ardupilot/ArduCopter/config.h

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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
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// APM HARDWARE
//
#ifndef CONFIG_APM_HARDWARE
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
#endif
//////////////////////////////////////////////////////////////////////////////
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// APM2 HARDWARE DEFAULTS
//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
# define CONFIG_BARO AP_BARO_MS5611
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
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# define FRAME_CONFIG QUAD_FRAME
#endif
#ifndef FRAME_ORIENTATION
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# define FRAME_ORIENTATION X_FRAME
#endif
#ifndef TOY_EDF
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# define TOY_EDF DISABLED
#endif
#ifndef TOY_MIXER
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# define TOY_MIXER TOY_LINEAR_MIXER
#endif
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/////////////////////////////////////////////////////////////////////////////////
// Bulk defines for TradHeli
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define RTL_YAW YAW_LOOK_AT_HOME
# define TILT_COMPENSATION 5
# define RATE_INTEGRATOR_LEAK_RATE 0.02
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define RC_FAST_SPEED 125
# define STABILIZE_THROTTLE THROTTLE_MANUAL
# define MPU6K_FILTER 10
#endif
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// optical flow doesn't work in SITL yet
#ifdef DESKTOP_BUILD
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
//
#ifndef CONFIG_IMU_TYPE
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
#endif
#ifndef MPU6K_FILTER
# define MPU6K_FILTER MPU6K_DEFAULT_FILTER
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
#endif
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////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define A_LED_PIN 37
# define B_LED_PIN 36
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define SLIDE_SWITCH_PIN 40
# define PUSHBUTTON_PIN 41
# define USB_MUX_PIN -1
# define CLI_SLIDER_ENABLED DISABLED
# define OPTFLOW_CS_PIN 34
# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
# define BATTERY_CURR_PIN 1 // Battery current on A1
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN 23
# define OPTFLOW_CS_PIN A3
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#endif
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////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
//
#ifndef COPTER_LEDS
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#define COPTER_LEDS ENABLED
#endif
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#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
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#endif
//////////////////////////////////////////////////////////////////////////////
// Pushbutton & Relay
//
#ifndef CONFIG_PUSHBUTTON
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# define CONFIG_PUSHBUTTON ENABLED
#endif
#ifndef CONFIG_RELAY
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# define CONFIG_RELAY ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
#ifndef CONFIG_BARO
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# define CONFIG_BARO AP_BARO_BMP085
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
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# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
# undef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
# endif
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
# define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
# endif
#else
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
# undef SONAR_ENABLED
# define SONAR_ENABLED DISABLED
#endif
#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel 7 default option
//
#ifndef CH7_OPTION
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# define CH7_OPTION CH7_SAVE_WP
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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#undef CONFIG_SONAR
#define CONFIG_SONAR DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
#ifndef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef LOW_VOLTAGE
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# define LOW_VOLTAGE 9.6
#endif
#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56
#endif
#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32
#endif
#ifndef CURR_AMPS_OFFSET
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# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
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# define HIGH_DISCHARGE 1760
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#endif
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// Battery failsafe
#ifndef FS_BATTERY
# define FS_BATTERY DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
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# define INPUT_VOLTAGE 5.0
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
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# define MAGNETOMETER ENABLED
#endif
#ifndef MAG_ORIENTATION
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
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#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define OPTFLOW ENABLED
#endif
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW DISABLED
#endif
#ifndef OPTFLOW_ORIENTATION
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# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_RESOLUTION
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# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
#endif
#ifndef OPTFLOW_FOV
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# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P
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#define OPTFLOW_ROLL_P 2.5
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 0.5
#endif
#ifndef OPTFLOW_ROLL_D
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#define OPTFLOW_ROLL_D 0.12
#endif
#ifndef OPTFLOW_PITCH_P
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#define OPTFLOW_PITCH_P 2.5
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 0.5
#endif
#ifndef OPTFLOW_PITCH_D
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#define OPTFLOW_PITCH_D 0.12
#endif
#ifndef OPTFLOW_IMAX
#define OPTFLOW_IMAX 1
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 STABILIZE
#endif
#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 STABILIZE
#endif
#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 STABILIZE
#endif
#if !defined(FLIGHT_MODE_6)
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# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
// possible values for FS_THR parameter
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2
#ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
#endif
#ifndef MINIMUM_THROTTLE
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# define MINIMUM_THROTTLE 130
#endif
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#ifndef MAXIMUM_THROTTLE
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# define MAXIMUM_THROTTLE 1000
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#endif
#ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
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//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
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# define GROUND_START_DELAY 3
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Y6 Support
#ifndef TOP_BOTTOM_RATIO
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# define TOP_BOTTOM_RATIO 1.00
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
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# if defined( __AVR_ATmega1280__ )
# define CAMERA DISABLED
# else
# define CAMERA ENABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
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# if defined( __AVR_ATmega1280__ )
# define MOUNT DISABLED
# else
# define MOUNT ENABLED
# endif
#endif
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#ifndef MOUNT2
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# define MOUNT2 DISABLED
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#endif
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
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# warning "You choose to enable MOUNT on a small ATmega1280, CLI, CAMERA and AP_LIMITS will be disabled to free some space for it"
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// The small ATmega1280 chip does not have enough memory for mount support
// so disable CLI, this will allow mount support and other improvements to fit.
// This should almost have no side effects, because the APM planner can now do a complete board setup.
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# define CLI_ENABLED DISABLED
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// The small ATmega1280 chip does not have enough memory for mount support
// so disable AUTO GPS support, this will allow mount support and other improvements to fit.
// This should almost have no side effects, because the most users use MTK anyways.
// If the user defined a GPS protocol, than we will NOT overwrite it
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# if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_MTK
# endif
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// To save some more space
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# undef CAMERA
# define CAMERA DISABLED
# define AP_LIMITS DISABLED
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#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// definitions for earth frame and body frame
// used to specify frame to rate controllers
#define EARTH_FRAME 0
#define BODY_FRAME 1
// Stabilize Mode
#ifndef STABILIZE_THROTTLE
# define STABILIZE_THROTTLE THROTTLE_MANUAL_TILT_COMPENSATED
#endif
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
#endif
#ifndef ALT_HOLD_RP
# define ALT_HOLD_RP ROLL_PITCH_STABLE
#endif
#ifndef ALT_HOLD_THR
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
// AUTO Mode
#ifndef AUTO_YAW
# define AUTO_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef AUTO_RP
# define AUTO_RP ROLL_PITCH_AUTO
#endif
#ifndef AUTO_THR
# define AUTO_THR THROTTLE_AUTO
#endif
// Guided Mode
#ifndef GUIDED_YAW
# define GUIDED_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef GUIDED_RP
# define GUIDED_RP ROLL_PITCH_AUTO
#endif
#ifndef GUIDED_THR
# define GUIDED_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
// LOITER Mode
#ifndef LOITER_YAW
# define LOITER_YAW YAW_HOLD
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_AUTO
#endif
#ifndef LOITER_THR
# define LOITER_THR THROTTLE_HOLD
#endif
// RTL Mode
#ifndef RTL_YAW
# define RTL_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef RTL_RP
# define RTL_RP ROLL_PITCH_AUTO
#endif
#ifndef RTL_THR
# define RTL_THR THROTTLE_AUTO
#endif
#ifndef SUPER_SIMPLE
# define SUPER_SIMPLE DISABLED
#endif
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
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// RTL Mode
#ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 200 // 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
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#endif
#ifndef RTL_ALT_MAX
# define RTL_ALT_MAX 8000 // Max height to return to home in cm
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#endif
// LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
#endif
#ifndef OF_LOITER_RP
# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
#endif
#ifndef OF_LOITER_THR
# define OF_LOITER_THR THROTTLE_HOLD
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
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// Extra motor values that are changed from time to time by jani @ jDrones as software
// and charachteristics changes.
#ifdef MOTORS_JD880
# define STABILIZE_ROLL_P 3.7
# define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 3.7
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 8.0 // degrees
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#endif
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#ifdef MOTORS_JD850
# define STABILIZE_ROLL_P 4.2
# define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 4.2
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 8.0 // degrees
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#endif
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#ifndef ACRO_P
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# define ACRO_P 4.5
#endif
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#ifndef AXIS_LOCK_ENABLED
# define AXIS_LOCK_ENABLED ENABLED
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#endif
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// Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 8.0 // degrees
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy
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#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.0
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#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 8.0 // degrees * 100
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#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 1000 // minimum ground speed in cm/s required before copter is aimed at ground course
#endif
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//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef MAX_INPUT_ROLL_ANGLE
# define MAX_INPUT_ROLL_ANGLE 4500
#endif
#ifndef MAX_INPUT_PITCH_ANGLE
# define MAX_INPUT_PITCH_ANGLE 4500
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.150
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.100
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5.0 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.150
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.100
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5.0 // degrees
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P 0.25
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.015
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D 0.000
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 8.0 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate controlled stabilized variables
//
#ifndef MAX_ROLL_OVERSHOOT
#define MAX_ROLL_OVERSHOOT 3000
#endif
#ifndef MAX_PITCH_OVERSHOOT
#define MAX_PITCH_OVERSHOOT 3000
#endif
#ifndef MAX_YAW_OVERSHOOT
#define MAX_YAW_OVERSHOOT 1000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 200
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 200
#endif
#ifndef ACRO_TRAINER_ENABLED
#define ACRO_TRAINER_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .20
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees
#endif
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//////////////////////////////////////////////////////////////////////////////
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 5.0 //
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#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.04 // Wind control
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#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.40 // try 2 or 3 for LOITER_RATE 1
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#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
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#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 2.4 //
#endif
#ifndef NAV_I
# define NAV_I 0.17 // Wind control
#endif
#ifndef NAV_D
# define NAV_D 0.00 // .95
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 18 // degrees
#endif
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#ifndef AUTO_SLEW_RATE
# define AUTO_SLEW_RATE 30 // degrees/sec
#endif
#ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 500 // 6m/s error = 13mph
#endif
#ifndef WAYPOINT_SPEED_MIN
# define WAYPOINT_SPEED_MIN 150 // 1m/s
#endif
#ifndef TILT_COMPENSATION
# define TILT_COMPENSATION 54
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 //
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300
#endif
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 1.0
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.0
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.2
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300
#endif
// minimum and maximum climb rates while in alt hold mode
#ifndef ALTHOLD_MAX_CLIMB_RATE
# define ALTHOLD_MAX_CLIMB_RATE 250
#endif
#ifndef ALTHOLD_MIN_CLIMB_RATE
# define ALTHOLD_MIN_CLIMB_RATE -ALTHOLD_MAX_CLIMB_RATE
#endif
// max allowed acceleration
#define VELOCITY_MAX_Z 250 // maximum vertical velocity in cm/s
#define ACCELERATION_MAX_Z 750 // maximum veritcal acceleration in cm/s/s
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.75
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.50
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN .2
#endif
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#ifndef CROSSTRACK_MIN_DISTANCE
# define CROSSTRACK_MIN_DISTANCE 15
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUG_LEVEL
//
#ifndef DEBUG_LEVEL
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# define DEBUG_LEVEL SEVERITY_LOW
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
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// Logging must be disabled for 1280 build.
#if defined( __AVR_ATmega1280__ )
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# if LOGGING_ENABLED == ENABLED
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// If logging was enabled in APM_Config or command line, warn the user.
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# warning "Logging is not supported on ATmega1280"
# undef LOGGING_ENABLED
# endif
# ifndef LOGGING_ENABLED
# define LOGGING_ENABLED DISABLED
# endif
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#elif !defined(LOGGING_ENABLED)
// Logging is enabled by default for all other builds.
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# define LOGGING_ENABLED ENABLED
#endif
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
#ifndef LOG_ATTITUDE_MED
# define LOG_ATTITUDE_MED ENABLED
#endif
#ifndef LOG_GPS
# define LOG_GPS ENABLED
#endif
#ifndef LOG_PM
# define LOG_PM ENABLED
#endif
#ifndef LOG_CTUN
# define LOG_CTUN ENABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN ENABLED
#endif
#ifndef LOG_MODE
# define LOG_MODE ENABLED
#endif
#ifndef LOG_RAW
# define LOG_RAW DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
// current
#ifndef LOG_CUR
# define LOG_CUR DISABLED
#endif
// quad motor PWMs
#ifndef LOG_MOTORS
# define LOG_MOTORS DISABLED
#endif
// optical flow
#ifndef LOG_OPTFLOW
# define LOG_OPTFLOW DISABLED
#endif
#ifndef LOG_PID
# define LOG_PID DISABLED
#endif
#ifndef LOG_ITERM
# define LOG_ITERM ENABLED
#endif
#ifndef LOG_INAV
# define LOG_INAV DISABLED
#endif
#ifndef LOG_CAMERA
# define LOG_CAMERA DISABLED
#endif
// calculate the default log_bitmask
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#define LOGBIT(_s) (LOG_ ## _s ? MASK_LOG_ ## _s : 0)
#define DEFAULT_LOG_BITMASK \
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LOGBIT(ATTITUDE_FAST) | \
LOGBIT(ATTITUDE_MED) | \
LOGBIT(GPS) | \
LOGBIT(PM) | \
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(MODE) | \
LOGBIT(RAW) | \
LOGBIT(CMD) | \
LOGBIT(CUR) | \
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \
LOGBIT(ITERM) | \
LOGBIT(INAV)
// if we are using fast, Disable Medium
//#if LOG_ATTITUDE_FAST == ENABLED
// #undef LOG_ATTITUDE_MED
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// #define LOG_ATTITUDE_MED DISABLED
//#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
#ifndef WP_RADIUS_DEFAULT
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# define WP_RADIUS_DEFAULT 2
#endif
#ifndef CIRCLE_RADIUS
# define CIRCLE_RADIUS 10 // meters for circle mode
#endif
#ifndef USE_CURRENT_ALT
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# define USE_CURRENT_ALT FALSE
#endif
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AP_LIMITS
#define AP_LIMITS ENABLED
#endif
// Use PIN for displaying LIMITS status. 0 is disabled.
#ifndef LIMITS_TRIGGERED_PIN
#define LIMITS_TRIGGERED_PIN 0
#endif
// PWM of "on" state for LIM_CHANNEL
#ifndef LIMITS_ENABLE_PWM
#define LIMITS_ENABLE_PWM 1800
#endif
#ifndef LIM_ENABLED
#define LIM_ENABLED 0
#endif
#ifndef LIM_ALT_ON
#define LIM_ALT_ON 0
#endif
#ifndef LIM_FNC_ON
#define LIM_FNC_ON 0
#endif
#ifndef LIM_GPSLCK_ON
#define LIM_GPSLCK_ON 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
#ifndef CLI_ENABLED
// Sorry the chip is just too small to let this fit
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# if defined( __AVR_ATmega1280__ )
# define CLI_ENABLED DISABLED
# else
# define CLI_ENABLED ENABLED
# endif
#endif
// use this to disable the CLI slider switch
#ifndef CLI_SLIDER_ENABLED
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# define CLI_SLIDER_ENABLED DISABLED
#endif
// experimental mpu6000 DMP code
#ifndef DMP_ENABLED
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# define DMP_ENABLED DISABLED
#endif
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// experimental mpu6000 DMP code
#ifndef SECONDARY_DMP_ENABLED
# define SECONDARY_DMP_ENABLED DISABLED
#endif
// Inertia based contollers.
#ifndef INERTIAL_NAV_XY
# define INERTIAL_NAV_XY DISABLED
#endif
#ifndef INERTIAL_NAV_Z
# define INERTIAL_NAV_Z DISABLED
#endif
#endif // __ARDUCOPTER_CONFIG_H__