ardupilot/ArduPlane/config.h

#pragma once

#include "defines.h"

//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

#ifdef CONFIG_APM_HARDWARE
#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
#endif

#ifndef MAV_SYSTEM_ID
 # define MAV_SYSTEM_ID          1
#endif

//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////


#ifndef FLAP_1_PERCENT
 # define FLAP_1_PERCENT 0
#endif
#ifndef FLAP_1_SPEED
 # define FLAP_1_SPEED 0
#endif
#ifndef FLAP_2_PERCENT
 # define FLAP_2_PERCENT 0
#endif
#ifndef FLAP_2_SPEED
 # define FLAP_2_SPEED 0
#endif
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
// FLIGHT_MODE_CHANNEL
//
#ifndef FLIGHT_MODE_CHANNEL
 # define FLIGHT_MODE_CHANNEL    8
#endif
#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)
 # error XXX
 # error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
 # error XXX
#endif

#if !defined(FLIGHT_MODE_1)
 # define FLIGHT_MODE_1                  Mode::Number::RTL
#endif
#if !defined(FLIGHT_MODE_2)
 # define FLIGHT_MODE_2                  Mode::Number::RTL
#endif
#if !defined(FLIGHT_MODE_3)
 # define FLIGHT_MODE_3                  Mode::Number::FLY_BY_WIRE_A
#endif
#if !defined(FLIGHT_MODE_4)
 # define FLIGHT_MODE_4                  Mode::Number::FLY_BY_WIRE_A
#endif
#if !defined(FLIGHT_MODE_5)
 # define FLIGHT_MODE_5                  Mode::Number::MANUAL
#endif
#if !defined(FLIGHT_MODE_6)
 # define FLIGHT_MODE_6                  Mode::Number::MANUAL
#endif


//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM
//
#ifndef AUTO_TRIM
 # define AUTO_TRIM                              DISABLED
#endif


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


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

#ifndef DSPOILR_RUD_RATE_DEFAULT
 #define DSPOILR_RUD_RATE_DEFAULT 100
#endif

//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE
//
#ifndef AIRSPEED_CRUISE
 # define AIRSPEED_CRUISE                12 // 12 m/s
#endif


//////////////////////////////////////////////////////////////////////////////
// MIN_GROUNDSPEED
//
#ifndef MIN_GROUNDSPEED
 # define MIN_GROUNDSPEED                   0 // m/s (0 disables)
#endif


//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control
//
#ifndef AIRSPEED_FBW_MIN
 # define AIRSPEED_FBW_MIN               9
#endif
#ifndef AIRSPEED_FBW_MAX
 # define AIRSPEED_FBW_MAX               22
#endif

#ifndef CRUISE_ALT_FLOOR
 # define CRUISE_ALT_FLOOR 0
#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

//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
#ifndef ROLL_LIMIT_DEG
 # define ROLL_LIMIT_DEG                         45
#endif
#ifndef PITCH_MAX
 # define PITCH_MAX                              20
#endif
#ifndef PITCH_MIN
 # define PITCH_MIN                              -25
#endif

#ifndef RUDDER_MIX
 # define RUDDER_MIX           0.5f
#endif


//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////
// Logging control
//

#define DEFAULT_LOG_BITMASK   0xffff


//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
#ifndef WP_RADIUS_DEFAULT
 # define WP_RADIUS_DEFAULT              90
#endif

#ifndef LOITER_RADIUS_DEFAULT
 # define LOITER_RADIUS_DEFAULT 60
#endif

#ifndef ALT_HOLD_HOME
 # define ALT_HOLD_HOME 100
#endif

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

#ifndef SCALING_SPEED
 # define SCALING_SPEED          15.0
#endif

// a digital pin to set high when the geo-fence triggers. Defaults
// to -1, which means don't activate a pin
#ifndef FENCE_TRIGGERED_PIN
 # define FENCE_TRIGGERED_PIN -1
#endif

#ifndef AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 #define AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 1
#endif

//////////////////////////////////////////////////////////////////////////////
//  EKF Failsafe
#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

/////////////////////////////////////////////////////////////////////////////
//  Landing Throttle Control Trigger Threshold
#ifndef THR_CTRL_LAND_THRESH
 #define THR_CTRL_LAND_THRESH 0.7
#endif
ArduPlane: replace header guard with pragma once 2016-02-17 21:26:00 -04:00			`#pragma once`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00
			`#include "defines.h"`

			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`
			`// HARDWARE CONFIGURATION AND CONNECTIONS`
			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`

ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE 2012-12-11 20:33:38 -04:00			`#ifdef CONFIG_APM_HARDWARE`
			`#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.`
			`#endif`

imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#ifndef MAV_SYSTEM_ID`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define MAV_SYSTEM_ID 1`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`
			`// RADIO CONFIGURATION`
			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`


This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00			`#ifndef FLAP_1_PERCENT`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FLAP_1_PERCENT 0`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00			`#endif`
			`#ifndef FLAP_1_SPEED`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FLAP_1_SPEED 0`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00			`#endif`
			`#ifndef FLAP_2_PERCENT`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FLAP_2_PERCENT 0`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00			`#endif`
			`#ifndef FLAP_2_SPEED`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FLAP_2_SPEED 0`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00			`#endif`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// FLIGHT_MODE`
			`// FLIGHT_MODE_CHANNEL`
			`//`
			`#ifndef FLIGHT_MODE_CHANNEL`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FLIGHT_MODE_CHANNEL 8`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# error XXX`
			`# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8`
			`# error XXX`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`#if !defined(FLIGHT_MODE_1)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_1 Mode::Number::RTL`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if !defined(FLIGHT_MODE_2)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_2 Mode::Number::RTL`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if !defined(FLIGHT_MODE_3)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_3 Mode::Number::FLY_BY_WIRE_A`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if !defined(FLIGHT_MODE_4)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_4 Mode::Number::FLY_BY_WIRE_A`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if !defined(FLIGHT_MODE_5)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_5 Mode::Number::MANUAL`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#if !defined(FLIGHT_MODE_6)`
Plane: massive refactor and creation of Mode class 2019-01-15 13:46:13 -04:00			`# define FLIGHT_MODE_6 Mode::Number::MANUAL`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`


			`//////////////////////////////////////////////////////////////////////////////`
			`// AUTO_TRIM`
			`//`
			`#ifndef AUTO_TRIM`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define AUTO_TRIM DISABLED`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`


			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`
			`// STARTUP BEHAVIOUR`
			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`

Added missing Manual_level config 2012-06-10 17:08:48 -03:00
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// GROUND_START_DELAY`
			`//`
			`#ifndef GROUND_START_DELAY`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define GROUND_START_DELAY 0`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

Differential spoilers support, elevon offset Fixed differential spoilers support, added elevon offset See PR #2935 2015-10-04 03:22:07 -03:00			`#ifndef DSPOILR_RUD_RATE_DEFAULT`
			`#define DSPOILR_RUD_RATE_DEFAULT 100`
			`#endif`

imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`
			`// FLIGHT AND NAVIGATION CONTROL`
			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`

			`//////////////////////////////////////////////////////////////////////////////`
			`// AIRSPEED_CRUISE`
			`//`
			`#ifndef AIRSPEED_CRUISE`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define AIRSPEED_CRUISE 12 // 12 m/s`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
ArduPlane: change TRIM_ARSPD_CM to AIRSPEED_CRUISE 2024-01-17 22:34:22 -04:00
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00
Minimum ground speed patch from Claudio Natoli. Thanks Claudio! This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed. Airspeed is still limited to FBW-max. Setting min_groundspeed to zero (default) disables the feature. 2011-12-09 19:40:56 -04:00
			`//////////////////////////////////////////////////////////////////////////////`
ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-18 01:53:11 -04:00			`// MIN_GROUNDSPEED`
Minimum ground speed patch from Claudio Natoli. Thanks Claudio! This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed. Airspeed is still limited to FBW-max. Setting min_groundspeed to zero (default) disables the feature. 2011-12-09 19:40:56 -04:00			`//`
ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-18 01:53:11 -04:00			`#ifndef MIN_GROUNDSPEED`
			`# define MIN_GROUNDSPEED 0 // m/s (0 disables)`
Minimum ground speed patch from Claudio Natoli. Thanks Claudio! This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed. Airspeed is still limited to FBW-max. Setting min_groundspeed to zero (default) disables the feature. 2011-12-09 19:40:56 -04:00			`#endif`


imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// FLY_BY_WIRE_B airspeed control`
			`//`
Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)." This reverts commit da1b18d91883030048bbf784efe93a2afb67a9ee. 2016-08-07 21:48:36 -03:00			`#ifndef AIRSPEED_FBW_MIN`
			`# define AIRSPEED_FBW_MIN 9`
			`#endif`
			`#ifndef AIRSPEED_FBW_MAX`
			`# define AIRSPEED_FBW_MAX 22`
			`#endif`

Plans: rename ALT_CRUISE_MIN to CRUISE_ALT_FLOOR 2024-01-18 21:36:20 -04:00			`#ifndef CRUISE_ALT_FLOOR`
			`# define CRUISE_ALT_FLOOR 0`
Add a feature for a minimum altitude parameter while flying in FBW-B This patch written by YureZzZ - Thank you! 2011-10-17 02:11:40 -03:00			`#endif`


imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// Servo Mapping`
			`//`
			`#ifndef THROTTLE_MIN`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define THROTTLE_MIN 0 // percent`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#ifndef THROTTLE_CRUISE`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define THROTTLE_CRUISE 45`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#ifndef THROTTLE_MAX`
Plane: changed default THR_MAX to 100 we have left it at 75 for far too long 2017-04-03 19:19:41 -03:00			`# define THROTTLE_MAX 100`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`//////////////////////////////////////////////////////////////////////////////`
			`// Autopilot control limits`
			`//`
ArduPlane: change LIM_ROLL_CD to ROLL_LIMIT_DEG 2024-01-18 21:58:28 -04:00			`#ifndef ROLL_LIMIT_DEG`
			`# define ROLL_LIMIT_DEG 45`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#ifndef PITCH_MAX`
Plane: raise default LIM_PITCH_MAX to 20 degrees 15 is often not enough to climb 2014-03-03 00:49:04 -04:00			`# define PITCH_MAX 20`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`
			`#ifndef PITCH_MIN`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define PITCH_MIN -25`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`#ifndef RUDDER_MIX`
Plane: Fix compile warnings - const values declared as default double - This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f. - Only except is in location.pde where some double stuff is happening - I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit 2015-04-11 06:43:13 -03:00			`# define RUDDER_MIX 0.5f`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`


			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`
			`// DEBUGGING`
			`//////////////////////////////////////////////////////////////////////////////`
			`//////////////////////////////////////////////////////////////////////////////`

			`//////////////////////////////////////////////////////////////////////////////`
Plane: rename dataflash to logger 2019-02-11 04:11:32 -04:00			`// Logging control`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00
Plane: default LOG_BITMASK to 32767 on non-APM 2013-12-30 07:26:02 -04:00			`#define DEFAULT_LOG_BITMASK 0xffff`
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 11:18:38 -03:00

imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// Navigation defaults`
			`//`
			`#ifndef WP_RADIUS_DEFAULT`
Plane: raise the default WP radius with L1 a large radius doesn't mean it turns too early 2014-08-29 18:43:11 -03:00			`# define WP_RADIUS_DEFAULT 90`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`#ifndef LOITER_RADIUS_DEFAULT`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define LOITER_RADIUS_DEFAULT 60`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`#ifndef ALT_HOLD_HOME`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define ALT_HOLD_HOME 100`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

			`//////////////////////////////////////////////////////////////////////////////`
			`// Developer Items`
			`//`

APM: added a SCALING_SPEED parameter this allows users to adjust the base speed used for scaling roll/pitch PIDs. This can be used to make PIDs work for both airspeed and non-airspeed control 2012-07-25 22:30:23 -03:00			`#ifndef SCALING_SPEED`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define SCALING_SPEED 15.0`
imported ArduPlane from ArduPilotMega svn 2011-09-08 22:29:39 -03:00			`#endif`

geofence: added FENCE_TRIGGERED_PIN this allows for a digital pin to be set high when the geofence triggers. This pin can be connected to an external failsafe device 2011-12-16 15:28:25 -04:00			`// a digital pin to set high when the geo-fence triggers. Defaults`
			`// to -1, which means don't activate a pin`
			`#ifndef FENCE_TRIGGERED_PIN`
uncrustify ArduPlane/config.h 2012-08-21 23:19:51 -03:00			`# define FENCE_TRIGGERED_PIN -1`
geofence: added FENCE_TRIGGERED_PIN this allows for a digital pin to be set high when the geofence triggers. This pin can be connected to an external failsafe device 2011-12-16 15:28:25 -04:00			`#endif`
APM: added RST_SWITCH_CH parameter This is useful for switching back to the mode indicated by the control switch after a failsafe or fence breach. I was just changing modes each time, but it is far more elegant to have a spring loaded switch for "I am ready to take control again", rather than continually changing modes. 2011-12-18 18:42:32 -04:00
Plane: rename OFFBOARD_GUIDED to AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED and remove comparison vs ENABLED 2024-08-01 00:07:38 -03:00			`#ifndef AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED`
			`#define AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 1`
Plane: Support a set of offboard MAVLink guided controls with rates + 3 rounds of fixes 2020-05-16 01:02:01 -03:00			`#endif`
Plane: added landing gear support 2018-06-10 03:33:06 -03:00
ArduPlane: Improve EKF failsafe in VTOL modes Replicates Copter behaviour with a three step process if the EKF sustains a loss of navigation as detected by high GPS innovation test ratios: 1) Attempts a yaw reset using the GSF estimate if available 2) Attempts a lane switch 3) Falls back to a non-position mode 2020-05-04 20:12:14 -03:00			`//////////////////////////////////////////////////////////////////////////////`
			`// EKF Failsafe`
			`#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`
ArduPlane: add thr position trigger to ThrLandCtrl Q_OPTION 2021-08-17 12:29:42 -03:00
			`/////////////////////////////////////////////////////////////////////////////`
			`// Landing Throttle Control Trigger Threshold`
			`#ifndef THR_CTRL_LAND_THRESH`
			`#define THR_CTRL_LAND_THRESH 0.7`
			`#endif`