2010-12-19 12:40:33 -04:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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//
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// DO NOT EDIT this file to adjust your configuration. Create your own
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// APM_Config.h and use APM_Config.h.example as a reference.
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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///
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// Default and automatic configuration details.
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//
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// Notes for maintainers:
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//
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// - Try to keep this file organised in the same order as APM_Config.h.example
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//
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#include "defines.h"
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_HIL
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// Hardware in the loop output
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//
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#ifndef ENABLE_HIL
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# define ENABLE_HIL DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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#ifndef GPS_PROTOCOL
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# error XXX
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# error XXX You must define GPS_PROTOCOL in APM_Config.h
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# error XXX
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#endif
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// The X-Plane GCS requires the IMU GPS configuration
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#if (ENABLE_HIL == ENABLED) && (GPS_PROTOCOL != GPS_PROTOCOL_IMU)
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# error Must select GPS_PROTOCOL_IMU when configuring for X-Plane or Flight Gear HIL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG PLUS_FRAME
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GCS_PROTOCOL
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// GCS_PORT
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//
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#ifndef GCS_PROTOCOL
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# define GCS_PROTOCOL GCS_PROTOCOL_STANDARD
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#endif
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#ifndef GCS_PORT
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# if (GCS_PROTOCOL == GCS_PROTOCOL_STANDARD) || (GCS_PROTOCOL == GCS_PROTOCOL_LEGACY)
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# define GCS_PORT 3
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# else
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# define GCS_PORT 0
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Serial port speeds.
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//
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#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 38400
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#endif
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#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 115200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef BATTERY_EVENT
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# define BATTERY_EVENT DISABLED
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#endif
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#ifndef BATTERY_TYPE
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# define BATTERY_TYPE 0
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#endif
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#ifndef LOW_VOLTAGE
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2011-01-16 23:44:12 -04:00
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# define LOW_VOLTAGE 9.6
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.0
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#endif
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2011-01-16 23:44:12 -04:00
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#ifndef CURR_VOLT_DIV_RATIO
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# define CURR_VOLT_DIV_RATIO 15.7
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#endif
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#ifndef CURR_AMP_DIV_RATIO
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# define CURR_AMP_DIV_RATIO 30.35
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#endif
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2010-12-19 12:40:33 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// INPUT_VOLTAGE
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//
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#ifndef INPUT_VOLTAGE
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# define INPUT_VOLTAGE 5.0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MAGNETOMETER
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#ifndef MAGORIENTATION
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# define MAGORIENTATION APM_COMPASS_COMPONENTS_UP_PINS_FORWARD
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#endif
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// run the CLI tool to get this value
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#ifndef MAGOFFSET
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# define MAGOFFSET 0,0,0
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#endif
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// Declination is a correction factor between North Pole and real magnetic North. This is different on every location
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// IF you want to use really accurate headholding and future navigation features, you should update this
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// You can check Declination to your location from http://www.magnetic-declination.com/
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#ifndef DECLINATION
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# define DECLINATION 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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//
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#ifndef FLIGHT_MODE_CHANNEL
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# define FLIGHT_MODE_CHANNEL CH_5
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#endif
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#if (FLIGHT_MODE_CHANNEL != CH_5) && (FLIGHT_MODE_CHANNEL != CH_6) && (FLIGHT_MODE_CHANNEL != CH_7) && (FLIGHT_MODE_CHANNEL != CH_8)
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# error XXX
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# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
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# error XXX
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#endif
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#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_6)
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_FAILSAFE
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// THROTTLE_FS_VALUE
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// THROTTLE_FAILSAFE_ACTION
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//
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE DISABLED
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#endif
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#ifndef THROTTE_FS_VALUE
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# define THROTTLE_FS_VALUE 975
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#endif
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#ifndef THROTTLE_FAILSAFE_ACTION
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# define THROTTLE_FAILSAFE_ACTION 2
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// STARTUP BEHAVIOUR
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// GROUND_START_DELAY
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//
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#ifndef GROUND_START_DELAY
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# define GROUND_START_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// ACRO Rate Control
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#ifndef ACRO_RATE_ROLL_P
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# define ACRO_RATE_ROLL_P .190
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#endif
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#ifndef ACRO_RATE_ROLL_I
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# define ACRO_RATE_ROLL_I 0.0
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#endif
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#ifndef ACRO_RATE_ROLL_D
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# define ACRO_RATE_ROLL_D 0.0
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#endif
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#ifndef ACRO_RATE_ROLL_IMAX
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# define ACRO_RATE_ROLL_IMAX 20
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#endif
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#ifndef ACRO_RATE_PITCH_P
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# define ACRO_RATE_PITCH_P .190
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#endif
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#ifndef ACRO_RATE_PITCH_I
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# define ACRO_RATE_PITCH_I 0.0
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#endif
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#ifndef ACRO_RATE_PITCH_D
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# define ACRO_RATE_PITCH_D 0.0
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#endif
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#ifndef ACRO_RATE_PITCH_IMAX
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# define ACRO_RATE_PITCH_IMAX 20
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#endif
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#ifndef ACRO_RATE_YAW_P
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2011-01-02 16:34:42 -04:00
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# define ACRO_RATE_YAW_P .07
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef ACRO_RATE_YAW_I
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# define ACRO_RATE_YAW_I 0.0
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#endif
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#ifndef ACRO_RATE_YAW_D
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# define ACRO_RATE_YAW_D 0.0
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#endif
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#ifndef ACRO_RATE_YAW_IMAX
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2011-01-02 16:34:42 -04:00
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# define ACRO_RATE_YAW_IMAX 0
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2010-12-19 12:40:33 -04:00
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#endif
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2011-01-25 01:53:36 -04:00
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#ifndef ACRO_RATE_TRIGGER
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2011-01-26 03:14:54 -04:00
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# define ACRO_RATE_TRIGGER 100
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2011-01-25 01:53:36 -04:00
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#endif
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2010-12-19 12:40:33 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// STABILZE Angle Control
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//
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#ifndef STABILIZE_ROLL_P
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2010-12-30 03:40:57 -04:00
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# define STABILIZE_ROLL_P 0.6
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef STABILIZE_ROLL_I
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2011-01-21 00:16:11 -04:00
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# define STABILIZE_ROLL_I 0.0
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef STABILIZE_ROLL_D
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# define STABILIZE_ROLL_D 0.0
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#endif
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#ifndef STABILIZE_ROLL_IMAX
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# define STABILIZE_ROLL_IMAX 3
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#endif
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#ifndef STABILIZE_PITCH_P
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2010-12-30 03:40:57 -04:00
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# define STABILIZE_PITCH_P 0.6
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef STABILIZE_PITCH_I
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2011-01-21 00:16:11 -04:00
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# define STABILIZE_PITCH_I 0.0
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef STABILIZE_PITCH_D
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# define STABILIZE_PITCH_D 0.0
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#endif
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#ifndef STABILIZE_PITCH_IMAX
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# define STABILIZE_PITCH_IMAX 3
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#endif
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// STABILZE RATE Control
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//
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2011-01-02 16:34:42 -04:00
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#ifndef STABILIZE_DAMPENER
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2011-01-09 22:18:49 -04:00
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# define STABILIZE_DAMPENER 0.135
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2010-12-19 12:40:33 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// YAW Control
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//
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#ifndef YAW_P
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2011-01-02 16:34:42 -04:00
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# define YAW_P 0.5
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef YAW_I
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# define YAW_I 0.0
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#endif
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#ifndef YAW_D
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# define YAW_D 0.0
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#endif
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#ifndef YAW_IMAX
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# define YAW_IMAX 1
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#endif
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// STABILZE YAW Control
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//
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2011-01-02 16:34:42 -04:00
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#ifndef HOLD_YAW_DAMPENER
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# define HOLD_YAW_DAMPENER 0.175
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2010-12-19 12:40:33 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control
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//
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#ifndef THROTTLE_MIN
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# define THROTTLE_MIN 0
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#endif
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#ifndef THROTTLE_CRUISE
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# define THROTTLE_CRUISE 250
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#endif
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#ifndef THROTTLE_MAX
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# define THROTTLE_MAX 1000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Autopilot control limits
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//
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// how much to we pitch towards the target
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#ifndef PITCH_MAX
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2011-01-11 17:11:51 -04:00
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# define PITCH_MAX 22
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2010-12-19 12:40:33 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation control gains
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//
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#ifndef NAV_P
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2011-01-11 17:11:51 -04:00
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# define NAV_P 1.2
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef NAV_I
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2011-01-11 17:11:51 -04:00
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# define NAV_I 0.1
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef NAV_D
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2011-01-11 17:11:51 -04:00
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# define NAV_D 0.005
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef NAV_IMAX
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2011-01-11 17:11:51 -04:00
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# define NAV_IMAX 1200
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2010-12-19 12:40:33 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control gains
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//
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2011-01-09 22:18:49 -04:00
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#ifndef THROTTLE_BARO_P
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# define THROTTLE_BARO_P .25
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2010-12-19 12:40:33 -04:00
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#endif
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2011-01-09 22:18:49 -04:00
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#ifndef THROTTLE_BARO_I
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2011-01-23 21:55:19 -04:00
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# define THROTTLE_BARO_I 0.04
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2010-12-19 12:40:33 -04:00
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#endif
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2011-01-09 22:18:49 -04:00
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#ifndef THROTTLE_BARO_D
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# define THROTTLE_BARO_D 0.1
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2010-12-19 12:40:33 -04:00
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#endif
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2011-01-09 22:18:49 -04:00
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#ifndef THROTTLE_BARO_IMAX
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2011-01-23 21:55:19 -04:00
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# define THROTTLE_BARO_IMAX 100
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2011-01-09 22:18:49 -04:00
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#endif
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#ifndef THROTTLE_SONAR_P
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# define THROTTLE_SONAR_P .8
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#endif
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#ifndef THROTTLE_SONAR_I
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# define THROTTLE_SONAR_I 0.3
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#endif
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#ifndef THROTTLE_SONAR_D
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# define THROTTLE_SONAR_D 0.7
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#endif
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#ifndef THROTTLE_SONAR_IMAX
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# define THROTTLE_SONAR_IMAX 300
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2010-12-19 12:40:33 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Crosstrack compensation
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//
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#ifndef XTRACK_GAIN
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# define XTRACK_GAIN 0.01
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#endif
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#ifndef XTRACK_ENTRY_ANGLE
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# define XTRACK_ENTRY_ANGLE 30
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// DEBUGGING
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// DEBUG_SUBSYSTEM
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//
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#ifndef DEBUG_SUBSYSTEM
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# define DEBUG_SUBSYSTEM 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// DEBUG_LEVEL
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//
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#ifndef DEBUG_LEVEL
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# define DEBUG_LEVEL SEVERITY_LOW
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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#ifndef LOG_ATTITUDE_FAST
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# define LOG_ATTITUDE_FAST DISABLED
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#endif
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#ifndef LOG_ATTITUDE_MED
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# define LOG_ATTITUDE_MED ENABLED
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#endif
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#ifndef LOG_GPS
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# define LOG_GPS ENABLED
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#endif
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#ifndef LOG_PM
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# define LOG_PM ENABLED
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#endif
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#ifndef LOG_CTUN
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# define LOG_CTUN DISABLED
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#endif
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#ifndef LOG_NTUN
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# define LOG_NTUN DISABLED
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#endif
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#ifndef LOG_MODE
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# define LOG_MODE ENABLED
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#endif
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#ifndef LOG_RAW
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# define LOG_RAW DISABLED
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#endif
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#ifndef LOG_CMD
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# define LOG_CMD ENABLED
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#endif
|
2011-01-16 23:44:12 -04:00
|
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#ifndef LOG_CURRENT
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# define LOG_CURRENT DISABLED
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|
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#endif
|
2010-12-19 12:40:33 -04:00
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