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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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# ifndef __ARDUCOPTER_CONFIG_H__
# define __ARDUCOPTER_CONFIG_H__
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//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
# include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
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///
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# ifdef USE_CMAKE_APM_CONFIG
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# include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
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# else
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# include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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# endif
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//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
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# ifndef CONFIG_HAL_BOARD
# error CONFIG_HAL_BOARD must be defined to build ArduCopter
# endif
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//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
# ifndef HIL_MODE
# define HIL_MODE HIL_MODE_DISABLED
# endif
# if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef CONFIG_BARO
# define CONFIG_BARO HAL_BARO_HIL
# undef CONFIG_COMPASS
# define CONFIG_COMPASS HAL_COMPASS_HIL
# endif
# define MAGNETOMETER ENABLED
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// run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
# define MAIN_LOOP_MICROS 2500
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//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
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//
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# ifndef FRAME_CONFIG
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# define FRAME_CONFIG QUAD_FRAME
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# endif
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# if FRAME_CONFIG == QUAD_FRAME
# define FRAME_CONFIG_STRING "QUAD"
# elif FRAME_CONFIG == TRI_FRAME
# define FRAME_CONFIG_STRING "TRI"
# elif FRAME_CONFIG == HEXA_FRAME
# define FRAME_CONFIG_STRING "HEXA"
# elif FRAME_CONFIG == Y6_FRAME
# define FRAME_CONFIG_STRING "Y6"
# elif FRAME_CONFIG == OCTA_FRAME
# define FRAME_CONFIG_STRING "OCTA"
# elif FRAME_CONFIG == OCTA_QUAD_FRAME
# define FRAME_CONFIG_STRING "OCTA_QUAD"
# elif FRAME_CONFIG == HELI_FRAME
# define FRAME_CONFIG_STRING "HELI"
# elif FRAME_CONFIG == SINGLE_FRAME
# define FRAME_CONFIG_STRING "SINGLE"
# elif FRAME_CONFIG == COAX_FRAME
# define FRAME_CONFIG_STRING "COAX"
# else
# define FRAME_CONFIG_STRING "UNKNOWN"
# endif
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/////////////////////////////////////////////////////////////////////////////////
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// TradHeli defaults
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# if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
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# define RATE_ROLL_P 0.02
# define RATE_ROLL_I 0.5
# define RATE_ROLL_D 0.001
# define RATE_ROLL_IMAX 4500
# define RATE_ROLL_FF 0.05
# define RATE_ROLL_FILT_HZ 20.0f
# define RATE_PITCH_P 0.02
# define RATE_PITCH_I 0.5
# define RATE_PITCH_D 0.001
# define RATE_PITCH_IMAX 4500
# define RATE_PITCH_FF 0.05
# define RATE_PITCH_FILT_HZ 20.0f
# define RATE_YAW_P 0.15
# define RATE_YAW_I 0.100
# define RATE_YAW_D 0.003
# define RATE_YAW_IMAX 4500
# define RATE_YAW_FF 0.02
# define RATE_YAW_FILT_HZ 20.0f
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# define THR_MIN_DEFAULT 0
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# define AUTOTUNE_ENABLED DISABLED
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# endif
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/////////////////////////////////////////////////////////////////////////////////
// Y6 defaults
# if FRAME_CONFIG == Y6_FRAME
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# define RATE_ROLL_P 0.1f
# define RATE_ROLL_D 0.006f
# define RATE_PITCH_P 0.1f
# define RATE_PITCH_D 0.006f
# define RATE_YAW_P 0.150f
# define RATE_YAW_I 0.015f
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# endif
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/////////////////////////////////////////////////////////////////////////////////
// Tri defaults
# if FRAME_CONFIG == TRI_FRAME
# define RATE_YAW_FILT_HZ 100.0f
# endif
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//////////////////////////////////////////////////////////////////////////////
// PWM control
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// default RC speed in Hz
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# ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Barometer
//
# ifndef CONFIG_BARO
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# define CONFIG_BARO AP_BARO_BMP085
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Sonar
//
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# ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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# endif
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# ifndef SONAR_ALT_HEALTH_MAX
# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
# endif
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# ifndef SONAR_RELIABLE_DISTANCE_PCT
# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
# endif
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# ifndef SONAR_GAIN_DEFAULT
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# define SONAR_GAIN_DEFAULT 0.8f // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
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# endif
# ifndef THR_SURFACE_TRACKING_VELZ_MAX
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# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
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# endif
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# ifndef SONAR_TIMEOUT_MS
# define SONAR_TIMEOUT_MS 1000 // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
# endif
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# ifndef SONAR_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define SONAR_TILT_CORRECTION DISABLED
# endif
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//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
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# ifndef HIL_MODE
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# define HIL_MODE HIL_MODE_DISABLED
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# endif
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# if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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# undef CONFIG_SONAR
# define CONFIG_SONAR DISABLED
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# endif
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# ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
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# ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
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# endif
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# ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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# endif
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# ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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# endif
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# ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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# endif
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// prearm GPS hdop check
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# ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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# endif
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// GCS failsafe
# ifndef FS_GCS
# define FS_GCS DISABLED
# endif
# ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
# endif
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// possible values for FS_GCS parameter
# define FS_GCS_DISABLED 0
# define FS_GCS_ENABLED_ALWAYS_RTL 1
# define FS_GCS_ENABLED_CONTINUE_MISSION 2
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// Radio failsafe while using RC_override
# ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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# endif
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// Radio failsafe
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# ifndef FS_RADIO_TIMEOUT_MS
# define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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# endif
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# ifndef FS_CLOSE_TO_HOME_CM
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# define FS_CLOSE_TO_HOME_CM 500 // if vehicle within 5m of home, vehicle will LAND instead of RTL during some failsafes
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# endif
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// pre-arm baro vs inertial nav max alt disparity
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# ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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# endif
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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
# ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
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# define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
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# endif
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
# ifndef PREARM_MAX_GYRO_VECTOR_DIFF
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# define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
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# endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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# ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
# endif
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# ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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# endif
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# ifndef EKF_ORIGIN_MAX_DIST_M
# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
# endif
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//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
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# ifndef MAGNETOMETER
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# define MAGNETOMETER ENABLED
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# endif
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
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# ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
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# endif
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
# ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
# ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
# endif
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# else // SITL, FLYMAPLE, etc
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# ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 500
# endif
# endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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# ifndef OPTFLOW
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# define OPTFLOW ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
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# ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
# ifndef SPRAYER
# define SPRAYER DISABLED
# endif
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//////////////////////////////////////////////////////////////////////////////
// Precision Landing with companion computer or IRLock sensor
# ifndef PRECISION_LANDING
# define PRECISION_LANDING DISABLED
# endif
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//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
# ifndef EPM_ENABLED
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# define EPM_ENABLED ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Parachute release
# ifndef PARACHUTE
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# define PARACHUTE ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
// ADSB support
# ifndef ADSB_ENABLED
# define ADSB_ENABLED ENABLED
# endif
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//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
# ifndef NAV_GUIDED
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# define NAV_GUIDED ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
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# ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 STABILIZE
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# endif
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# ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 STABILIZE
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# endif
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# ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 STABILIZE
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# endif
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# ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 STABILIZE
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# endif
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# ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 STABILIZE
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# endif
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# ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 STABILIZE
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# endif
//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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# ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Takeoff
//
# ifndef PILOT_TKOFF_ALT_DEFAULT
# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
# endif
//////////////////////////////////////////////////////////////////////////////
// Landing
//
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# ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
# endif
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# ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
# endif
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# ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
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# endif
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# ifndef LAND_REPOSITION_DEFAULT
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
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# endif
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# ifndef LAND_WITH_DELAY_MS
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
# endif
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//////////////////////////////////////////////////////////////////////////////
// Landing Detector
//
# ifndef LAND_DETECTOR_TRIGGER_SEC
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
# endif
# ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
# endif
# ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
# endif
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# ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
# endif
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//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
# ifndef CAMERA
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# define CAMERA ENABLED
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# endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
# ifndef MOUNT
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# define MOUNT ENABLED
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# endif
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//////////////////////////////////////////////////////////////////////////////
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// Flight mode definitions
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//
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// Acro Mode
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# ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
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# endif
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# ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
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# endif
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# ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
# endif
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# ifndef ACRO_BALANCE_ROLL
# define ACRO_BALANCE_ROLL 1.0f
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# endif
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# ifndef ACRO_BALANCE_PITCH
# define ACRO_BALANCE_PITCH 1.0f
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# endif
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# ifndef ACRO_EXPO_DEFAULT
# define ACRO_EXPO_DEFAULT 0.3f
# endif
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// Stabilize (angle controller) gains
# ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5f
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# endif
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# ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5f
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# endif
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# ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f
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# endif
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// RTL Mode
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# ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
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# endif
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# ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
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# endif
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# ifndef RTL_ALT_MIN
# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
# endif
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# ifndef RTL_CLIMB_MIN_DEFAULT
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
# endif
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# ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
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# endif
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// AUTO Mode
# ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
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# endif
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# ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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# endif
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# ifndef YAW_LOOK_AHEAD_MIN_SPEED
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
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# endif
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// Super Simple mode
# ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
# endif
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//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
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//
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# ifndef ROLL_PITCH_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
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# endif
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# ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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# endif
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# ifndef ANGLE_RATE_MAX
# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
# endif
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//////////////////////////////////////////////////////////////////////////////
// Rate controller gains
//
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# ifndef RATE_ROLL_P
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# define RATE_ROLL_P 0.150f
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# endif
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# ifndef RATE_ROLL_I
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# define RATE_ROLL_I 0.100f
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# endif
# ifndef RATE_ROLL_D
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# define RATE_ROLL_D 0.004f
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# endif
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# ifndef RATE_ROLL_IMAX
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# define RATE_ROLL_IMAX 2000
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# endif
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# ifndef RATE_ROLL_FILT_HZ
# define RATE_ROLL_FILT_HZ 20.0f
# endif
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# ifndef RATE_PITCH_P
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# define RATE_PITCH_P 0.150f
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# endif
# ifndef RATE_PITCH_I
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# define RATE_PITCH_I 0.100f
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# endif
# ifndef RATE_PITCH_D
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# define RATE_PITCH_D 0.004f
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# endif
# ifndef RATE_PITCH_IMAX
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# define RATE_PITCH_IMAX 2000
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# endif
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# ifndef RATE_PITCH_FILT_HZ
# define RATE_PITCH_FILT_HZ 20.0f
# endif
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# ifndef RATE_YAW_P
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# define RATE_YAW_P 0.200f
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# endif
# ifndef RATE_YAW_I
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# define RATE_YAW_I 0.020f
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# endif
# ifndef RATE_YAW_D
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# define RATE_YAW_D 0.000f
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# endif
# ifndef RATE_YAW_IMAX
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# define RATE_YAW_IMAX 1000
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# endif
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# ifndef RATE_YAW_FILT_HZ
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# define RATE_YAW_FILT_HZ 5.0f
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# endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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# ifndef POS_XY_P
# define POS_XY_P 1.0f
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Stop mode defaults
//
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# ifndef BRAKE_MODE_SPEED_Z
# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
# endif
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# ifndef BRAKE_MODE_DECEL_RATE
# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
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# endif
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//////////////////////////////////////////////////////////////////////////////
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// Velocity (horizontal) gains
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//
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# ifndef VEL_XY_P
# define VEL_XY_P 1.0f
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# endif
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# ifndef VEL_XY_I
# define VEL_XY_I 0.5f
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# endif
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# ifndef VEL_XY_IMAX
# define VEL_XY_IMAX 1000
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# endif
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# ifndef VEL_XY_FILT_HZ
# define VEL_XY_FILT_HZ 5.0f
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# endif
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//////////////////////////////////////////////////////////////////////////////
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// PosHold parameter defaults
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//
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# ifndef POSHOLD_ENABLED
# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
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# endif
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# ifndef POSHOLD_BRAKE_RATE_DEFAULT
# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
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# endif
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# ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
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# endif
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//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
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# ifndef THR_MID_DEFAULT
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
# endif
# ifndef THR_MIN_DEFAULT
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero
# endif
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# define THR_MAX 1000 // maximum throttle input and output sent to the motors
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# ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
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# endif
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# ifndef ALT_HOLD_P
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# define ALT_HOLD_P 1.0f
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# endif
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// Velocity (vertical) control gains
# ifndef VEL_Z_P
# define VEL_Z_P 5.0f
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# endif
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// Accel (vertical) control gains
# ifndef ACCEL_Z_P
# define ACCEL_Z_P 0.50f
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# endif
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# ifndef ACCEL_Z_I
# define ACCEL_Z_I 1.00f
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# endif
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# ifndef ACCEL_Z_D
# define ACCEL_Z_D 0.0f
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# endif
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# ifndef ACCEL_Z_IMAX
# define ACCEL_Z_IMAX 800
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# endif
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# ifndef ACCEL_Z_FILT_HZ
# define ACCEL_Z_FILT_HZ 20.0f
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# endif
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// default maximum vertical velocity and acceleration the pilot may request
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# ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
# endif
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# ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
# endif
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// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
# ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
# endif
// the acceleration used to define the distance-velocity curve
# ifndef ALT_HOLD_ACCEL_MAX
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# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
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# endif
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# ifndef AUTO_DISARMING_DELAY
# define AUTO_DISARMING_DELAY 10
# endif
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//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
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# ifndef LOGGING_ENABLED
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# define LOGGING_ENABLED ENABLED
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# endif
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// Default logging bitmask
# ifndef DEFAULT_LOG_BITMASK
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# define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_RCIN | \
MASK_LOG_IMU | \
MASK_LOG_CMD | \
MASK_LOG_CURRENT | \
MASK_LOG_RCOUT | \
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MASK_LOG_OPTFLOW | \
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MASK_LOG_COMPASS | \
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MASK_LOG_CAMERA | \
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MASK_LOG_MOTBATT
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# endif
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//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
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# ifndef AC_FENCE
# define AC_FENCE ENABLED
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# endif
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# ifndef AC_RALLY
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# define AC_RALLY ENABLED
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# endif
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# ifndef AC_TERRAIN
# define AC_TERRAIN ENABLED
# if !AC_RALLY
# error Terrain relies on Rally which is disabled
# endif
# endif
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//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
# ifndef CLI_ENABLED
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# define CLI_ENABLED ENABLED
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# endif
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//use this to completely disable FRSKY TELEM
# ifndef FRSKY_TELEM_ENABLED
# define FRSKY_TELEM_ENABLED ENABLED
# endif
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/*
build a firmware version string .
GIT_VERSION comes from Makefile builds
*/
# ifndef GIT_VERSION
# define FIRMWARE_STRING THISFIRMWARE
# else
# define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
# endif
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# endif // __ARDUCOPTER_CONFIG_H__