<firmware name="rotorcraft" boards="|lisa_l_1.0|lisa_l_1.1|booz_1.0|"
  description="autopilot and simulator for rotorcrafts">

 <!-- a parameter that belongs to BOARD -->
 <configure name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>

 <target name="ap" description="The autopilot">
   <configure name="MODEM_BAUD" values="|B57600|B9600|"/>
 </target>

 <target name="sim" description="The simulator">
 </target>

 <subsystem name="radio_control" types="ppm,spektrum">
   <type name="spektrum">
     <configure name="RADIO_CONTROL_SPEKTRUM_MODEL" values="\"subsystems/radio_control/spektrum_dx7se.h\""/>
     <configure name="RADIO_CONTROL_LINK" values="UART1|UART2|UART3|UART5"/>
   </type>
 </subsystem>

 <subsystem name="acuators"  types="asctec|asctec_v2|mkk|pwm_supervision"/>
 <subsystem name="imu"       types="b2_v1.0|b2_v1.1|b2_v1.2|crista|aspirin"/>
 <subsystem name="gps"       types="skytraq|ublox"/>
 <subsystem name="ahrs"      types="cmpl"/>
 <subsystem name="ins"       types="hff"/>
 <subsystem name="stabilization"       types="euler|quaternion"/>

</firmware>