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Remove actuators_pprz #3203

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Remove actuators_pprz #3203

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4d61aed
START REMOVING ACTUATOR_PPRZ
dewagter Dec 13, 2023
4ee0e27
Nederdrones...
dewagter Dec 13, 2023
76cdcce
Bebops
dewagter Dec 13, 2023
72425e3
Copy commands
dewagter Dec 14, 2023
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10 changes: 5 additions & 5 deletions conf/airframes/ENAC/cyfoam.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@
<!--<servo name="SERVO_TEST" no="4" min="1000" neutral="1500" max="2000"/>-->
</servos>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="ELEVON_LEFT" failsafe_value="0"/>
<axis name="ELEVON_RIGHT" failsafe_value="0"/>
<axis name="MOTOR_RIGHT" failsafe_value="0"/>
Expand All @@ -169,10 +169,10 @@
</commands>

<command_laws>
<set servo="ELEVON_LEFT" value="autopilot.motors_on ? actuators_pprz[0] : 0"/>
<set servo="ELEVON_RIGHT" value="autopilot.motors_on ? actuators_pprz[1] : 0"/>
<set servo="RM" value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="LM" value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="ELEVON_LEFT" value="autopilot.motors_on ? @ELEVON_LEFT : 0"/>
<set servo="ELEVON_RIGHT" value="autopilot.motors_on ? @ELEVON_RIGHT : 0"/>
<set servo="RM" value="autopilot.motors_on ? @MOTOR_RIGHT : -MAX_PPRZ"/>
<set servo="LM" value="autopilot.motors_on ? @MOTOR_LEFT : -MAX_PPRZ"/>
<!--<set servo="RM" value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
<!--<set servo="LM" value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
</command_laws>
Expand Down
10 changes: 5 additions & 5 deletions conf/airframes/tudelft/bebop_indi_actuators.xml
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Expand Up @@ -45,7 +45,7 @@
</module-->
</firmware>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="TOP_LEFT" failsafe_value="0"/>
<axis name="TOP_RIGHT" failsafe_value="0"/>
<axis name="BOTTOM_RIGHT" failsafe_value="0"/>
Expand All @@ -65,10 +65,10 @@
</servos>

<command_laws>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? @TOP_LEFT : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? @TOP_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? @BOTTOM_LEFT : -MAX_PPRZ"/>
</command_laws>

<section name="AIR_DATA" prefix="AIR_DATA_">
Expand Down
10 changes: 5 additions & 5 deletions conf/airframes/tudelft/bebop_opticflow_indoor.xml
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Expand Up @@ -66,7 +66,7 @@
</module>
</firmware>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="TOP_LEFT" failsafe_value="0"/>
<axis name="TOP_RIGHT" failsafe_value="0"/>
<axis name="BOTTOM_RIGHT" failsafe_value="0"/>
Expand All @@ -86,10 +86,10 @@
</servos>

<command_laws>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? @TOP_LEFT : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? @TOP_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? @BOTTOM_LEFT : -MAX_PPRZ"/>
</command_laws>

<section name="IMU" prefix="IMU_">
Expand Down
10 changes: 5 additions & 5 deletions conf/airframes/tudelft/bebop_optitrack.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
</module>
</firmware>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="TOP_LEFT" failsafe_value="0"/>
<axis name="TOP_RIGHT" failsafe_value="0"/>
<axis name="BOTTOM_RIGHT" failsafe_value="0"/>
Expand All @@ -53,10 +53,10 @@
</servos>

<command_laws>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? @TOP_LEFT : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? @TOP_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? @BOTTOM_LEFT : -MAX_PPRZ"/>
</command_laws>

<section name="IMU" prefix="IMU_">
Expand Down
45 changes: 23 additions & 22 deletions conf/airframes/tudelft/nederdrone4.xml
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Expand Up @@ -232,30 +232,31 @@
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>

<!-- Tip props always at 80% -->
<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props);"/>
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
<call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
<let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props)"/>
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,values)"/>
<call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,values)"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : $tip_thruster)"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : $tip_thruster)"/>

<set servo="MOTOR_7" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : @REAR_RIGHT)"/>

<!-- Removed ApplyDiff for differential control -->
<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
<set servo="AIL_3" value="actuators_pprz[6]"/>
<set servo="AIL_4" value="actuators_pprz[7]"/>
<set servo="FLAP_3" value="actuators_pprz[6]"/>
<set servo="FLAP_4" value="actuators_pprz[7]"/>
<set servo="AIL_1" value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
<set servo="AIL_2" value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
<set servo="AIL_3" value="@REAR_LEFT_FLAP"/>
<set servo="AIL_4" value="@REAR_RIGHT_FLAP"/>
<set servo="FLAP_3" value="@REAR_LEFT_FLAP"/>
<set servo="FLAP_4" value="@REAR_RIGHT_FLAP"/>
</command_laws>

<section name="MISC">
Expand Down
44 changes: 23 additions & 21 deletions conf/airframes/tudelft/nederdrone6.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@
<servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
</servos>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="FRONT_LEFT" failsafe_value="0"/>
<axis name="FRONT_RIGHT" failsafe_value="0"/>
<axis name="REAR_LEFT" failsafe_value="0"/>
Expand All @@ -202,6 +202,7 @@

<axis name="TIP_THRUSTERS" failsafe_value="0"/>

<!-- Default commands -->
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="-300"/>
<axis name="YAW" failsafe_value="0"/>
Expand All @@ -223,26 +224,27 @@
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>

<!-- Tip props always at 80% -->
<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
<let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : $tip_thruster)"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : $tip_thruster)"/>

<set servo="MOTOR_7" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : @REAR_RIGHT)"/>

<!-- Removed ApplyDiff for differential control -->
<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
<set servo="AIL_3" value="actuators_pprz[6]"/>
<set servo="AIL_4" value="actuators_pprz[7]"/>
<set servo="AIL_1" value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
<set servo="AIL_2" value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
<set servo="AIL_3" value="@REAR_LEFT_FLAP"/>
<set servo="AIL_4" value="@REAR_RIGHT_FLAP"/>
</command_laws>

<section name="MISC">
Expand Down Expand Up @@ -353,8 +355,8 @@
<define name="FILT_CUTOFF_Q" value="20."/>
<define name="FILT_CUTOFF_R" value="4."/>
<!-- first order actuator dynamics -->
<!--define name="ACT_FREQ" value="{4.5, 4.5, 4.5, 4.5, 25.6, 25.6, 25.6, 25.6}"/-->
<define name="ACT_FREQ" value="{14.2, 14.2, 14.2, 14.2, 25.6, 25.6, 25.6, 25.6}"/>
<!--define name="ACT_DYN" value="{0.009, 0.009, 0.009, 0.009, 0.05, 0.05, 0.05, 0.05}"/-->
<define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
Expand Down
40 changes: 21 additions & 19 deletions conf/airframes/tudelft/nederdrone7.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -247,7 +247,7 @@
<servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
</servos>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="FRONT_LEFT" failsafe_value="0"/>
<axis name="FRONT_RIGHT" failsafe_value="0"/>
<axis name="REAR_LEFT" failsafe_value="0"/>
Expand All @@ -260,6 +260,7 @@

<axis name="TIP_THRUSTERS" failsafe_value="0"/>

<!-- Default commands -->
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="-300"/>
<axis name="YAW" failsafe_value="0"/>
Expand All @@ -281,26 +282,27 @@
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>

<!-- Tip props always at 80% -->
<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
<let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : $tip_thruster)"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : $tip_thruster)"/>

<set servo="MOTOR_7" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : @REAR_RIGHT)"/>

<!-- Removed ApplyDiff for differential control -->
<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
<set servo="AIL_3" value="actuators_pprz[6]"/>
<set servo="AIL_4" value="actuators_pprz[7]"/>
<set servo="AIL_1" value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
<set servo="AIL_2" value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
<set servo="AIL_3" value="@REAR_LEFT_FLAP"/>
<set servo="AIL_4" value="@REAR_RIGHT_FLAP"/>
</command_laws>

<section name="MISC">
Expand Down
39 changes: 20 additions & 19 deletions conf/airframes/tudelft/nederdrone8.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@
<servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
</servos>

<commands>
<commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
<axis name="FRONT_LEFT" failsafe_value="0"/>
<axis name="FRONT_RIGHT" failsafe_value="0"/>
<axis name="REAR_LEFT" failsafe_value="0"/>
Expand Down Expand Up @@ -223,26 +223,27 @@
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>

<!-- Tip props always at 80% -->
<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
<let var="tip_thruster" value="(Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props)"/>

<set servo="MOTOR_1" value="($th_hold? -9600 : $tip_thruster)"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : @FRONT_LEFT)"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : @FRONT_RIGHT)"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : $tip_thruster)"/>

<set servo="MOTOR_7" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_8" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_9" value="($th_hold? -9600 : @REAR_LEFT)"/>
<set servo="MOTOR_10" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_11" value="($th_hold? -9600 : @REAR_RIGHT)"/>
<set servo="MOTOR_12" value="($th_hold? -9600 : @REAR_RIGHT)"/>

<!-- Removed ApplyDiff for differential control -->
<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
<set servo="AIL_3" value="actuators_pprz[6]"/>
<set servo="AIL_4" value="actuators_pprz[7]"/>
<set servo="AIL_1" value="($th_hold? 9600 : @FRONT_LEFT_FLAP)"/>
<set servo="AIL_2" value="($th_hold? 9600 : @FRONT_RIGHT_FLAP)"/>
<set servo="AIL_3" value="@REAR_LEFT_FLAP"/>
<set servo="AIL_4" value="@REAR_RIGHT_FLAP"/>
</command_laws>

<section name="MISC">
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