ardupilot/archive/ArducopterNG/ArduUser.h

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/*
www.ArduCopter.com - www.DIYDrones.com
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
File : UserDefines.pde
Version : v1.0, Aug 27, 2010
Author(s): ArduCopter Team
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
Jani Hirvinen, Ken McEwans, Roberto Navoni,
Sandro Benigno, Chris Anderson
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
* ************************************************************** *
ChangeLog:
* ************************************************************** *
TODO:
* ************************************************************** */
/*************************************************************/
// Airframe
#define QUAD 0
#define HELI 1
// Note: do not change AIRFRAME to HELI and then load it into a QUAD or you will end up with your engines going to 50% during the initialisation sequence
#define AIRFRAME QUAD
/*************************************************************/
// Safety & Security
// Arm & Disarm delays
#define ARM_DELAY 50 // how long you need to keep rudder to max right for arming motors (units*0.02, 50=1second)
#define DISARM_DELAY 25 // how long you need to keep rudder to max left for disarming motors
#define SAFETY_DELAY 25 // how long you need to keep throttle to min before safety activates and does not allow sudden throttle increases
#define SAFETY_MAX_THROTTLE_INCREASE 100 // how much of jump in throttle (within a single cycle, 5ms) will cause motors to disarm
/*************************************************************/
// AM Mode & Flight information
/* AM PIN Definitions */
/* Will be moved in future to AN extension ports */
/* due need to have PWM pins free for sonars and servos */
#define FR_LED 3 // Mega PE4 pin, OUT7
#define RE_LED 2 // Mega PE5 pin, OUT6
#define RI_LED 7 // Mega PH4 pin, OUT5
#define LE_LED 8 // Mega PH5 pin, OUT4
/*
#define FR_LED AN12 // Mega PE4 pin, OUT7
#define RE_LED AN14 // Mega PE5 pin, OUT6
#define RI_LED AN10 // Mega PH4 pin, OUT5
#define LE_LED AN8 // Mega PH5 pin, OUT4
*/
/*************************************************************/
// Special patterns for future use
/*
#define POFF L1\0x00\0x00\0x05
#define PALL L1\0xFF\0xFF\0x05
#define GPS_AM_PAT1 L\0x00\0x00\0x05
#define GPS_AM_PAT2 L\0xFF\0xFF\0x05
#define GPS_AM_PAT3 L\0xF0\0xF0\0x05
*/
/* AM PIN Definitions - END */
/*************************************************************/
// Radio related definitions
#define CH_ROLL 0
#define CH_PITCH 1
#define CH_THROTTLE 2
#define CH_RUDDER 3
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define ROLL_MID 1500 // Radio Roll channel mid value
#define PITCH_MID 1500 // Radio Pitch channel mid value
#define YAW_MID 1500 // Radio Yaw channel mid value
#define THROTTLE_MID 1505 // Radio Throttle channel mid value
#define AUX_MID 1500
#define CHANN_CENTER 1500 // Channel center, legacy
// legacy, moved to EEPROM
//#define MIN_THROTTLE 1040 // Throttle pulse width at minimun...
/* ******************************************************** */
// Camera related settings
#define CAM_CENT 1500 // Camera center
#define CAM_SMOOTHING 1000 // Camera movement smoothing on pitch axis
#define CAM_SMOOTHING_ROLL -400 // Camera movement smoothing on roll axis
#define CAM_TILT_OUT 4 // OUTx pin for Tilt servo
#define CAM_ROLL_OUT 5 // OUTx pin for Roll servo
#define CAM_YAW_OUT 5 // OUTx pin for Yaw servo (often same as Roll)
#define CAM_TILT_CH CH_7 // Channel for radio knob to controll tilt "zerolevel"
/*************************************************************/
// General definitions
//Modes
#define STABLE_MODE 0
#define ACRO_MODE 1
#define AP_NORMAL_MODE 0 // AP disabled => manual flight
#define AP_AUTOMATIC_MODE 1 // AP Enabled => Automatic mode (GPS position hold)
//Axis
#define ROLL 0
#define PITCH 1
#define YAW 2
#define XAXIS 0
#define YAXIS 1
#define ZAXIS 2
#define GYROZ 0
#define GYROX 1
#define GYROY 2
#define ACCELX 3
#define ACCELY 4
#define ACCELZ 5
#define LASTSENSOR 6