mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.8 KiB
C
69 lines
1.8 KiB
C
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/*
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* BoatGeneric.h
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*
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* Created on: May 1, 2011
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* Author: jgoppert
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*/
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#ifndef BOATGENERIC_H_
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#define BOATGENERIC_H_
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// vehicle options
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static const apo::vehicle_t vehicle = apo::VEHICLE_BOAT;
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static const apo::halMode_t halMode = apo::MODE_LIVE;
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static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
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static const uint8_t heartBeatTimeout = 3;
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// algorithm selection
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#define CONTROLLER_CLASS ControllerBoat
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#define GUIDE_CLASS MavlinkGuide
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#define NAVIGATOR_CLASS DcmNavigator
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#define COMMLINK_CLASS MavlinkComm
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// hardware selection
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#define ADC_CLASS AP_ADC_ADS7844
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#define COMPASS_CLASS AP_Compass_HMC5843
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#define BARO_CLASS APM_BMP085_Class
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#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
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#define DEBUG_BAUD 57600
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#define TELEM_BAUD 57600
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#define GPS_BAUD 38400
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#define HIL_BAUD 57600
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// optional sensors
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static bool gpsEnabled = false;
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static bool baroEnabled = true;
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static bool compassEnabled = true;
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static bool rangeFinderFrontEnabled = true;
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static bool rangeFinderBackEnabled = true;
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static bool rangeFinderLeftEnabled = true;
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static bool rangeFinderRightEnabled = true;
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static bool rangeFinderUpEnabled = true;
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static bool rangeFinderDownEnabled = true;
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// loop rates
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static const float loop0Rate = 150;
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static const float loop1Rate = 100;
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static const float loop2Rate = 10;
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static const float loop3Rate = 1;
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static const float loop4Rate = 0.1;
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// gains
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const float steeringP = 1.0;
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const float steeringI = 0.0;
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const float steeringD = 0.0;
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const float steeringIMax = 0.0;
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const float steeringYMax = 3.0;
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const float throttleP = 0.0;
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const float throttleI = 0.0;
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const float throttleD = 0.0;
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const float throttleIMax = 0.0;
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const float throttleYMax = 0.0;
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const float throttleDFCut = 3.0;
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#include "ControllerBoat.h"
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#endif /* BOATGENERIC_H_ */
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