2012-04-30 04:17:14 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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. EVER.
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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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2012-12-21 22:21:34 -04:00
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#if defined( __AVR_ATmega1280__ )
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// default choices for a 1280. We can't fit everything in, so we
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// make some popular choices by default
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#define LOGGING_ENABLED DISABLED
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#ifndef CONFIG_RELAY
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# define CONFIG_RELAY DISABLED
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#endif
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#ifndef MOUNT2
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# define MOUNT2 DISABLED
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#endif
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#ifndef MOUNT
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# define MOUNT DISABLED
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#endif
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#ifndef CAMERA
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# define CAMERA DISABLED
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#endif
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#endif
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2012-04-30 04:17:14 -03:00
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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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// LED and IO Pins
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//
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2012-12-18 07:44:12 -04:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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2012-12-18 14:25:26 -04:00
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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2012-04-30 04:17:14 -03:00
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define SLIDE_SWITCH_PIN 40
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# define PUSHBUTTON_PIN 41
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# define USB_MUX_PIN -1
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# define CONFIG_RELAY ENABLED
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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2013-02-28 16:14:08 -04:00
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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2012-12-18 07:44:12 -04:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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2012-12-18 14:25:26 -04:00
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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2012-04-30 04:17:14 -03:00
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN 23
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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2012-12-18 07:44:12 -04:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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2012-12-18 14:25:26 -04:00
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# define CONFIG_INS_TYPE CONFIG_INS_SITL
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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2012-12-18 15:30:42 -04:00
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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2012-12-18 07:44:12 -04:00
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN -1
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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2013-01-17 02:23:14 -04:00
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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2013-01-02 07:14:35 -04:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define CONFIG_INS_TYPE CONFIG_INS_SITL
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN -1
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# define BATTERY_PIN_1 -1
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# define CURRENT_PIN_1 -1
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2013-01-17 02:23:14 -04:00
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# define MAG_ORIENTATION ROTATION_NONE
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2012-04-30 04:17:14 -03:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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2012-11-07 03:28:20 -04:00
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#ifndef CONFIG_INS_TYPE
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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2012-04-30 04:17:14 -03:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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2012-11-07 03:28:20 -04:00
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# if CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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2012-04-30 04:17:14 -03:00
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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# endif
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#endif
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#ifndef SONAR_TYPE
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2012-08-29 00:09:10 -03:00
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# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
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2012-04-30 04:17:14 -03:00
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#endif
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2012-05-14 12:47:08 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
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# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
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# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
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# undef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
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# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
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# endif
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
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2012-12-18 07:44:12 -04:00
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
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2012-05-14 12:47:08 -03:00
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# endif
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#else
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
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# undef SONAR_ENABLED
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# define SONAR_ENABLED DISABLED
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#endif
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2012-04-30 04:17:14 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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// Note that this test must follow the HIL_PROTOCOL block as the HIL
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// setup may override the GPS configuration.
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//
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#ifndef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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#endif
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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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 115200
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#endif
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#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 57600
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#endif
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#ifndef CH7_OPTION
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2013-02-07 18:21:22 -04:00
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# define CH7_OPTION CH7_SAVE_WP
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2012-04-30 04:17:14 -03:00
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#endif
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#ifndef TUNING_OPTION
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# define TUNING_OPTION TUN_NONE
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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 LOW_VOLTAGE
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# define LOW_VOLTAGE 9.6
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56 // This is the proper value for an on-board APM1 voltage divider with a 3.9kOhm resistor
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#endif
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#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A sensor
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#endif
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#ifndef CURR_AMPS_OFFSET
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# define CURR_AMPS_OFFSET 0.0
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#endif
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#ifndef HIGH_DISCHARGE
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# define HIGH_DISCHARGE 1760
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#endif
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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 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
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MAGNETOMETER
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#ifndef MAGNETOMETER
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2013-02-21 16:14:38 -04:00
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# define MAGNETOMETER ENABLED
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2012-04-30 04:17:14 -03:00
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#endif
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#ifndef MAG_ORIENTATION
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#endif
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//////////////////////////////////////////////////////////////////////////////
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2013-02-07 18:21:22 -04:00
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// MODE
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// MODE_CHANNEL
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2012-04-30 04:17:14 -03:00
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//
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2013-02-07 18:21:22 -04:00
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#ifndef MODE_CHANNEL
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# define MODE_CHANNEL 8
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
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2012-04-30 04:17:14 -03:00
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# error XXX
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2013-02-07 18:21:22 -04:00
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# error XXX You must set MODE_CHANNEL to 5, 6, 7 or 8
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2012-04-30 04:17:14 -03:00
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# error XXX
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_1)
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# define MODE_1 LEARNING
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_2)
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# define MODE_2 LEARNING
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_3)
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# define MODE_3 LEARNING
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_4)
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# define MODE_4 LEARNING
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_5)
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# define MODE_5 LEARNING
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2012-04-30 04:17:14 -03:00
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#endif
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2013-02-07 18:21:22 -04:00
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#if !defined(MODE_6)
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# define MODE_6 MANUAL
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2012-04-30 04:17:14 -03:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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2013-02-07 18:21:22 -04:00
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// failsafe defaults
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2012-04-30 04:17:14 -03:00
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE ENABLED
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#endif
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#ifndef THROTTLE_FS_VALUE
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# define THROTTLE_FS_VALUE 950
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#endif
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#ifndef LONG_FAILSAFE_ACTION
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# define LONG_FAILSAFE_ACTION 0
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#endif
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#ifndef GCS_HEARTBEAT_FAILSAFE
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# define GCS_HEARTBEAT_FAILSAFE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_OUT
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//
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#ifndef THROTTE_OUT
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# define THROTTLE_OUT ENABLED
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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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// MOUNT (ANTENNA OR CAMERA)
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//
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#ifndef MOUNT
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# define MOUNT DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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|
// AIRSPEED_CRUISE
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//
|
2013-02-07 18:21:22 -04:00
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|
#ifndef SPEED_CRUISE
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# define SPEED_CRUISE 3 // 3 m/s
|
2012-04-30 04:17:14 -03:00
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#endif
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#ifndef GSBOOST
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# define GSBOOST 0
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#endif
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|
#ifndef GSBOOST
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# define GSBOOST 0
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#endif
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#ifndef NUDGE_OFFSET
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|
# define NUDGE_OFFSET 0
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|
#endif
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|
#ifndef E_GLIDER
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|
# define E_GLIDER ENABLED
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|
#endif
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|
|
#ifndef TURN_GAIN
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|
|
# define TURN_GAIN 5
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|
#endif
|
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|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
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|
|
|
// Servo Mapping
|
|
|
|
|
//
|
|
|
|
|
#ifndef THROTTLE_MIN
|
|
|
|
|
# define THROTTLE_MIN 0 // percent
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef THROTTLE_CRUISE
|
|
|
|
|
# define THROTTLE_CRUISE 45
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef THROTTLE_MAX
|
2013-02-21 17:38:13 -04:00
|
|
|
# define THROTTLE_MAX 100
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Attitude control gains
|
|
|
|
|
//
|
2013-02-07 18:21:22 -04:00
|
|
|
#ifndef SERVO_STEER_P
|
|
|
|
|
# define SERVO_STEER_P 0.4
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
2013-02-07 18:21:22 -04:00
|
|
|
#ifndef SERVO_STEER_I
|
|
|
|
|
# define SERVO_STEER_I 0.0
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
2013-02-07 18:21:22 -04:00
|
|
|
#ifndef SERVO_STEER_D
|
|
|
|
|
# define SERVO_STEER_D 0.0
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
2013-02-07 18:21:22 -04:00
|
|
|
#ifndef SERVO_STEER_INT_MAX
|
|
|
|
|
# define SERVO_STEER_INT_MAX 5
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
2013-02-07 18:21:22 -04:00
|
|
|
#define SERVO_STEER_INT_MAX_CENTIDEGREE SERVO_STEER_INT_MAX*100
|
2012-04-30 04:17:14 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Crosstrack compensation
|
|
|
|
|
//
|
|
|
|
|
#ifndef XTRACK_GAIN
|
|
|
|
|
# define XTRACK_GAIN 1 // deg/m
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef XTRACK_ENTRY_ANGLE
|
2013-02-21 17:38:13 -04:00
|
|
|
# define XTRACK_ENTRY_ANGLE 50 // deg
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
|
|
|
|
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
|
|
|
|
|
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Dataflash logging control
|
|
|
|
|
//
|
|
|
|
|
#ifndef LOGGING_ENABLED
|
|
|
|
|
# define LOGGING_ENABLED ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LOG_ATTITUDE_FAST
|
|
|
|
|
# define LOG_ATTITUDE_FAST DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_ATTITUDE_MED
|
|
|
|
|
# define LOG_ATTITUDE_MED ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_GPS
|
|
|
|
|
# define LOG_GPS ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_PM
|
|
|
|
|
# define LOG_PM DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_CTUN
|
|
|
|
|
# define LOG_CTUN ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_NTUN
|
|
|
|
|
# define LOG_NTUN DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_MODE
|
|
|
|
|
# define LOG_MODE ENABLED
|
|
|
|
|
#endif
|
2013-01-26 04:35:18 -04:00
|
|
|
#ifndef LOG_IMU
|
|
|
|
|
# define LOG_IMU DISABLED
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_CMD
|
|
|
|
|
# define LOG_CMD ENABLED
|
|
|
|
|
#endif
|
2013-01-26 04:41:38 -04:00
|
|
|
#ifndef LOG_CURRENT
|
|
|
|
|
# define LOG_CURRENT DISABLED
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// calculate the default log_bitmask
|
|
|
|
|
#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
|
|
|
|
|
|
|
|
|
|
#define DEFAULT_LOG_BITMASK \
|
|
|
|
|
LOGBIT(ATTITUDE_FAST) | \
|
|
|
|
|
LOGBIT(ATTITUDE_MED) | \
|
|
|
|
|
LOGBIT(GPS) | \
|
|
|
|
|
LOGBIT(PM) | \
|
|
|
|
|
LOGBIT(CTUN) | \
|
|
|
|
|
LOGBIT(NTUN) | \
|
|
|
|
|
LOGBIT(MODE) | \
|
2013-01-26 04:35:18 -04:00
|
|
|
LOGBIT(IMU) | \
|
2012-04-30 04:17:14 -03:00
|
|
|
LOGBIT(CMD) | \
|
2013-01-26 04:41:38 -04:00
|
|
|
LOGBIT(CURRENT)
|
2012-04-30 04:17:14 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Developer Items
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
#ifndef STANDARD_SPEED
|
|
|
|
|
# define STANDARD_SPEED 3.0
|
|
|
|
|
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
|
|
|
|
|
#endif
|
|
|
|
|
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
|
|
|
|
|
|
|
|
|
|
// 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
|
|
|
|
|
|
2012-11-17 02:45:20 -04:00
|
|
|
#ifndef BOOSTER
|
|
|
|
|
# define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef SONAR_ENABLED
|
|
|
|
|
# define SONAR_ENABLED DISABLED
|
|
|
|
|
#endif
|
