC) Rotors
        CA_ROTOR_COUNT:
            description:
                short: Total number of rotors
            type: enum
            values:
                0: '0'
                1: '1'
                2: '2'
                3: '3'
                4: '4'
                5: '5'
                6: '6'
                7: '7'
                8: '8'
            default: 0
        CA_ROTOR${i}_PX:
            description:
                short: Position of rotor ${i} along X body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_ROTOR${i}_PY:
            description:
                short: Position of rotor ${i} along Y body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_ROTOR${i}_PZ:
            description:
                short: Position of rotor ${i} along Z body axis
            type: float
            decimal: 2
            increment: 0.1
            unit: m
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0

        CA_ROTOR${i}_AX:
            description:
                short: Axis of rotor ${i} thrust vector, X body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_ROTOR${i}_AY:
            description:
                short: Axis of rotor ${i} thrust vector, Y body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: 0.0
        CA_ROTOR${i}_AZ:
            description:
                short: Axis of rotor ${i} thrust vector, Z body axis component
                long: Only the direction is considered (the vector is normalized).
            type: float
            decimal: 2
            increment: 0.1
            num_instances: *max_num_mc_motors
            min: -100
            max: 100
            default: -1.0

        CA_ROTOR${i}_CT:
            description:
                short: Thrust coefficient of rotor ${i}
                long: |
                  The thrust coefficient if defined as Thrust = CT * u^2,
                  where u (with value between actuator minimum and maximum)
                  is the output signal sent to the motor controller.
            type: float
            decimal: 1
            increment: 1
            num_instances: *max_num_mc_motors
            min: 0
            max: 100
            default: 6.5

        CA_ROTOR${i}_KM:
            description:
                short: Moment coefficient of rotor ${i}
                long: |
                  The moment coefficient if defined as Torque = KM * Thrust.

                  Use a positive value for a rotor with CCW rotation.
                  Use a negative value for a rotor with CW rotation.
            type: float
            decimal: 3
            increment: 0.01
            num_instances: *max_num_mc_motors
            min: -1
            max: 1
            default: 0.05
        CA_ROTOR${i}_TILT:
            description:
                short: Rotor ${i} tilt assignment
                long: If not set to None, this motor is tilted by the configured tilt servo.
            type: enum
            values:
                0: 'None'
                1: 'Tilt 1'
                2: 'Tilt 2'
                3: 'Tilt 3'
                4: 'Tilt 4'
            num_instances: *max_num_mc_motors
            instance_start: 0
            default: 0

        # control surfaces
        CA_SV_CS_COUNT:
            description:
                short: Total number of Control Surfaces
            type: enum
            values:
                0: '0'
                1: '1'
                2: '2'
                3: '3'
                4: '4'
                5: '5'
                6: '6'
                7: '7'
                8: '8'
            default: 0
        CA_SV_CS${i}_TYPE:
            description:
                short: Control Surface ${i} type
            type: enum
            values:
                1: Elevator
                2: Rudder
                3: Left Elevon
                4: Right Elevon
                5: Left V-Tail
                6: Right V-Tail
                7: Left Flaps
                8: Right Flaps
                9: Left Aileron
                10: Right Aileron
                11: Airbrakes
                12: Custom
            num_instances: *max_num_servos
            instance_start: 0
            default: 1

        CA_SV_CS${i}_TRQ_R:
            description:
                short: Control Surface ${i} roll torque scaling
            type: float
            decimal: 2
            num_instances: *max_num_servos
            instance_start: 0
            default: 0.0

        CA_SV_CS${i}_TRQ_P:
            description:
                short: Control Surface ${i} pitch torque scaling
            type: float
            decimal: 2
            num_instances: *max_num_servos
            instance_start: 0
            default: 0.0

        CA_SV_CS${i}_TRQ_Y:
            description:
                short: Control Surface ${i} yaw torque scaling
            type: float
            decimal: 2
            num_instances: *max_num_servos
            instance_start: 0
            default: 0.0
        CA_SV_CS${i}_TRIM:
            description:
                short: Control Surface ${i} trim
                long: Can be used to add an offset to the servo control.
            type: float
            decimal: 2
            min: -1.0
            max: 1.0
            num_instances: *max_num_servos
            instance_start: 0
            default: 0.0

        # Tilts
        CA_SV_TL_COUNT:
            description:
                short: Total number of Tilt Servos
            type: enum
            values:
                0: '0'
                1: '1'
                2: '2'
                3: '3'
                4: '4'
            default: 0
        CA_SV_TL${i}_CT:
            description:
                short: Tilt ${i} is used for control
                long: Define if this servo is used for additional control.
            type: enum # This could be a bitset, but the enum shows up nicer in the UI
            values:
                0: 'None'
                1: 'Yaw'
                2: 'Pitch'
                3: 'Yaw and Pitch'
            num_instances: *max_num_tilts
            instance_start: 0
            default: 1
        CA_SV_TL${i}_MINA:
            description:
                short: Tilt Servo ${i} Tilt Angle at Minimum
                long: |
                  Defines the tilt angle when the servo is at the minimum.
                  An angle of zero means upwards.
            type: float
            decimal: 0
            unit: 'deg'
            num_instances: *max_num_tilts
            instance_start: 0
            min: -90.0
            max: 90.0
            default: 0.0
        CA_SV_TL${i}_MAXA:
            description:
                short: Tilt Servo ${i} Tilt Angle at Maximum
                long: |
                  Defines the tilt angle when the servo is at the maximum.
                  An angle of zero means upwards.
            type: float
            decimal: 0
            unit: 'deg'
            num_instances: *max_num_tilts
            instance_start: 0
            min: -90.0
            max: 90.0
            default: 90.0
        CA_SV_TL${i}_TD:
            description:
                short: Tilt Servo ${i} Tilt Direction
                long: |
                  Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
                  For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
                  the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
            type: enum
            values:
                0: 'Towards Front'
                90: 'Towards Right'
            min: 0
            max: 359
            num_instances: *max_num_tilts
            instance_start: 0
            default: 0

        # Standard VTOL
        CA_STDVTOL_N_P:
            description:
                short: Number of fixed wing (pusher/puller) motors
            type: enum
            values:
                1: '1'
                2: '2'
                3: '3'
                4: '4'
            default: 1


# Mixer
mixer:
    actuator_types:
        motor:
            functions: 'Motor'
            actuator_testing_values:
                min: 0
                max: 1
                default_is_nan: true
            per_item_parameters:
              - name: 'CA_R_REV'
                label: 'Reversible'
                show_as: 'bitset'
                index_offset: 0
                advanced: true
              - name: 'CA_R${i}_SLEW'
                label: 'Slew Rate'
                index_offset: 0
                advanced: true
        servo:
            functions: 'Servo'
            actuator_testing_values:
                min: -1
                max: 1
                default: 0
            per_item_parameters:
              - name: 'CA_SV${i}_SLEW'
                label: 'Slew Rate'
                index_offset: 0
                advanced: true
        DEFAULT:
            actuator_testing_values:
                min: -1
                max: 1
                default: -1

    rules:
      - select_identifier: 'servo-type' # restrict torque based on servo type
        apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw']
        items:
            # TODO
            1: # Elevator
              - { 'hidden': True, 'default': 0.0 } # roll
              - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
              - { 'hidden': True, 'default': 0.0 } # yaw
            2: # Rudder
              - { 'hidden': True, 'default': 0.0 } # roll
              - { 'hidden': True, 'default': 0.0 } # pitch
              - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
            3: # Left elevon
              - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
              - { 'min': -1.0, 'max': 0.0, 'default': -1.0 } # pitch
              - { 'hidden': True, 'default': 0.0 } # yaw
            4: # Right elevon
              - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
              - { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
              - { 'hidden': True, 'default': 0.0 } # yaw

    config:
        param: CA_AIRFRAME
        types:
            0: # Multirotor
                type: 'multirotor'
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_KM'
                            label: 'Direction CCW'
                            function: 'spin-dir'
                            show_as: 'true-if-positive'

            1: # Fixed Wing
                actuators:
                  - actuator_type: 'motor'
                    group_label: 'Motors'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                  - actuator_type: 'servo'
                    group_label: 'Control Surfaces'
                    count: 'CA_SV_CS_COUNT'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_CS${i}_TYPE'
                            label: 'Type'
                            function: 'type'
                            identifier: 'servo-type'
                          - name: 'CA_SV_CS${i}_TRQ_R'
                            label: 'Roll Torque'
                            identifier: 'servo-torque-roll'
                          - name: 'CA_SV_CS${i}_TRQ_P'
                            label: 'Pitch Torque'
                            identifier: 'servo-torque-pitch'
                          - name: 'CA_SV_CS${i}_TRQ_Y'
                            label: 'Yaw Torque'
                            identifier: 'servo-torque-yaw'
                          - name: 'CA_SV_CS${i}_TRIM'
                            label: 'Trim'

            2: # Standard VTOL
                actuators:
                  - actuator_type: 'motor'
                    group_label: 'MC Motors'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_KM'
                            label: 'Direction CCW'
                            function: 'spin-dir'
                            show_as: 'true-if-positive'
                  - actuator_type: 'motor'
                    group_label: 'FW Motors'
                    count: 'CA_STDVTOL_N_P'
                    item_label_prefix: 'FW Motor ${i}'
                  - actuator_type: 'servo'
                    group_label: 'Control Surfaces'
                    count: 'CA_SV_CS_COUNT'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_CS${i}_TYPE'
                            label: 'Type'
                            function: 'type'
                            identifier: 'servo-type'
                          - name: 'CA_SV_CS${i}_TRQ_R'
                            label: 'Roll Scale'
                            identifier: 'servo-torque-roll'
                          - name: 'CA_SV_CS${i}_TRQ_P'
                            label: 'Pitch Scale'
                            identifier: 'servo-torque-pitch'
                          - name: 'CA_SV_CS${i}_TRQ_Y'
                            label: 'Yaw Scale'
                            identifier: 'servo-torque-yaw'
                          - name: 'CA_SV_CS${i}_TRIM'
                            label: 'Trim'
                    parameters:
                      - label: 'Lock elevons in MC mode'
                        name: VT_ELEV_MC_LOCK

            3: # Tiltrotor VTOL
                actuators:
                  - actuator_type: 'motor'
                    group_label: 'MC Motors'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_TILT'
                            label: 'Tilted by'
                  - actuator_type: 'servo'
                    group_label: 'Control Surfaces'
                    count: 'CA_SV_CS_COUNT'
                    item_label_prefix: 'Surface ${i}'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_CS${i}_TYPE'
                            label: 'Type'
                            function: 'type'
                            identifier: 'servo-type'
                          - name: 'CA_SV_CS${i}_TRQ_R'
                            label: 'Roll Scale'
                            identifier: 'servo-torque-roll'
                          - name: 'CA_SV_CS${i}_TRQ_P'
                            label: 'Pitch Scale'
                            identifier: 'servo-torque-pitch'
                          - name: 'CA_SV_CS${i}_TRQ_Y'
                            label: 'Yaw Scale'
                            identifier: 'servo-torque-yaw'
                          - name: 'CA_SV_CS${i}_TRIM'
                            label: 'Trim'
                    parameters:
                      - label: 'Lock elevons in MC mode'
                        name: VT_ELEV_MC_LOCK
                  - actuator_type: 'servo'
                    group_label: 'Tilt Servos'
                    count: 'CA_SV_TL_COUNT'
                    item_label_prefix: 'Tilt ${i}'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_TL${i}_MINA'
                            label: "Angle at Min\nTilt"
                          - name: 'CA_SV_TL${i}_MAXA'
                            label: "Angle at Max\nTilt"
                          - name: 'CA_SV_TL${i}_TD'
                            label: 'Tilt Direction'
                          - name: 'CA_SV_TL${i}_CT'
                            label: 'Use for Control'

            4: # Tailsitter VTOL
                actuators:
                  - actuator_type: 'motor'
                    group_label: 'MC Motors'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                  - actuator_type: 'servo'
                    group_label: 'Control Surfaces'
                    count: 'CA_SV_CS_COUNT'
                    item_label_prefix: 'Surface ${i}'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_CS${i}_TYPE'
                            label: 'Type'
                            function: 'type'
                            identifier: 'servo-type'
                          - name: 'CA_SV_CS${i}_TRQ_R'
                            label: 'Roll Scale'
                            identifier: 'servo-torque-roll'
                          - name: 'CA_SV_CS${i}_TRQ_P'
                            label: 'Pitch Scale'
                            identifier: 'servo-torque-pitch'
                          - name: 'CA_SV_CS${i}_TRQ_Y'
                            label: 'Yaw Scale'
                            identifier: 'servo-torque-yaw'
                          - name: 'CA_SV_CS${i}_TRIM'
                            label: 'Trim'
                    parameters:
                      - label: 'Lock elevons in MC mode'
                        name: VT_ELEV_MC_LOCK

            5: # Rover (Ackermann)
                actuators:
                  - actuator_type: 'motor'
                    instances:
                      - name: 'Throttle'
                        position: [ -1., 0, 0 ]
                  - actuator_type: 'servo'
                    instances:
                      - name: 'Steering'
                        position: [ 1., 0, 0 ]

            6: # Rover (Differential)
                actuators:
                  - actuator_type: 'motor'
                    instances:
                      - name: 'Left Motor'
                        position: [ 0, -1., 0 ]
                      - name: 'Right Motor'
                        position: [ 0, 1., 0 ]

            7: # Motors (6DOF)
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_AX'
                            label: 'Axis X'
                            function: 'axisx'
                          - name: 'CA_ROTOR${i}_AY'
                            label: 'Axis Y'
                            function: 'axisy'
                          - name: 'CA_ROTOR${i}_AZ'
                            label: 'Axis Z'
                            function: 'axisz'
                          - name: 'CA_ROTOR${i}_KM'
                            label: "Moment\nCoefficient"

            8: # Multirotor with Tilt
                actuators:
                  - actuator_type: 'motor'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_KM'
                            label: 'Direction CCW'
                            function: 'spin-dir'
                            show_as: 'true-if-positive'
                          - name: 'CA_ROTOR${i}_TILT'
                            label: 'Tilted by'
                  - actuator_type: 'servo'
                    group_label: 'Tilt Servos'
                    count: 'CA_SV_TL_COUNT'
                    item_label_prefix: 'Tilt ${i}'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_TL${i}_MINA'
                            label: "Angle at Min\nTilt"
                          - name: 'CA_SV_TL${i}_MAXA'
                            label: "Angle at Max\nTilt"
                          - name: 'CA_SV_TL${i}_TD'
                            label: 'Tilt Direction'
                          - name: 'CA_SV_TL${i}_CT'
                            label: 'Use for Control'

            9: # Custom
                actuators:
                  - actuator_type: 'motor'
                    group_label: 'Thrust/Motors'
                    count: 'CA_ROTOR_COUNT'
                    per_item_parameters:
                        standard:
                            position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
                        extra:
                          - name: 'CA_ROTOR${i}_AX'
                            label: 'Axis X'
                            function: 'axisx'
                          - name: 'CA_ROTOR${i}_AY'
                            label: 'Axis Y'
                            function: 'axisy'
                          - name: 'CA_ROTOR${i}_AZ'
                            label: 'Axis Z'
                            function: 'axisz'
                          - name: 'CA_ROTOR${i}_CT'
                            label: "Thrust\nCoefficient"
                          - name: 'CA_ROTOR${i}_KM'
                            label: "Moment\nCoefficient"
                  - actuator_type: 'servo'
                    group_label: 'Torque'
                    count: 'CA_SV_CS_COUNT'
                    item_label_prefix: 'Torque ${i}'
                    per_item_parameters:
                        extra:
                          - name: 'CA_SV_CS${i}_TRQ_R'
                            label: 'Roll Scale'
                          - name: 'CA_SV_CS${i}_TRQ_P'
                            label: 'Pitch Scale'
                          - name: 'CA_SV_CS${i}_TRQ_Y'
                            label: 'Yaw Scale'
                          - name: 'CA_SV_CS${i}_TRIM'
                            label: 'Trim'