mirror of https://github.com/ArduPilot/ardupilot
558 lines
18 KiB
C
558 lines
18 KiB
C
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//
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#pragma once
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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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//
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#include "defines.h"
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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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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build Blimp
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#endif
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#ifndef ADVANCED_FAILSAFE
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# define ADVANCED_FAILSAFE DISABLED
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#endif
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#ifndef ARMING_DELAY_SEC
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# define ARMING_DELAY_SEC 2.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG MULTICOPTER_FRAME
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// default RC speed in Hz
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#ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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#ifndef RANGEFINDER_ENABLED
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# define RANGEFINDER_ENABLED ENABLED
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#endif
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#ifndef RANGEFINDER_HEALTH_MAX
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# 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_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // rangefinder filter reset if no updates from sensor in 1 second
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#endif
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#ifndef RANGEFINDER_GAIN_DEFAULT
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# 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 SURFACE_TRACKING_VELZ_MAX
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# define SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
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#endif
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#ifndef SURFACE_TRACKING_TIMEOUT_MS
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# define SURFACE_TRACKING_TIMEOUT_MS 1000 // surface tracking target 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
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# 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
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# define RANGEFINDER_TILT_CORRECTION ENABLED
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#endif
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#ifndef RANGEFINDER_GLITCH_ALT_CM
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# define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch
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#endif
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#ifndef RANGEFINDER_GLITCH_NUM_SAMPLES
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# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Proximity sensor
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//
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#ifndef PROXIMITY_ENABLED
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# define PROXIMITY_ENABLED ENABLED
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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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// Battery monitoring
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//
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// prearm GPS hdop check
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 milliseconds with No RC Input
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL)
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#endif
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#ifndef PREARM_DISPLAY_PERIOD
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# define PREARM_DISPLAY_PERIOD 30
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#endif
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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#ifndef FS_EKF_ACTION_DEFAULT
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
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#endif
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#ifndef FS_EKF_THRESHOLD_DEFAULT
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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#endif
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#ifndef EKF_ORIGIN_MAX_DIST_M
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Crop Sprayer - enabled only on larger firmwares
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#ifndef SPRAYER_ENABLED
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# define SPRAYER_ENABLED HAL_SPRAYER_ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Precision Landing with companion computer or IRLock sensor
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#ifndef PRECISION_LANDING
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# define PRECISION_LANDING ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// gripper - enabled only on larger firmwares
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#ifndef GRIPPER_ENABLED
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# define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// rotations per minute sensor support
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#ifndef RPM_ENABLED
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# define RPM_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Parachute release
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#ifndef PARACHUTE
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# define PARACHUTE HAL_PARACHUTE_ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Nav-Guided - allows external nav computer to control vehicle
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#ifndef NAV_GUIDED
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# define NAV_GUIDED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Acro - fly vehicle in acrobatic mode
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#ifndef MODE_ACRO_ENABLED
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# define MODE_ACRO_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto mode - allows vehicle to trace waypoints and perform automated actions
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#ifndef MODE_AUTO_ENABLED
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# define MODE_AUTO_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Brake mode - bring vehicle to stop
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#ifndef MODE_BRAKE_ENABLED
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# define MODE_BRAKE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Circle - fly vehicle around a central point
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#ifndef MODE_CIRCLE_ENABLED
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# define MODE_CIRCLE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Drift - fly vehicle in altitude-held, coordinated-turn mode
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#ifndef MODE_DRIFT_ENABLED
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# define MODE_DRIFT_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// flip - fly vehicle in flip in pitch and roll direction mode
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#ifndef MODE_FLIP_ENABLED
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# define MODE_FLIP_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Follow - follow another vehicle or GCS
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#ifndef MODE_FOLLOW_ENABLED
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# define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Guided mode - control vehicle's position or angles from GCS
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#ifndef MODE_GUIDED_ENABLED
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# define MODE_GUIDED_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GuidedNoGPS mode - control vehicle's angles from GCS
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#ifndef MODE_GUIDED_NOGPS_ENABLED
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# define MODE_GUIDED_NOGPS_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter mode - allows vehicle to hold global position
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#ifndef MODE_LOITER_ENABLED
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# define MODE_LOITER_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Position Hold - enable holding of global position
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#ifndef MODE_POSHOLD_ENABLED
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# define MODE_POSHOLD_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RTL - Return To Launch
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#ifndef MODE_RTL_ENABLED
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# define MODE_RTL_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
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#ifndef MODE_SMARTRTL_ENABLED
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# define MODE_SMARTRTL_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sport - fly vehicle in rate-controlled (earth-frame) mode
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#ifndef MODE_SPORT_ENABLED
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# define MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// System ID - conduct system identification tests on vehicle
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#ifndef MODE_SYSTEMID_ENABLED
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# define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 Mode::Number::MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Takeoff
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//
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#ifndef PILOT_TKOFF_ALT_DEFAULT
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# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing
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//
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#ifndef LAND_SPEED
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
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#endif
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#ifndef LAND_REPOSITION_DEFAULT
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
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#endif
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#ifndef LAND_WITH_DELAY_MS
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# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
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#endif
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#ifndef LAND_CANCEL_TRIGGER_THR
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# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
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#endif
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#ifndef LAND_RANGEFINDER_MIN_ALT_CM
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#define LAND_RANGEFINDER_MIN_ALT_CM 200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing Detector
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//
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#ifndef LAND_DETECTOR_TRIGGER_SEC
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# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
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#endif
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
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# 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)
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#endif
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#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
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# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
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#endif
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#ifndef LAND_DETECTOR_ACCEL_MAX
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# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA TRIGGER AND CONTROL
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//
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#ifndef CAMERA
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# define CAMERA ENABLED
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#endif
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||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////
|
||
|
|
// 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_RP_EXPO_DEFAULT
|
||
|
|
#define ACRO_RP_EXPO_DEFAULT 0.3f
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef ACRO_Y_EXPO_DEFAULT
|
||
|
|
#define ACRO_Y_EXPO_DEFAULT 0.0f
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef ACRO_THR_MID_DEFAULT
|
||
|
|
#define ACRO_THR_MID_DEFAULT 0.0f
|
||
|
|
#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
|
||
|
|
|
||
|
|
#ifndef RTL_ABS_MIN_CLIMB
|
||
|
|
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef RTL_CONE_SLOPE_DEFAULT
|
||
|
|
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef RTL_MIN_CONE_SLOPE
|
||
|
|
# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef RTL_LOITER_TIME
|
||
|
|
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning 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 YAW_LOOK_AHEAD_MIN_SPEED
|
||
|
|
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before blimp is aimed at ground course
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////
|
||
|
|
// Stabilize Rate Control
|
||
|
|
//
|
||
|
|
#ifndef ROLL_PITCH_YAW_INPUT_MAX
|
||
|
|
# define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range
|
||
|
|
#endif
|
||
|
|
#ifndef DEFAULT_ANGLE_MAX
|
||
|
|
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
|
||
|
|
#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
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////
|
||
|
|
// PosHold parameter defaults
|
||
|
|
//
|
||
|
|
#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 defaults
|
||
|
|
//
|
||
|
|
|
||
|
|
#ifndef THR_DZ_DEFAULT
|
||
|
|
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// default maximum vertical velocity and acceleration the pilot may request
|
||
|
|
#ifndef PILOT_VELZ_MAX
|
||
|
|
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
|
||
|
|
#endif
|
||
|
|
#ifndef PILOT_ACCEL_Z_DEFAULT
|
||
|
|
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef AUTO_DISARMING_DELAY
|
||
|
|
# define AUTO_DISARMING_DELAY 10
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////
|
||
|
|
// Throw mode configuration
|
||
|
|
//
|
||
|
|
#ifndef THROW_HIGH_SPEED
|
||
|
|
# define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling)
|
||
|
|
#endif
|
||
|
|
#ifndef THROW_VERTICAL_SPEED
|
||
|
|
# define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////
|
||
|
|
// 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
|
||
|
|
|
||
|
|
#ifndef CH_MODE_DEFAULT
|
||
|
|
# define CH_MODE_DEFAULT 5
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef STATS_ENABLED
|
||
|
|
# define STATS_ENABLED ENABLED
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef HAL_FRAME_TYPE_DEFAULT
|
||
|
|
#define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH
|
||
|
|
#endif
|