text: /*
  * Brian R Taylor
  * brian.taylor@bolderflight.com
  * 
  * Copyright (c) 2021 Bolder Flight Systems Inc
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the “Software”), to
  * deal in the Software without restriction, including without limitation the
  * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  * sell copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  * IN THE SOFTWARE.
  */
  
  #include "flight/config.h"
  #include "flight/hardware_defs.h"
  #include "flight/global_defs.h"
  
  /* Debug */
  bool DEBUG = true;
  /* Aircraft config */
  AircraftConfig config = {
    .sensor = {
      .pitot_static_installed = true,
      .imu = {
        .dev = IMU_CS,
        .frame_rate = FRAME_RATE_HZ,
        .bus = &IMU_SPI_BUS,
        .accel_bias_mps2 = {0, 0, 0},
        .mag_bias_ut = {0, 0, 0},
        .accel_scale = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}},
        .mag_scale = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}},
        .rotation = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
      },
      .gnss = {
        .sampling_period_ms = 100,  // 10 Hz
        .baud = 921600,
        .bus = &Serial3
      },
      .static_pres = {
        .dev = 0x10,
        .transducer = bfs::AMS5915_1200_B,
        .sampling_period_ms = FRAME_PERIOD_MS,
        .bus = &PRES_I2C_BUS
      },
      .diff_pres = {
        .dev = 0x11,
        .transducer = bfs::AMS5915_0010_D,
        .sampling_period_ms = FRAME_PERIOD_MS,
        .bus = &PRES_I2C_BUS
      }
    },
    .nav = {
      .accel_cutoff_hz = 20,
      .gyro_cutoff_hz = 20,
      .mag_cutoff_hz = 10,
      .static_pres_cutoff_hz = 10,
      .diff_pres_cutoff_hz = 10
    },
    .telem = {
      .aircraft_type = bfs::FIXED_WING,
      .bus = &Serial4,
      .baud = 57600
    }
  };
  