ardupilot/APMrover2/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
//
#pragma once

#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.
///
#include "APM_Config.h"  // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///

//////////////////////////////////////////////////////////////////////////////
// sensor types

//////////////////////////////////////////////////////////////////////////////
// HIL_MODE                                 OPTIONAL

#ifndef HIL_MODE
  #define HIL_MODE HIL_MODE_DISABLED
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
  #define BATTERY_PIN_1     1
  #define CURRENT_PIN_1     2
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
  #define BATTERY_PIN_1    -1
  #define CURRENT_PIN_1    -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  #define BATTERY_PIN_1    -1
  #define CURRENT_PIN_1    -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
  #define BATTERY_PIN_1    -1
  #define CURRENT_PIN_1    -1
#endif

//////////////////////////////////////////////////////////////////////////////
// HIL_MODE                                 OPTIONAL

#ifndef HIL_MODE
  #define HIL_MODE HIL_MODE_DISABLED
#endif

#ifndef MAV_SYSTEM_ID
  #define MAV_SYSTEM_ID    1
#endif


//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
//

#ifndef FRSKY_TELEM_ENABLED
  #define FRSKY_TELEM_ENABLED ENABLED
#endif


#ifndef CH7_OPTION
  #define CH7_OPTION CH7_SAVE_WP
#endif

#ifndef TUNING_OPTION
  #define TUNING_OPTION TUN_NONE
#endif

//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
  #define INPUT_VOLTAGE    4.68  //  4.68 is the average value for a sample set.  This is the value at the processor with 5.02 applied at the servo rail
#endif

//////////////////////////////////////////////////////////////////////////////
//  MAGNETOMETER
#ifndef MAGNETOMETER
  #define MAGNETOMETER ENABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// MODE
// MODE_CHANNEL
//
#ifndef MODE_CHANNEL
  #define MODE_CHANNEL    8
#endif
#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
  #error XXX
  #error XXX You must set MODE_CHANNEL to 5, 6, 7 or 8
  #error XXX
#endif

#if !defined(MODE_1)
  #define MODE_1    LEARNING
#endif
#if !defined(MODE_2)
  #define MODE_2    LEARNING
#endif
#if !defined(MODE_3)
  #define MODE_3    LEARNING
#endif
#if !defined(MODE_4)
  #define MODE_4    LEARNING
#endif
#if !defined(MODE_5)
  #define MODE_5    LEARNING
#endif
#if !defined(MODE_6)
  #define MODE_6    MANUAL
#endif


//////////////////////////////////////////////////////////////////////////////
// failsafe defaults
#ifndef THROTTLE_FAILSAFE
  #define THROTTLE_FAILSAFE      ENABLED
#endif
#ifndef THROTTLE_FS_VALUE
  #define THROTTLE_FS_VALUE      950
#endif
#ifndef LONG_FAILSAFE_ACTION
  #define LONG_FAILSAFE_ACTION   0
#endif
#ifndef GCS_HEARTBEAT_FAILSAFE
  #define GCS_HEARTBEAT_FAILSAFE DISABLED
#endif


//////////////////////////////////////////////////////////////////////////////
// THROTTLE_OUT
//
#ifndef THROTTE_OUT
  #define THROTTLE_OUT ENABLED
#endif


//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
  #define GROUND_START_DELAY    0
#endif

//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
  #define MOUNT ENABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// CAMERA control
//
#ifndef CAMERA
  #define CAMERA ENABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// NAVL1
//
#ifndef NAVL1
  #define NAVL1_PERIOD    8
#endif

//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE
//
#ifndef SPEED_CRUISE
  #define SPEED_CRUISE    5  // in m/s
#endif

#ifndef TURN_GAIN
  #define TURN_GAIN       5
#endif

//////////////////////////////////////////////////////////////////////////////
// Servo Mapping
//
#ifndef THROTTLE_MIN
  #define THROTTLE_MIN      0  // percent
#endif
#ifndef THROTTLE_CRUISE
  #define THROTTLE_CRUISE  45
#endif
#ifndef THROTTLE_MAX
  #define THROTTLE_MAX    100
#endif

//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
#ifndef SERVO_STEER_P
  #define SERVO_STEER_P          0.4
#endif
#ifndef SERVO_STEER_I
  #define SERVO_STEER_I          0.0
#endif
#ifndef SERVO_STEER_D
  #define SERVO_STEER_D          0.0
#endif
#ifndef SERVO_STEER_INT_MAX
  #define SERVO_STEER_INT_MAX    5
#endif
#define SERVO_STEER_INT_MAX_CENTIDEGREE (SERVO_STEER_INT_MAX * 100)


//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
  #define LOGGING_ENABLED ENABLED
#endif

#define DEFAULT_LOG_BITMASK    0xffff


//////////////////////////////////////////////////////////////////////////////
// Developer Items
//

// use this to enable servos in HIL mode
#ifndef HIL_SERVOS
  #define HIL_SERVOS DISABLED
#endif

// use this to completely disable the CLI
#ifndef CLI_ENABLED
  #define CLI_ENABLED ENABLED
#endif

// if RESET_SWITCH_CH is not zero, then this is the PWM value on
// that channel where we reset the control mode to the current switch
// position (to for example return to switched mode after failsafe or
// fence breach)
#ifndef RESET_SWITCH_CHAN_PWM
  #define RESET_SWITCH_CHAN_PWM    1750
#endif

#ifndef ADVANCED_FAILSAFE
  #define ADVANCED_FAILSAFE DISABLED
#endif