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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
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# pragma once
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//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// 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.
///
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# include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// 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
# 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
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# define FRAME_CONFIG VECTORED6DOF_FRAME
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# endif
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# if FRAME_CONFIG == BLUEROV_FRAME
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# define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
# elif FRAME_CONFIG == VECTORED_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
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# elif FRAME_CONFIG == VECTORED6DOF_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
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# elif FRAME_CONFIG == SIMPLEROV_FRAME
# define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME"
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# elif FRAME_CONFIG == VECTORED90_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED90_FRAME"
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# else
# define FRAME_CONFIG_STRING "UNKNOWN"
# endif
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# ifndef SURFACE_DEPTH_DEFAULT
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# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
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# endif
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//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
# ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
# endif
//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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# ifndef RANGEFINDER_ENABLED
# define RANGEFINDER_ENABLED ENABLED
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# endif
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# ifndef RANGEFINDER_HEALTH_MAX
# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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# endif
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# ifndef RANGEFINDER_GAIN_DEFAULT
# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
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# endif
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# ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
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# endif
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# ifndef RANGEFINDER_TIMEOUT_MS
# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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# endif
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# ifndef RANGEFINDER_WPNAV_FILT_HZ
# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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# endif
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# ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define RANGEFINDER_TILT_CORRECTION ENABLED
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# 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
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# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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# endif
# ifndef GNDEFFECT_COMPENSATION
# define GNDEFFECT_COMPENSATION DISABLED
# endif
// 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
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// missing terrain data failsafe
# ifndef FS_TERRAIN_TIMEOUT_MS
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# define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
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# endif
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# 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
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# else // SITL, etc
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# 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
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# define PRECISION_LANDING ENABLED
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# endif
//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
# ifndef EPM_ENABLED
# define EPM_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
# ifndef PARACHUTE
# define PARACHUTE 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
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# define LAND_START_ALT -25 // altitude in cm where land controller switches to slow rate of descent
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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
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# ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
# endif
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//////////////////////////////////////////////////////////////////////////////
// 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
// 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
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# ifndef RTL_ABS_MIN_CLIMB
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
# endif
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# ifndef RTL_CONE_SLOPE_DEFAULT
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
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# endif
# ifndef RTL_MIN_CONE_SLOPE
# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
# endif
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# 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
//////////////////////////////////////////////////////////////////////////////
// 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_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
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# define PILOT_VELZ_MAX 50 // maximum vertical velocity in cm/s
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# endif
# ifndef PILOT_ACCEL_Z_DEFAULT
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# define PILOT_ACCEL_Z_DEFAULT 50 // vertical acceleration in cm/s/s while altitude is under pilot control
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# 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
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# define AUTO_DISARMING_DELAY 0
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# 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
