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ardupilot/ArduSub/config.h

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Sub: New vehicle type, derived from ArduCopter.
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
#ifndef __ARDUCOPTER_CONFIG_H__
#define __ARDUCOPTER_CONFIG_H__
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// 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.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduCopter
#endif
//////////////////////////////////////////////////////////////////////////////
// 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_SONAR
#define CONFIG_SONAR DISABLED
#endif
#define MAGNETOMETER ENABLED
// run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
# define MAIN_LOOP_MICROS 2500
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
Sub: Change default build frame type
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# define FRAME_CONFIG BLUEROV_FRAME
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#endif
#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"
Sub: Separated motor files and frame types
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#elif FRAME_CONFIG == BLUEROV_FRAME
# define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
#elif FRAME_CONFIG == VECTORED_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
Sub: New vehicle type, derived from ArduCopter.
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#else
# define FRAME_CONFIG_STRING "UNKNOWN"
#endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# 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
# define THR_MIN_DEFAULT 0
# define AUTOTUNE_ENABLED DISABLED
#endif
/////////////////////////////////////////////////////////////////////////////////
// Y6 defaults
#if FRAME_CONFIG == Y6_FRAME
# 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
#endif
/////////////////////////////////////////////////////////////////////////////////
// Tri defaults
#if FRAME_CONFIG == TRI_FRAME
# define RATE_YAW_FILT_HZ 100.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif
#ifndef SONAR_ALT_HEALTH_MAX
# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
#endif
#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
#ifndef SONAR_GAIN_DEFAULT
# define SONAR_GAIN_DEFAULT 0.8f // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
#endif
#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
#endif
#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
#ifndef SONAR_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define SONAR_TILT_CORRECTION DISABLED
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
#endif
#ifndef BOARD_VOLTAGE_MIN
# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
#endif
#ifndef BOARD_VOLTAGE_MAX
# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
#endif
// prearm GPS hdop check
#ifndef GPS_HDOP_GOOD_DEFAULT
# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
Sub: Address safety issues and ensure motors disarm during gcs failsafe
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# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
Sub: New vehicle type, derived from ArduCopter.
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#endif
#ifndef GNDEFFECT_COMPENSATION
# define GNDEFFECT_COMPENSATION DISABLED
#endif
// 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
// Radio failsafe while using RC_override
#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
#endif
// Radio failsafe
#ifndef FS_RADIO_TIMEOUT_MS
#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
#endif
#ifndef FS_CLOSE_TO_HOME_CM
# define FS_CLOSE_TO_HOME_CM 500 // if vehicle within 5m of home, vehicle will LAND instead of RTL during some failsafes
#endif
#ifndef PREARM_DISPLAY_PERIOD
# define PREARM_DISPLAY_PERIOD 30
#endif
// pre-arm baro vs inertial nav max alt disparity
#ifndef PREARM_MAX_ALT_DISPARITY_CM
# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
#endif
// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
#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
#endif
// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
#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)
#endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
#endif
#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
#endif
#ifndef EKF_ORIGIN_MAX_DIST_M
# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
#endif
// 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
#else // SITL, FLYMAPLE, etc
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 500
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW
# define OPTFLOW ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
#ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
#ifndef SPRAYER
# define SPRAYER DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Precision Landing with companion computer or IRLock sensor
#ifndef PRECISION_LANDING
# define PRECISION_LANDING DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
#ifndef EPM_ENABLED
# define EPM_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
#ifndef PARACHUTE
# define PARACHUTE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// ADSB support
#ifndef ADSB_ENABLED
# define ADSB_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED
# define NAV_GUIDED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1 STABILIZE
#endif
#ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2 STABILIZE
#endif
#ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3 STABILIZE
#endif
#ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4 STABILIZE
#endif
#ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5 STABILIZE
#endif
#ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
#ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
#endif
//////////////////////////////////////////////////////////////////////////////
// Takeoff
//
#ifndef PILOT_TKOFF_ALT_DEFAULT
# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
#endif
//////////////////////////////////////////////////////////////////////////////
// Landing
//
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
Sub: Some more tweaks for water pressure. Change throttle_zero to mid stick.
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# define LAND_START_ALT -25 // altitude in cm where land controller switches to slow rate of descent
Sub: New vehicle type, derived from ArduCopter.
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#endif
#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
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
#endif
#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
//////////////////////////////////////////////////////////////////////////////
// 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
#ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Flight mode definitions
//
// Acro Mode
#ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
#endif
#ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
#endif
#ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 1.0f
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 1.0f
#endif
#ifndef ACRO_EXPO_DEFAULT
#define ACRO_EXPO_DEFAULT 0.3f
#endif
// Stabilize (angle controller) gains
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5f
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5f
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f
#endif
// RTL Mode
#ifndef RTL_ALT_FINAL
# 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.
#endif
#ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
#endif
#ifndef RTL_ALT_MIN
# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
#endif
#ifndef RTL_CLIMB_MIN_DEFAULT
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
#endif
#ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif
// AUTO Mode
#ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
#endif
#ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
#endif
// Super Simple mode
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef ROLL_PITCH_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
#endif
#ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
#endif
#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
//////////////////////////////////////////////////////////////////////////////
// Rate controller gains
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.150f
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.100f
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004f
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 2000
#endif
#ifndef RATE_ROLL_FILT_HZ
# define RATE_ROLL_FILT_HZ 20.0f
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.150f
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.100f
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004f
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 2000
#endif
#ifndef RATE_PITCH_FILT_HZ
# define RATE_PITCH_FILT_HZ 20.0f
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P 0.200f
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.020f
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D 0.000f
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 1000
#endif
#ifndef RATE_YAW_FILT_HZ
# define RATE_YAW_FILT_HZ 5.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef POS_XY_P
# define POS_XY_P 1.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// Stop mode defaults
//
#ifndef BRAKE_MODE_SPEED_Z
# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
#endif
#ifndef BRAKE_MODE_DECEL_RATE
# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
#endif
//////////////////////////////////////////////////////////////////////////////
// Velocity (horizontal) gains
//
#ifndef VEL_XY_P
# define VEL_XY_P 1.0f
#endif
#ifndef VEL_XY_I
# define VEL_XY_I 0.5f
#endif
#ifndef VEL_XY_IMAX
# define VEL_XY_IMAX 1000
#endif
#ifndef VEL_XY_FILT_HZ
# define VEL_XY_FILT_HZ 5.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// PosHold parameter defaults
//
#ifndef POSHOLD_ENABLED
# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
#endif
#ifndef POSHOLD_BRAKE_RATE_DEFAULT
# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
#endif
#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
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#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
#define THR_MAX 1000 // maximum throttle input and output sent to the motors
#ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0f
#endif
// Velocity (vertical) control gains
#ifndef VEL_Z_P
# define VEL_Z_P 5.0f
#endif
// Accel (vertical) control gains
#ifndef ACCEL_Z_P
# define ACCEL_Z_P 0.50f
#endif
#ifndef ACCEL_Z_I
# define ACCEL_Z_I 1.00f
#endif
#ifndef ACCEL_Z_D
# define ACCEL_Z_D 0.0f
#endif
#ifndef ACCEL_Z_IMAX
# define ACCEL_Z_IMAX 800
#endif
#ifndef ACCEL_Z_FILT_HZ
# define ACCEL_Z_FILT_HZ 20.0f
#endif
// default maximum vertical velocity and acceleration the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
#endif
#ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
#endif
// 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
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif
#ifndef AUTO_DISARMING_DELAY
# define AUTO_DISARMING_DELAY 10
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
// Default logging bitmask
#ifndef DEFAULT_LOG_BITMASK
# 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 | \
MASK_LOG_OPTFLOW | \
MASK_LOG_COMPASS | \
MASK_LOG_CAMERA | \
MASK_LOG_MOTBATT
#endif
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AC_FENCE
#define AC_FENCE ENABLED
#endif
#ifndef AC_RALLY
#define AC_RALLY ENABLED
#endif
#ifndef AC_TERRAIN
#define AC_TERRAIN ENABLED
#if !AC_RALLY
#error Terrain relies on Rally which is disabled
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
#ifndef CLI_ENABLED
# define CLI_ENABLED ENABLED
#endif
//use this to completely disable FRSKY TELEM
#ifndef FRSKY_TELEM_ENABLED
# define FRSKY_TELEM_ENABLED ENABLED
#endif
/*
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
#endif // __ARDUCOPTER_CONFIG_H__
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