ardupilot/apo/QuadArducopter.h

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/*
* QuadArducopter.h
*
* Created on: May 1, 2011
* Author: jgoppert
*/
#ifndef QUADARDUCOPTER_H_
#define QUADARDUCOPTER_H_
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
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static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
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static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
// baud rates
static uint32_t debugBaud = 57600;
static uint32_t telemBaud = 57600;
static uint32_t gpsBaud = 38400;
static uint32_t hilBaud = 57600;
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// optional sensors
static const bool gpsEnabled = false;
static const bool baroEnabled = false;
static const bool compassEnabled = true;
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
// compass orientation: See AP_Compass_HMC5843.h for possible values
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// battery monitoring
static const bool batteryMonitorEnabled = true;
static const uint8_t batteryPin = 0;
static const float batteryVoltageDivRatio = 6;
static const float batteryMinVolt = 10.0;
static const float batteryMaxVolt = 12.4;
static const bool rangeFinderFrontEnabled = false;
static const bool rangeFinderBackEnabled = false;
static const bool rangeFinderLeftEnabled = false;
static const bool rangeFinderRightEnabled = false;
static const bool rangeFinderUpEnabled = false;
static const bool rangeFinderDownEnabled = false;
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// loop rates
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static const float loopRate = 400; // attitude nav
static const float loop0Rate = 50; // controller
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static const float loop1Rate = 10; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
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// position control loop
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;
static const float PID_POS_DFCUT = 10; // cut derivative feedback at 10 hz
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// attitude control loop
static const float PID_ATT_P = 0.17;
static const float PID_ATT_I = 0.5;
static const float PID_ATT_D = 0.06;
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static const float PID_ATT_LIM = 0.05; // 5 % motors
static const float PID_ATT_AWU = 0.005; // 0.5 %
static const float PID_ATT_DFCUT = 25; // cut derivative feedback at 25 hz
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static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = 0.5;
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static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
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static const float PID_YAWSPEED_LIM = .05; // 5 % motors
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static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz
static const float THRUST_HOVER_OFFSET = 0.475;
#include "ControllerQuad.h"
#endif /* QUADARDUCOPTER_H_ */