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ardupilot/ArduPlane/config.h

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imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
//////////////////////////////////////////////////////////////////////////////
// APM HARDWARE
//
#ifndef CONFIG_APM_HARDWARE
# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
purple: add the remaining hw defines for purple hardware
2011-11-13 04:47:35 -04:00
#endif
apm 1280 disables
2011-12-16 10:26:39 -04:00
#if defined( __AVR_ATmega1280__ )
#define CLI_ENABLED DISABLED
#define LOGGING_ENABLED DISABLED
#endif
purple: add the remaining hw defines for purple hardware
2011-11-13 04:47:35 -04:00
//////////////////////////////////////////////////////////////////////////////
ArduPlane: rename purple to APM2
2011-11-25 19:11:36 -04:00
// APM2 HARDWARE DEFAULTS
purple: add the remaining hw defines for purple hardware
2011-11-13 04:47:35 -04:00
//
ArduPlane: rename purple to APM2
2011-11-25 19:11:36 -04:00
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
purple: add the remaining hw defines for purple hardware
2011-11-13 04:47:35 -04:00
# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED
compass: added AP_COMPASS_APM2_SHIELD this makes the orientation clearer
2011-11-13 18:45:15 -04:00
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
purple: add the remaining hw defines for purple hardware
2011-11-13 04:47:35 -04:00
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
fixed airspeed sensor for ArduPlane on APM2 we were trying to use a non-existant ADC chip!
2011-12-16 16:19:03 -04:00
# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define * This enables the BMA085 driver for compatibility with beta boards. * The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile. config.h takes care of this default.
2011-11-27 02:09:14 -04:00
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
ArduPlane: added config.h and defines.h to support CONFIG_BARO
2011-11-27 02:07:49 -04:00
# define CONFIG_BARO AP_BARO_MS5611
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define * This enables the BMA085 driver for compatibility with beta boards. * The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile. config.h takes care of this default.
2011-11-27 02:09:14 -04:00
# endif
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
#endif
ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define * This enables the BMA085 driver for compatibility with beta boards. * The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile. config.h takes care of this default.
2011-11-27 02:09:14 -04:00
//////////////////////////////////////////////////////////////////////////////
purple: fixed LED and IO pin defintitions
2011-11-13 05:19:07 -04:00
// LED and IO Pins
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define A_LED_PIN 37
# define B_LED_PIN 36
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define SLIDE_SWITCH_PIN 40
# define PUSHBUTTON_PIN 41
USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from EEPROM
2011-11-20 05:31:45 -04:00
# define USB_MUX_PIN -1
ArduPlane: rename purple to APM2
2011-11-25 19:11:36 -04:00
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
purple: fixed LED and IO pin defintitions
2011-11-13 05:19:07 -04:00
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from EEPROM
2011-11-20 05:31:45 -04:00
# define USB_MUX_PIN 23
purple: fixed LED and IO pin defintitions
2011-11-13 05:19:07 -04:00
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_SENSOR
// AIRSPEED_RATIO
//
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 AIRSPEED_SENSOR
# define AIRSPEED_SENSOR DISABLED
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
#ifndef AIRSPEED_RATIO
# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
#endif
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
//////////////////////////////////////////////////////////////////////////////
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
// IMU Selection
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
//
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
#ifndef CONFIG_IMU_TYPE
# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
#endif
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
# define CONFIG_MPU6000_CHIP_SELECT_PIN 53
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
ArduPlane: added config.h and defines.h to support CONFIG_BARO
2011-11-27 02:07:49 -04:00
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
#ifndef CONFIG_BARO
# define CONFIG_BARO AP_BARO_BMP085
#endif
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
//////////////////////////////////////////////////////////////////////////////
// Pitot
//
#ifndef PITOT_ENABLED
# define PITOT_ENABLED DISABLED
#endif
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
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
#ifndef CONFIG_PITOT_SOURCE
# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
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
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
# ifndef CONFIG_PITOT_SOURCE_ADC_CHANNEL
# define CONFIG_PITOT_SOURCE_ADC_CHANNEL 7
# endif
#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
# ifndef CONFIG_PITOT_SOURCE_ANALOG_PIN
# define CONFIG_PITOT_SOURCE_ANALOG_PIN AN4
# endif
#else
# warning Invalid value for CONFIG_PITOT_SOURCE, disabling sonar
# undef PITOT_ENABLED
# define PITOT_ENABLED DISABLED
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 SONAR_TYPE
# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
#endif
purple: added config options for purple/APM1 hardware
2011-11-13 00:08:34 -04:00
/* In ArduPlane PITOT usually takes the place of SONAR, but some bits
* still depend on SONAR.
*/
#define SONAR_ENABLED PITOT_ENABLED
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
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
// Note that this test must follow the HIL_PROTOCOL block as the HIL
// setup may override the GPS configuration.
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef BATTERY_EVENT
# define BATTERY_EVENT DISABLED
#endif
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 9.6
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.56
#endif
#ifndef CURR_AMP_PER_VOLT
# define CURR_AMP_PER_VOLT 27.32
#endif
#ifndef CURR_AMPS_OFFSET
# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
# define HIGH_DISCHARGE 1760
#endif
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
# define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER DISABLED
#endif
#ifndef MAG_ORIENTATION
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Radio channel limits
//
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
// Note that these are not called out in APM_Config.h.reference.
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//
#ifndef CH5_MIN
# define CH5_MIN 1000
#endif
#ifndef CH5_MAX
# define CH5_MAX 2000
#endif
#ifndef CH6_MIN
# define CH6_MIN 1000
#endif
#ifndef CH6_MAX
# define CH6_MAX 2000
#endif
#ifndef CH7_MIN
# define CH7_MIN 1000
#endif
#ifndef CH7_MAX
# define CH7_MAX 2000
#endif
#ifndef CH8_MIN
# define CH8_MIN 1000
#endif
#ifndef CH8_MAX
# define CH8_MAX 2000
#endif
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
# define FLAP_1_PERCENT 0
#endif
#ifndef FLAP_1_SPEED
# define FLAP_1_SPEED 255
#endif
#ifndef FLAP_2_PERCENT
# define FLAP_2_PERCENT 0
#endif
#ifndef FLAP_2_SPEED
# define FLAP_2_SPEED 255
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
// 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 RTL
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 RTL
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 MANUAL
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 MANUAL
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_FAILSAFE
// THROTTLE_FS_VALUE
// SHORT_FAILSAFE_ACTION
// LONG_FAILSAFE_ACTION
// GCS_HEARTBEAT_FAILSAFE
//
#ifndef THROTTLE_FAILSAFE
# define THROTTLE_FAILSAFE ENABLED
#endif
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 THROTTLE_FS_VALUE
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
# define THROTTLE_FS_VALUE 950
#endif
#ifndef SHORT_FAILSAFE_ACTION
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
# define SHORT_FAILSAFE_ACTION 0
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
#endif
#ifndef LONG_FAILSAFE_ACTION
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
# define LONG_FAILSAFE_ACTION 0
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
#endif
#ifndef GCS_HEARTBEAT_FAILSAFE
# define GCS_HEARTBEAT_FAILSAFE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM
//
#ifndef AUTO_TRIM
Change default setting for auto_trim to disabled per user (JB) request.
2011-09-12 10:24:52 -03:00
# define AUTO_TRIM DISABLED
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_REVERSE
//
#ifndef THROTTLE_REVERSE
# define THROTTLE_REVERSE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// ENABLE_STICK_MIXING
//
#ifndef ENABLE_STICK_MIXING
# define ENABLE_STICK_MIXING ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_OUT
//
#ifndef THROTTE_OUT
# define THROTTLE_OUT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 0
#endif
//////////////////////////////////////////////////////////////////////////////
// ENABLE_AIR_START
//
#ifndef ENABLE_AIR_START
# define ENABLE_AIR_START DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// ENABLE REVERSE_SWITCH
//
#ifndef REVERSE_SWITCH
# define REVERSE_SWITCH ENABLED
#endif
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
//////////////////////////////////////////////////////////////////////////////
// ENABLE ELEVON_MIXING
//
#ifndef ELEVON_MIXING
# define ELEVON_MIXING DISABLED
#endif
#ifndef ELEVON_REVERSE
# define ELEVON_REVERSE DISABLED
#endif
#ifndef ELEVON_CH1_REVERSE
# define ELEVON_CH1_REVERSE DISABLED
#endif
#ifndef ELEVON_CH2_REVERSE
# define ELEVON_CH2_REVERSE DISABLED
#endif
Added camera and/or antenna mount support. It is fully configurable with the mission planner, there is no need to change the source code to adapt to your setup. It needs more testing, but the SIL is not working for me.
2011-10-31 18:55:58 -03:00
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT DISABLED
#endif
#if defined( __AVR_ATmega1280__ ) && CAMERA == ENABLED
// The small ATmega1280 chip does not have enough memory for camera support
// so disable CLI, this will allow camera support and other improvements to fit.
// This should almost have no side effects, because the APM planner can now do a complete board setup.
#define CLI_ENABLED DISABLED
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Altitude measurement and control.
//
#ifndef ALT_EST_GAIN
# define ALT_EST_GAIN 0.01
#endif
#ifndef ALTITUDE_MIX
# define ALTITUDE_MIX 1
#endif
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE
//
#ifndef AIRSPEED_CRUISE
# define AIRSPEED_CRUISE 12 // 12 m/s
#endif
#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
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
//////////////////////////////////////////////////////////////////////////////
// MIN_GNDSPEED
//
#ifndef MIN_GNDSPEED
# define MIN_GNDSPEED 0 // m/s (0 disables)
#endif
#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control
//
#ifndef AIRSPEED_FBW_MIN
# define AIRSPEED_FBW_MIN 6
#endif
#ifndef AIRSPEED_FBW_MAX
# define AIRSPEED_FBW_MAX 22
#endif
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
#ifndef ALT_HOLD_FBW
# define ALT_HOLD_FBW 0
#endif
#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
/* The following parmaeters have no corresponding control implementation
#ifndef THROTTLE_ALT_P
# define THROTTLE_ALT_P 0.32
#endif
#ifndef THROTTLE_ALT_I
# define THROTTLE_ALT_I 0.0
#endif
#ifndef THROTTLE_ALT_D
# define THROTTLE_ALT_D 0.0
#endif
#ifndef THROTTLE_ALT_INT_MAX
# define THROTTLE_ALT_INT_MAX 20
#endif
#define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
*/
//////////////////////////////////////////////////////////////////////////////
// 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 75
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
#ifndef HEAD_MAX
# define HEAD_MAX 45
#endif
#ifndef PITCH_MAX
# define PITCH_MAX 15
#endif
#ifndef PITCH_MIN
# define PITCH_MIN -25
#endif
#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
#ifndef SERVO_ROLL_P
# define SERVO_ROLL_P 0.4
#endif
#ifndef SERVO_ROLL_I
# define SERVO_ROLL_I 0.0
#endif
#ifndef SERVO_ROLL_D
# define SERVO_ROLL_D 0.0
#endif
#ifndef SERVO_ROLL_INT_MAX
# define SERVO_ROLL_INT_MAX 5
#endif
#define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100
#ifndef ROLL_SLEW_LIMIT
# define ROLL_SLEW_LIMIT 0
#endif
#ifndef SERVO_PITCH_P
# define SERVO_PITCH_P 0.6
#endif
#ifndef SERVO_PITCH_I
# define SERVO_PITCH_I 0.0
#endif
#ifndef SERVO_PITCH_D
# define SERVO_PITCH_D 0.0
#endif
#ifndef SERVO_PITCH_INT_MAX
# define SERVO_PITCH_INT_MAX 5
#endif
#define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100
#ifndef PITCH_COMP
# define PITCH_COMP 0.2
#endif
#ifndef SERVO_YAW_P
# define SERVO_YAW_P 0.0
#endif
#ifndef SERVO_YAW_I
# define SERVO_YAW_I 0.0
#endif
#ifndef SERVO_YAW_D
# define SERVO_YAW_D 0.0
#endif
#ifndef SERVO_YAW_INT_MAX
# define SERVO_YAW_INT_MAX 0
#endif
#ifndef RUDDER_MIX
# define RUDDER_MIX 0.5
#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
#ifndef NAV_ROLL_P
# define NAV_ROLL_P 0.7
#endif
#ifndef NAV_ROLL_I
# define NAV_ROLL_I 0.0
#endif
#ifndef NAV_ROLL_D
# define NAV_ROLL_D 0.02
#endif
#ifndef NAV_ROLL_INT_MAX
# define NAV_ROLL_INT_MAX 5
#endif
#define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100
#ifndef NAV_PITCH_ASP_P
# define NAV_PITCH_ASP_P 0.65
#endif
#ifndef NAV_PITCH_ASP_I
# define NAV_PITCH_ASP_I 0.0
#endif
#ifndef NAV_PITCH_ASP_D
# define NAV_PITCH_ASP_D 0.0
#endif
#ifndef NAV_PITCH_ASP_INT_MAX
# define NAV_PITCH_ASP_INT_MAX 5
#endif
#define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100
#ifndef NAV_PITCH_ALT_P
# define NAV_PITCH_ALT_P 0.65
#endif
#ifndef NAV_PITCH_ALT_I
# define NAV_PITCH_ALT_I 0.0
#endif
#ifndef NAV_PITCH_ALT_D
# define NAV_PITCH_ALT_D 0.0
#endif
#ifndef NAV_PITCH_ALT_INT_MAX
# define NAV_PITCH_ALT_INT_MAX 5
#endif
#define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
#ifndef THROTTLE_TE_P
# define THROTTLE_TE_P 0.50
#endif
#ifndef THROTTLE_TE_I
# define THROTTLE_TE_I 0.0
#endif
#ifndef THROTTLE_TE_D
# define THROTTLE_TE_D 0.0
#endif
#ifndef THROTTLE_TE_INT_MAX
# define THROTTLE_TE_INT_MAX 20
#endif
#ifndef THROTTLE_SLEW_LIMIT
# define THROTTLE_SLEW_LIMIT 0
#endif
#ifndef P_TO_T
# define P_TO_T 0
#endif
#ifndef T_TO_P
# define T_TO_P 0
#endif
#ifndef PITCH_TARGET
# define PITCH_TARGET 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef XTRACK_GAIN
# define XTRACK_GAIN 1 // deg/m
#endif
#ifndef XTRACK_ENTRY_ANGLE
# define XTRACK_ENTRY_ANGLE 30 // deg
#endif
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
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 LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
#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 ENABLED
#endif
#ifndef LOG_CTUN
# define LOG_CTUN DISABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN DISABLED
#endif
#ifndef LOG_MODE
# define LOG_MODE ENABLED
#endif
#ifndef LOG_RAW
# define LOG_RAW DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
#ifndef LOG_CUR
# define LOG_CUR DISABLED
#endif
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
// 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) | \
LOGBIT(RAW) | \
LOGBIT(CMD) | \
LOGBIT(CUR)
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
#ifndef WP_RADIUS_DEFAULT
# define WP_RADIUS_DEFAULT 30
#endif
#ifndef LOITER_RADIUS_DEFAULT
# define LOITER_RADIUS_DEFAULT 60
#endif
#ifndef ALT_HOLD_HOME
# define ALT_HOLD_HOME 100
#endif
#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
#ifndef USE_CURRENT_ALT
# define USE_CURRENT_ALT FALSE
#endif
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 INVERTED_FLIGHT_PWM
# define INVERTED_FLIGHT_PWM 1750
#endif
imported ArduPlane from ArduPilotMega svn
2011-09-08 22:29:39 -03:00
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
#ifndef STANDARD_SPEED
# define STANDARD_SPEED 15.0
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
#endif
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
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
// 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
CLI: enable "hit enter 3 times" support for CLI if you hit enter 3 times before you send any mavlink packets, we will enter CLI mode
2011-10-27 04:35:25 -03:00
// use this to disable the CLI slider switch
#ifndef CLI_SLIDER_ENABLED
# define CLI_SLIDER_ENABLED ENABLED
#endif
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
// delay to prevent Xbee bricking, in milliseconds
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
#endif
geofence: added geo-fencing control parameters
2011-12-15 03:08:58 -04:00
// use this to disable gen-fencing
#ifndef GEOFENCE_ENABLED
# define GEOFENCE_ENABLED ENABLED
#endif
// pwm value on FENCE_CHANNEL to use to enable fenced mode
#ifndef FENCE_ENABLE_PWM
# define FENCE_ENABLE_PWM 1750
#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
# define FENCE_TRIGGERED_PIN -1
#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
// 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