[generator] add support for matrix and struct in airframe (#3228)

* [generator] add support for matrix and struct in airframe update ENAC airframe and code for indi G1 matrix and IMU calib * update calibration tool output
paparazzi · Jan 9, 2024 · 1b34580 · 1b34580
1 parent 175e3e0
commit 1b34580
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Showing 19 changed files with 285 additions and 99 deletions.
diff --git a/conf/airframes/ENAC/hybrid/cyfoam.xml b/conf/airframes/ENAC/hybrid/cyfoam.xml
@@ -162,10 +162,12 @@
 
   <section name="CTRL_EFF_SCHEDULING" prefix="FWD_">
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"   value="{    0,     0, -13.0,  13.0}"/>
-    <define name="G1_PITCH"  value="{-12.0,  12.0,     0,     0}"/>
-    <define name="G1_YAW"    value="{-20.0, -20.0,   0.0,   0.0}"/>
-    <define name="G1_THRUST" value="{    0,     0,  -0.9,  -0.9}"/>
+    <define name="G1" type="matrix">
+      <field name="ROLL"   value="{    0,     0, -13.0,  13.0}"/>
+      <field name="PITCH"  value="{-12.0,  12.0,     0,     0}"/>
+      <field name="YAW"    value="{-20.0, -20.0,   0.0,   0.0}"/>
+      <field name="THRUST" value="{    0,     0,  -0.9,  -0.9}"/>
+    </define>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
@@ -180,10 +182,12 @@
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"   value="{   0,    0,  -13.3,  13.3}"/>
-    <define name="G1_PITCH"  value="{-2.1,  2.1,      0,     0}"/>
-    <define name="G1_YAW"    value="{-2.0, -2.0,    0.0,   0.0}"/>
-    <define name="G1_THRUST" value="{   0,    0,   -1.1,  -1.1}"/>
+    <define name="G1" type="matrix">
+      <field name="ROLL"   value="{   0,    0,  -13.3,  13.3}"/>
+      <field name="PITCH"  value="{-2.1,  2.1,      0,     0}"/>
+      <field name="YAW"    value="{-2.0, -2.0,    0.0,   0.0}"/>
+      <field name="THRUST" value="{   0,    0,   -1.1,  -1.1}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{0, 0, 0, 0}"/>
 

diff --git a/conf/airframes/ENAC/hybrid/falcon_v1.xml b/conf/airframes/ENAC/hybrid/falcon_v1.xml
@@ -184,10 +184,12 @@
 
   <section name="EFF_SCHEDULING" prefix="FWD_">
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"  value="{ -9.0, -9.0,  9.0,  9.0}"/>
-    <define name="G1_PITCH" value="{ -9.0,  9.0,  9.0, -9.0}"/>
-    <define name="G1_YAW"   value="{  -7.0,   7.0,  -7.0,   7.0}"/>
-    <define name="G1_THRUST" value="{ -0.6,  -0.6,  -0.6,  -0.6}"/>
+    <define name="G1" type="matrix">
+      <field value="{ -9.0, -9.0,  9.0,  9.0}"/>
+      <field value="{ -9.0,  9.0,  9.0, -9.0}"/>
+      <field value="{ -7.0,  7.0,  -7.0,   7.0}"/>
+      <field value="{ -0.6,  -0.6,  -0.6,  -0.6}"/>
+    </define>
 
     <!--<define name="G1_ROLL"  value="{ -10.0, -10.0,  10.0,  10.0}"/>
     <define name="G1_PITCH" value="{ -10.0,  10.0,  10.0, -10.0}"/>
@@ -198,10 +200,12 @@
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
     <!--  UR BR BL UL-->
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"  value="{ -20.0,     -20.0,    20.0,    20.0}"/>
-    <define name="G1_PITCH" value="{ -19.5,    19.5,   19.5,  -19.5}"/>
-    <define name="G1_YAW"   value="{  -7.0,     7.0,   -7.0,    7.0}"/>
-    <define name="G1_THRUST" value="{ -0.85,  -0.85,  -0.85,  -0.85}"/>
+    <define name="G1" type="matrix">
+      <field value="{ -20.0,   -20.0,   20.0,   20.0}"/>
+      <field value="{ -19.5,    19.5,   19.5,  -19.5}"/>
+      <field value="{  -7.0,     7.0,   -7.0,    7.0}"/>
+      <field value="{ -0.85,   -0.85,  -0.85,  -0.85}"/>
+    </define>
 
     <!-- Big Wings -->
     <!-- <define name="G1_ROLL"  value="{ -4.0,     -4.0,    4.0,    4.0}"/>

diff --git a/conf/airframes/ENAC/hybrid/falcon_v2.xml b/conf/airframes/ENAC/hybrid/falcon_v2.xml
@@ -208,19 +208,23 @@
 
   <section name="EFF_SCHEDULING" prefix="FWD_">
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"   value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
-    <define name="G1_PITCH"  value="{ -20.0,  20.0,   20.0, -20.0,  15.0, -15.0}"/> <!-- 12 , -12 -->
-    <define name="G1_YAW"    value="{  -3.0,   3.0,   -3.0,   3.0, -10.0, -10.0}"/> <!-- -20  -20 -->
-    <define name="G1_THRUST" value="{  -0.6,  -0.6,   -0.6,  -0.6,   0.0,   0.0}"/>
+    <define name="G1" type="matrix">
+      <field value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
+      <field value="{ -20.0,  20.0,   20.0, -20.0,  15.0, -15.0}"/> <!-- 12 , -12 -->
+      <field value="{  -3.0,   3.0,   -3.0,   3.0, -10.0, -10.0}"/> <!-- -20  -20 -->
+      <field value="{  -0.6,  -0.6,   -0.6,  -0.6,   0.0,   0.0}"/>
+    </define>
   </section>
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
     <!--  UR BR BL UL-->
     <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
-    <define name="G1_ROLL"   value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
-    <define name="G1_PITCH"  value="{ -19.5,  19.5,   19.5, -19.5,   0.0,   0.0}"/>
-    <define name="G1_YAW"    value="{  -3.0,   3.0,   -3.0,   3.0,   0.0,   0.0}"/>
-    <define name="G1_THRUST" value="{ -0.85,  -0.85,  -0.85, -0.85,  0.0,   0.0}"/>
+    <define name="G1" type="matrix">
+      <field value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
+      <field value="{ -19.5,  19.5,   19.5, -19.5,   0.0,   0.0}"/>
+      <field value="{  -3.0,   3.0,   -3.0,   3.0,   0.0,   0.0}"/>
+      <field value="{ -0.85,  -0.85,  -0.85, -0.85,  0.0,   0.0}"/>
+    </define>
 
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{0, 0, 0, 0, 0, 0}"/>

diff --git a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
@@ -182,10 +182,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL" value="{-40 , -40, 40 , 40 }"/>
-    <define name="G1_PITCH" value="{40 , -40, -40 , 40 }"/>
-    <define name="G1_YAW" value="{5, -5, 5, -5}"/>
-    <define name="G1_THRUST" value="{-1.5, -1.5, -1.5, -1.5}"/>
+    <define name="G1" type="matrix">
+      <field value="{-40 , -40, 40 , 40 }"/>
+      <field value="{40 , -40, -40 , 40 }"/>
+      <field value="{5, -5, 5, -5}"/>
+      <field value="{-1.5, -1.5, -1.5, -1.5}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{150.0,   -150.0,  150.0,   -150.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/cobra.xml b/conf/airframes/ENAC/quadrotor/cobra.xml
@@ -102,8 +102,17 @@
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_CALIB" value="{{.abi_id=9, .calibrated={.neutral=true, .scale=true},.neutral={-12,23,29}, .scale={{65369,62166,40813},{28737,25351,16753}}}}"/>
-    <!--define name="MAG_CALIB" value="{{.abi_id=3, .calibrated={.neutral=true, .scale=true},.neutral={-833,-5969,-931}, .scale={{22816,38799,15650},{34941,60353,24187}}}}"/-->
+    <define name="ACCEL_CALIB" type="array">
+      <field type="struct">
+        <field name="abi_id" value="9"/>
+        <field name="calibrated" type="struct">
+          <field name="neutral" value="true"/>
+          <field name="scale" value="true"/>
+        </field>
+        <field name="neutral" value="-12,23,29" type="int[]"/>
+        <field name="scale" value="{{65369,62166,40813},{28737,25351,16753}}"/>
+      </field>
+    </define>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -143,10 +152,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
-    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
-    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
-    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <define name="G1" type="matrix">
+      <field value="{ -20.0,  -20.0,  20.0,  20.0 }"/>
+      <field value="{  20.0,  -20.0, -20.0,  20.0 }"/>
+      <field value="{  3.,    -3.,    3.,   -3. }"/>
+      <field value="{ -1., -1., -1., -1.}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{80, -80, 80, -80.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/cobraV2.xml b/conf/airframes/ENAC/quadrotor/cobraV2.xml
@@ -98,10 +98,44 @@
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_CALIB" value="{{.abi_id=24, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-10,-47,-130}, .scale={{36821,8142,5741},{60003,13319,9358}}, TAWAKIV2_IMU_ROT}}"/>
-    <define name="GYRO_CALIB" value="{{.abi_id=24, .calibrated={.neutral=false, .scale=false, .rotation=true}, TAWAKIV2_IMU_ROT}}"/>
-    <define name="MAG_CALIB" value="{{.abi_id=3, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={791,-190,2545}, .scale={{26437,35997,25098},{35181,44272,29767}}, TAWAKIV2_MAG_ROT}}"/>
-
+    <define name="ACCEL_CALIB" type="array">
+      <field type="struct">
+        <field name="abi_id" value="24"/>
+        <field name="calibrated" type="struct">
+          <field name="neutral" value="true"/>
+          <field name="scale" value="true"/>
+          <field name="rotation" value="true"/>
+        </field>
+        <field name="neutral" value="-10,-47,-130" type="int[]"/>
+        <field name="scale" value="{{36821,8142,5741},{60003,13319,9358}}"/>
+        <field value="TAWAKIV2_IMU_ROT"/>
+      </field>
+    </define>
+    <define name="GYRO_CALIB" type="array">
+      <field type="struct">
+        <field name="abi_id" value="24"/>
+        <field name="calibrated" type="struct">
+          <field name="neutral" value="false"/>
+          <field name="scale" value="false"/>
+          <field name="rotation" value="true"/>
+        </field>
+        <field value="TAWAKIV2_IMU_ROT"/>
+      </field>
+    </define>
+    <define name="MAG_CALIB" type="array">
+      <field type="struct">
+        <field name="abi_id" value="3"/>
+        <field name="calibrated" type="struct">
+          <field name="neutral" value="true"/>
+          <field name="scale" value="true"/>
+          <field name="rotation" value="true"/>
+        </field>
+        <field name="neutral" value="791,-190,2545" type="int[]"/>
+        <field name="scale" value="{{26437,35997,25098},{35181,44272,29767}}"/>
+        <field value="TAWAKIV2_MAG_ROT"/>
+      </field>
+    </define>
+
     <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="180." unit="deg"/>
@@ -140,10 +174,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
-    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
-    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
-    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <define name="G1" type="matrix">
+      <field value="{ -20.0,  -20.0,  20.0,  20.0 }"/>
+      <field value="{  20.0,  -20.0, -20.0,  20.0 }"/>
+      <field value="{  3.,    -3.,    3.,   -3. }"/>
+      <field value="{ -1., -1., -1., -1.}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{80, -80, 80, -80.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/maya_indoor.xml b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
@@ -94,7 +94,20 @@
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_CALIB" value="{{.abi_id=9, .calibrated={.neutral=true, .scale=true},.neutral={18,45,-22}, .scale={{47720,3841,3732},{18911,1570,1517}}}}"/>
+    <define name="ACCEL_CALIB" type="array">
+      <field type="struct">
+        <field name="abi_id" value="9"/>
+        <field name="calibrated" type="struct">
+          <field name="neutral" value="true"/>
+          <field name="scale" value="true"/>
+        </field>
+        <field name="neutral" value="18,45,-22" type="int[]"/>
+        <field name="scale" type="matrix">
+          <field value="47720,3841,3732" type="int[]"/>
+          <field value="18911,1570,1517" type="int[]"/>
+        </field>
+      </field>
+    </define>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -134,10 +147,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
-    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
-    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
-    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <define name="G1" type="matrix">
+      <field value="{ -20.0,  -20.0,  20.0,  20.0 }"/>
+      <field value="{  20.0,  -20.0, -20.0,  20.0 }"/>
+      <field value="{  3.,    -3.,    3.,   -3. }"/>
+      <field value="{ -1., -1., -1., -1.}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{80, -80, 80, -80.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/maya_outdoor.xml b/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
@@ -165,10 +165,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
-    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
-    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
-    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <define name="G1" type="matrix">
+      <field value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
+      <field value="{   20.0,  -20.0, -20.0,  20.0 }"/>
+      <field value="{   3,    -3,    3,   -3 }"/>
+      <field value="{  -1., -1., -1., -1.}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{80, -80, 80, -80.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/robobee.xml b/conf/airframes/ENAC/quadrotor/robobee.xml
@@ -195,10 +195,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
-    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
-    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
-    <define name="G1_THRUST" value="{  -0.5, -0.5, -0.5, -0.5}"/>
+    <define name="G1" type="matrix">
+      <field value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
+      <field value="{   20.0,  -20.0, -20.0,  20.0 }"/>
+      <field value="{   3,    -3,    3,   -3 }"/>
+      <field value="{  -0.5, -0.5, -0.5, -0.5}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2"        value="{100, -100, 100, -100.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/ENAC/quadrotor/ulysse_indi.xml b/conf/airframes/ENAC/quadrotor/ulysse_indi.xml
@@ -176,10 +176,12 @@
 
     <!-- Full INDI -->
     <!-- control effectiveness -->
-    <define name="G1_ROLL" value="{-40 , -40, 40 , 40 }"/>
-    <define name="G1_PITCH" value="{40 , -40, -40 , 40 }"/>
-    <define name="G1_YAW" value="{5, -5, 5, -5}"/>
-    <define name="G1_THRUST" value="{-1.5, -1.5, -1.5, -1.5}"/>
+    <define name="G1" type="matrix">
+      <field value="{-40 , -40, 40 , 40 }"/>
+      <field value="{40 , -40, -40 , 40 }"/>
+      <field value="{5, -5, 5, -5}"/>
+      <field value="{-1.5, -1.5, -1.5, -1.5}"/>
+    </define>
     <!--Counter torque effect of spinning up a rotor-->
     <define name="G2" value="{150.0,   -150.0,  150.0,   -150.0 }"/>
     <!-- first order actuator dynamics -->

diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd
@@ -18,7 +18,8 @@
 <!ELEMENT copy EMPTY>
 <!ELEMENT curve EMPTY>
 <!ELEMENT let EMPTY>
-<!ELEMENT define EMPTY>
+<!ELEMENT define (field)*>
+<!ELEMENT field (field)*>
 <!ELEMENT modules (module)*>
 <!ELEMENT configure EMPTY>
 <!ELEMENT firmware (target|module|autopilot|configure|define|comment)*>
@@ -105,6 +106,11 @@ integer CDATA #IMPLIED
 type CDATA #IMPLIED
 description CDATA #IMPLIED>
 
+<!ATTLIST field
+name CDATA #IMPLIED
+value CDATA #IMPLIED
+type CDATA #IMPLIED>
+
 <!ATTLIST configure
 name CDATA #REQUIRED
 value CDATA #REQUIRED

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -255,6 +255,9 @@ bool indi_thrust_increment_set = false;
 
 float g1g2_pseudo_inv[INDI_NUM_ACT][INDI_OUTPUTS];
 float g2[INDI_NUM_ACT] = STABILIZATION_INDI_G2; //scaled by INDI_G_SCALING
+#ifdef STABILIZATION_INDI_G1
+float g1[INDI_OUTPUTS][INDI_NUM_ACT] = STABILIZATION_INDI_G1;
+#else // old defines TODO remove
 #if INDI_OUTPUTS == 5
 float g1[INDI_OUTPUTS][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL,
                                         STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW,
@@ -265,6 +268,7 @@ float g1[INDI_OUTPUTS][INDI_NUM_ACT] = {STABILIZATION_INDI_G1_ROLL,
                                         STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST
                                        };
 #endif
+#endif
 
 float g1g2[INDI_OUTPUTS][INDI_NUM_ACT];
 float g1_est[INDI_OUTPUTS][INDI_NUM_ACT];

diff --git a/sw/airborne/modules/ctrl/eff_scheduling_cyfoam.c b/sw/airborne/modules/ctrl/eff_scheduling_cyfoam.c
@@ -37,19 +37,27 @@
 #error "You need to define an RC channel to switch between simple and advanced scheduling"
 #endif
 
+#ifdef FWD_G1
+static float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT] = FWD_G1;
+#else
 static float g1g2_forward[INDI_OUTPUTS][INDI_NUM_ACT] = {
   FWD_G1_ROLL,
   FWD_G1_PITCH,
   FWD_G1_YAW,
   FWD_G1_THRUST
 };
+#endif
 
+#ifdef STABILIZATION_INDI_G1
+static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = STABILIZATION_INDI_G1;
+#else
 static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = {
   STABILIZATION_INDI_G1_ROLL,
   STABILIZATION_INDI_G1_PITCH,
   STABILIZATION_INDI_G1_YAW,
   STABILIZATION_INDI_G1_THRUST
 };
+#endif
 
 static float g2_both[INDI_NUM_ACT] = STABILIZATION_INDI_G2; //scaled by INDI_G_SCALING
 

diff --git a/sw/airborne/modules/ctrl/eff_scheduling_falcon.c b/sw/airborne/modules/ctrl/eff_scheduling_falcon.c
@@ -35,12 +35,16 @@
 #define EFF_SCHEDULING_FALCON_LOW_AIRSPEED 8.0f
 #endif
 
+#ifdef STABILIZATION_INDI_G1
+static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = STABILIZATION_INDI_G1;
+#else
 static float g1g2_hover[INDI_OUTPUTS][INDI_NUM_ACT] = {
   STABILIZATION_INDI_G1_ROLL,
   STABILIZATION_INDI_G1_PITCH,
   STABILIZATION_INDI_G1_YAW,
   STABILIZATION_INDI_G1_THRUST
 };
+#endif
 
 void eff_scheduling_falcon_init(void)
 {