2011-03-19 07:20:11 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2010-12-19 12:40:33 -04:00
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//
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2012-01-01 15:44:51 -04:00
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#ifndef __ARDUCOPTER_CONFIG_H__
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#define __ARDUCOPTER_CONFIG_H__
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2010-12-19 12:40:33 -04:00
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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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2011-02-19 22:03:01 -04:00
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///
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2012-04-18 16:16:02 -03:00
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#ifdef USE_CMAKE_APM_CONFIG
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
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#else
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2011-02-24 01:56:59 -04:00
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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2012-04-18 16:16:02 -03:00
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#endif
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2010-12-19 12:40:33 -04:00
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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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2011-11-12 23:39:41 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// APM HARDWARE
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//
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#ifndef CONFIG_APM_HARDWARE
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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2011-11-25 19:11:25 -04:00
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// APM2 HARDWARE DEFAULTS
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2011-11-12 23:39:41 -04:00
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//
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2011-11-25 19:11:25 -04:00
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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2011-11-12 23:39:41 -04:00
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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2011-11-13 18:45:15 -04:00
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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2011-11-12 23:39:41 -04:00
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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2011-12-28 05:30:35 -04:00
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# define MAGNETOMETER ENABLED
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2011-11-27 02:09:14 -04:00
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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2011-11-27 02:07:00 -04:00
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# define CONFIG_BARO AP_BARO_MS5611
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2011-11-27 02:09:14 -04:00
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# endif
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2011-11-12 23:39:41 -04:00
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#endif
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2010-12-19 12:40:33 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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2011-02-19 22:03:01 -04:00
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//
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2010-12-19 12:40:33 -04:00
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#ifndef FRAME_CONFIG
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2012-01-08 02:23:44 -04:00
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# define FRAME_CONFIG QUAD_FRAME
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2010-12-19 12:40:33 -04:00
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#endif
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2011-05-18 20:38:24 -03:00
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#ifndef FRAME_ORIENTATION
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2012-01-08 02:23:44 -04:00
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# define FRAME_ORIENTATION X_FRAME
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2011-05-18 20:38:24 -03:00
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#endif
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2011-11-12 23:39:41 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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#ifndef CONFIG_IMU_TYPE
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
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# define CONFIG_MPU6000_CHIP_SELECT_PIN 53
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# endif
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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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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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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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2010-12-19 12:40:33 -04:00
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2011-10-12 02:20:23 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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//
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#ifndef INSTANT_PWM
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# define INSTANT_PWM DISABLED
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#endif
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2012-03-02 02:24:44 -04:00
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// default RC speed in Hz if INSTANT_PWM is not used
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#ifndef RC_FAST_SPEED
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2012-04-21 11:46:36 -03:00
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# if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# else
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# define RC_FAST_SPEED 490
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# endif
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2012-03-02 02:24:44 -04:00
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#endif
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2012-05-15 11:07:03 -03:00
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////////////////////////////////////////////////////////
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2011-11-12 23:39:41 -04:00
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// LED and IO Pins
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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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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2011-11-20 05:42:51 -04:00
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# define USB_MUX_PIN -1
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2011-12-11 13:53:05 -04:00
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# define CLI_SLIDER_ENABLED DISABLED
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2011-12-29 23:06:31 -04:00
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# define OPTFLOW_CS_PIN 34
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2012-01-15 20:10:02 -04:00
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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2011-11-25 19:11:25 -04:00
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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2011-11-12 23:39:41 -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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2011-12-29 23:06:31 -04:00
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# define USB_MUX_PIN 23
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2012-04-21 08:15:16 -03:00
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# define OPTFLOW_CS_PIN A3
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2012-01-15 20:10:02 -04:00
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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2011-11-12 23:39:41 -04:00
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#endif
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2012-05-15 11:07:03 -03:00
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////////////////////////////////////////////////////////////////////////////////
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// CopterLEDs
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//
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2012-04-12 10:51:17 -03:00
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#ifndef COPTER_LEDS
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#define COPTER_LEDS ENABLED
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#endif
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2012-05-15 11:07:03 -03:00
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#define COPTER_LED_ON HIGH
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#define COPTER_LED_OFF LOW
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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2012-05-15 13:00:21 -03:00
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#define COPTER_LED_1 AN4 // Motor or Aux LED
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#define COPTER_LED_2 AN5 // Motor LED or Beeper
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#define COPTER_LED_3 AN6 // Motor or GPS LED
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#define COPTER_LED_4 AN7 // Motor LED
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2012-05-15 11:07:03 -03:00
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#define COPTER_LED_5 AN8 // Motor LED
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#define COPTER_LED_6 AN9 // Motor LED
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#define COPTER_LED_7 AN10 // Motor LED
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#define COPTER_LED_8 AN11 // Motor LED
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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2012-05-15 13:00:21 -03:00
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#define COPTER_LED_1 AN8 // Motor or Aux LED
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#define COPTER_LED_2 AN9 // Motor LED
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#define COPTER_LED_3 AN10 // Motor or GPS LED
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#define COPTER_LED_4 AN11 // Motor LED
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2012-05-15 11:07:03 -03:00
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#define COPTER_LED_5 AN12 // Motor LED
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#define COPTER_LED_6 AN13 // Motor LED
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#define COPTER_LED_7 AN14 // Motor LED
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#define COPTER_LED_8 AN15 // Motor LED
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#endif
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2011-11-12 23:39:41 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// Pushbutton & Relay
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//
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#ifndef CONFIG_PUSHBUTTON
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# define CONFIG_PUSHBUTTON ENABLED
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#endif
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#ifndef CONFIG_RELAY
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# define CONFIG_RELAY ENABLED
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#endif
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2011-10-12 02:20:23 -03:00
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2011-11-27 02:07:00 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// Barometer
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//
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#ifndef CONFIG_BARO
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# define CONFIG_BARO AP_BARO_BMP085
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#endif
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2011-02-20 19:09:28 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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2011-06-16 14:03:26 -03:00
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2011-11-12 23:39:41 -04:00
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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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2012-01-26 09:50:48 -04:00
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
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2011-11-12 23:39:41 -04:00
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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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#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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#endif
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2012-02-11 19:53:09 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// Channel Config (custom MOT channel mappings)
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//
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#ifndef CONFIG_CHANNELS
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# define CONFIG_CHANNELS CHANNEL_CONFIG_DEFAULT
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#endif
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2011-11-12 23:39:41 -04:00
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2011-08-05 13:21:21 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// Acrobatics
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//
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#ifndef CH7_OPTION
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2012-02-10 02:33:01 -04:00
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# define CH7_OPTION CH7_SAVE_WP
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2011-08-05 13:21:21 -03:00
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#endif
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2011-05-25 02:48:33 -03:00
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2011-02-24 01:56:59 -04:00
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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2011-05-09 09:20:22 -03:00
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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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2011-02-24 01:56:59 -04:00
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2011-05-09 09:20:22 -03:00
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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2011-05-09 12:46:56 -03:00
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2011-05-09 09:20:22 -03:00
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# undef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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2011-02-24 01:56:59 -04:00
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2011-12-11 23:59:39 -04:00
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#undef CONFIG_SONAR
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#define CONFIG_SONAR DISABLED
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2011-02-24 01:56:59 -04:00
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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#ifndef GPS_PROTOCOL
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2011-05-18 20:38:24 -03:00
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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2011-02-24 01:56:59 -04:00
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#endif
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2010-12-19 12:40:33 -04:00
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2011-05-25 02:48:33 -03:00
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2011-05-09 12:46:56 -03:00
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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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2011-05-25 02:48:33 -03:00
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2010-12-19 12:40:33 -04:00
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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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2011-02-24 01:56:59 -04:00
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# define SERIAL0_BAUD 115200
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2010-12-19 12:40:33 -04:00
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#endif
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#ifndef SERIAL3_BAUD
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2011-02-24 01:56:59 -04:00
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# define SERIAL3_BAUD 57600
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2010-12-19 12:40:33 -04:00
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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
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOW_VOLTAGE
|
2011-01-16 23:44:12 -04:00
|
|
|
# define LOW_VOLTAGE 9.6
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef VOLT_DIV_RATIO
|
2011-05-09 12:46:56 -03:00
|
|
|
# define VOLT_DIV_RATIO 3.56
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-02-24 01:56:59 -04:00
|
|
|
|
2011-05-09 12:46:56 -03:00
|
|
|
#ifndef CURR_AMP_PER_VOLT
|
|
|
|
|
# define CURR_AMP_PER_VOLT 27.32
|
2011-01-16 23:44:12 -04:00
|
|
|
#endif
|
2011-05-09 12:46:56 -03:00
|
|
|
#ifndef CURR_AMPS_OFFSET
|
|
|
|
|
# define CURR_AMPS_OFFSET 0.0
|
2011-01-16 23:44:12 -04:00
|
|
|
#endif
|
2011-05-09 12:46:56 -03:00
|
|
|
#ifndef HIGH_DISCHARGE
|
2011-09-18 21:12:28 -03:00
|
|
|
# define HIGH_DISCHARGE 1760
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
2012-05-15 11:07:03 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-05-25 02:48:33 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// INPUT_VOLTAGE
|
|
|
|
|
//
|
|
|
|
|
#ifndef INPUT_VOLTAGE
|
|
|
|
|
# define INPUT_VOLTAGE 5.0
|
|
|
|
|
#endif
|
|
|
|
|
|
2011-05-25 02:48:33 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// MAGNETOMETER
|
2011-02-24 01:56:59 -04:00
|
|
|
#ifndef MAGNETOMETER
|
2011-12-26 20:00:39 -04:00
|
|
|
# define MAGNETOMETER ENABLED
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-02-24 01:56:59 -04:00
|
|
|
#ifndef MAG_ORIENTATION
|
|
|
|
|
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
2011-07-21 20:14:53 -03:00
|
|
|
// OPTICAL_FLOW
|
|
|
|
|
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
|
2011-12-10 10:22:40 -04:00
|
|
|
#define OPTFLOW_ENABLED
|
2011-07-21 20:14:53 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
|
|
|
|
|
# define OPTFLOW DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_ORIENTATION
|
|
|
|
|
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
|
|
|
|
|
#endif
|
2012-01-25 08:55:14 -04:00
|
|
|
#ifndef OPTFLOW_RESOLUTION
|
|
|
|
|
# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
|
|
|
|
|
#endif
|
2011-07-21 20:14:53 -03:00
|
|
|
#ifndef OPTFLOW_FOV
|
2011-08-07 10:15:19 -03:00
|
|
|
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
|
2011-07-21 20:14:53 -03:00
|
|
|
#endif
|
2012-01-09 00:53:54 -04:00
|
|
|
// optical flow based loiter PI values
|
|
|
|
|
#ifndef OPTFLOW_ROLL_P
|
2012-01-25 08:55:14 -04:00
|
|
|
#define OPTFLOW_ROLL_P 2.5
|
2012-01-09 00:53:54 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_ROLL_I
|
2012-01-31 19:04:18 -04:00
|
|
|
#define OPTFLOW_ROLL_I 3.2
|
2012-01-25 08:55:14 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_ROLL_D
|
|
|
|
|
#define OPTFLOW_ROLL_D 0.12
|
2012-01-09 00:53:54 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_PITCH_P
|
2012-01-25 08:55:14 -04:00
|
|
|
#define OPTFLOW_PITCH_P 2.5
|
2012-01-09 00:53:54 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_PITCH_I
|
2012-01-31 19:04:18 -04:00
|
|
|
#define OPTFLOW_PITCH_I 3.2
|
2012-01-25 08:55:14 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_PITCH_D
|
|
|
|
|
#define OPTFLOW_PITCH_D 0.12
|
2012-01-09 00:53:54 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef OPTFLOW_IMAX
|
|
|
|
|
#define OPTFLOW_IMAX 4
|
|
|
|
|
#endif
|
|
|
|
|
|
2011-07-21 20:14:53 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// RADIO CONFIGURATION
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// FLIGHT_MODE
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
#if !defined(FLIGHT_MODE_1)
|
|
|
|
|
# define FLIGHT_MODE_1 STABILIZE
|
|
|
|
|
#endif
|
|
|
|
|
#if !defined(FLIGHT_MODE_2)
|
|
|
|
|
# define FLIGHT_MODE_2 STABILIZE
|
|
|
|
|
#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 STABILIZE
|
|
|
|
|
#endif
|
|
|
|
|
#if !defined(FLIGHT_MODE_6)
|
|
|
|
|
# define FLIGHT_MODE_6 STABILIZE
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// THROTTLE_FAILSAFE
|
|
|
|
|
// THROTTLE_FS_VALUE
|
|
|
|
|
// THROTTLE_FAILSAFE_ACTION
|
|
|
|
|
//
|
|
|
|
|
#ifndef THROTTLE_FAILSAFE
|
2011-05-21 03:50:46 -03:00
|
|
|
# define THROTTLE_FAILSAFE DISABLED
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef THROTTE_FS_VALUE
|
2011-05-21 03:50:46 -03:00
|
|
|
# define THROTTLE_FS_VALUE 975
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef THROTTLE_FAILSAFE_ACTION
|
2011-05-21 03:50:46 -03:00
|
|
|
# define THROTTLE_FAILSAFE_ACTION 2
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-06-19 02:31:33 -03:00
|
|
|
#ifndef MINIMUM_THROTTLE
|
2012-06-20 19:22:24 -03:00
|
|
|
# define MINIMUM_THROTTLE 130
|
2011-06-19 02:31:33 -03:00
|
|
|
#endif
|
2011-12-29 02:37:00 -04:00
|
|
|
#ifndef MAXIMUM_THROTTLE
|
2012-06-12 17:57:31 -03:00
|
|
|
# define MAXIMUM_THROTTLE 1000
|
2011-12-29 02:37:00 -04:00
|
|
|
#endif
|
|
|
|
|
|
2012-01-20 20:48:47 -04:00
|
|
|
#ifndef AUTO_LAND_TIME
|
2012-07-19 21:48:48 -03:00
|
|
|
# define AUTO_LAND_TIME 5
|
2012-01-20 20:48:47 -04:00
|
|
|
#endif
|
|
|
|
|
|
2011-12-29 02:37:00 -04:00
|
|
|
|
2011-06-19 02:31:33 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// STARTUP BEHAVIOUR
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// GROUND_START_DELAY
|
|
|
|
|
//
|
|
|
|
|
#ifndef GROUND_START_DELAY
|
2011-06-01 02:50:17 -03:00
|
|
|
# define GROUND_START_DELAY 3
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// FLIGHT AND NAVIGATION CONTROL
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
2011-04-17 02:17:42 -03:00
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Y6 Support
|
|
|
|
|
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef TOP_BOTTOM_RATIO
|
2011-11-07 02:43:49 -04:00
|
|
|
# define TOP_BOTTOM_RATIO 1.00
|
2011-04-17 02:17:42 -03:00
|
|
|
#endif
|
|
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2012-07-10 19:39:13 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// CAMERA TRIGGER AND CONTROL
|
|
|
|
|
//
|
|
|
|
|
#ifndef CAMERA
|
2012-08-05 19:23:48 -03:00
|
|
|
# if defined( __AVR_ATmega1280__ )
|
|
|
|
|
# define CAMERA DISABLED
|
|
|
|
|
# else
|
|
|
|
|
# define CAMERA ENABLED
|
|
|
|
|
# endif
|
2012-07-10 19:39:13 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// MOUNT (ANTENNA OR CAMERA)
|
|
|
|
|
//
|
|
|
|
|
#ifndef MOUNT
|
2012-08-05 19:23:48 -03:00
|
|
|
# if defined( __AVR_ATmega1280__ )
|
|
|
|
|
# define MOUNT DISABLED
|
|
|
|
|
# else
|
|
|
|
|
# define MOUNT ENABLED
|
|
|
|
|
# endif
|
2012-07-10 19:39:13 -03:00
|
|
|
#endif
|
|
|
|
|
|
2012-08-04 13:38:50 -03:00
|
|
|
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED)
|
2012-08-05 19:23:48 -03:00
|
|
|
# warning "You choose to enable MOUNT on a small ATmega1280, CLI, CAMERA and AP_LIMITS will be disabled to free some space for it"
|
2012-08-04 13:38:50 -03:00
|
|
|
|
|
|
|
|
// The small ATmega1280 chip does not have enough memory for mount support
|
|
|
|
|
// so disable CLI, this will allow mount support and other improvements to fit.
|
2012-07-10 19:39:13 -03:00
|
|
|
// This should almost have no side effects, because the APM planner can now do a complete board setup.
|
2012-08-04 13:38:50 -03:00
|
|
|
# define CLI_ENABLED DISABLED
|
|
|
|
|
|
|
|
|
|
// The small ATmega1280 chip does not have enough memory for mount support
|
|
|
|
|
// so disable AUTO GPS support, this will allow mount support and other improvements to fit.
|
|
|
|
|
// This should almost have no side effects, because the most users use MTK anyways.
|
|
|
|
|
// If the user defined a GPS protocol, than we will NOT overwrite it
|
|
|
|
|
# if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
|
|
|
|
|
# undef GPS_PROTOCOL
|
|
|
|
|
# define GPS_PROTOCOL GPS_PROTOCOL_MTK
|
|
|
|
|
# endif
|
|
|
|
|
|
2012-08-05 18:05:52 -03:00
|
|
|
// To save some more space
|
|
|
|
|
# undef CAMERA
|
|
|
|
|
# define CAMERA DISABLED
|
2012-08-05 19:23:48 -03:00
|
|
|
# define AP_LIMITS DISABLED
|
2012-08-05 18:05:52 -03:00
|
|
|
|
2012-07-10 19:39:13 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
2011-09-04 21:15:36 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Attitude Control
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
// Alt Hold Mode
|
|
|
|
|
#ifndef ALT_HOLD_YAW
|
|
|
|
|
# define ALT_HOLD_YAW YAW_HOLD
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef ALT_HOLD_RP
|
|
|
|
|
# define ALT_HOLD_RP ROLL_PITCH_STABLE
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef ALT_HOLD_THR
|
|
|
|
|
# define ALT_HOLD_THR THROTTLE_HOLD
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// AUTO Mode
|
|
|
|
|
#ifndef AUTO_YAW
|
|
|
|
|
# define AUTO_YAW YAW_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef AUTO_RP
|
|
|
|
|
# define AUTO_RP ROLL_PITCH_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef AUTO_THR
|
|
|
|
|
# define AUTO_THR THROTTLE_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// CIRCLE Mode
|
|
|
|
|
#ifndef CIRCLE_YAW
|
2011-09-11 15:48:11 -03:00
|
|
|
# define CIRCLE_YAW YAW_AUTO
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef CIRCLE_RP
|
|
|
|
|
# define CIRCLE_RP ROLL_PITCH_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef CIRCLE_THR
|
|
|
|
|
# define CIRCLE_THR THROTTLE_HOLD
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// LOITER Mode
|
|
|
|
|
#ifndef LOITER_YAW
|
|
|
|
|
# define LOITER_YAW YAW_HOLD
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LOITER_RP
|
|
|
|
|
# define LOITER_RP ROLL_PITCH_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LOITER_THR
|
|
|
|
|
# define LOITER_THR THROTTLE_HOLD
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// RTL Mode
|
|
|
|
|
#ifndef RTL_YAW
|
2011-11-20 16:50:06 -04:00
|
|
|
# define RTL_YAW YAW_HOLD
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef RTL_RP
|
|
|
|
|
# define RTL_RP ROLL_PITCH_AUTO
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef RTL_THR
|
2011-09-22 16:28:46 -03:00
|
|
|
# define RTL_THR THROTTLE_HOLD
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
|
|
|
|
|
2011-12-16 00:47:57 -04:00
|
|
|
#ifndef SUPER_SIMPLE
|
|
|
|
|
# define SUPER_SIMPLE DISABLED
|
2011-12-12 14:20:15 -04:00
|
|
|
#endif
|
|
|
|
|
|
2012-06-26 14:38:33 -03:00
|
|
|
#ifndef SUPER_SIMPLE_RADIUS
|
|
|
|
|
# define SUPER_SIMPLE_RADIUS 1000
|
|
|
|
|
#endif
|
|
|
|
|
|
2012-02-15 13:09:42 -04:00
|
|
|
// RTL Mode
|
2012-07-03 21:37:37 -03:00
|
|
|
#ifndef RTL_APPROACH_ALT
|
2012-07-19 21:48:48 -03:00
|
|
|
# define RTL_APPROACH_ALT 200 // cm!!!
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef RTL_HOLD_ALT
|
|
|
|
|
# define RTL_HOLD_ALT 1500 // height to return to Home in CM, 0 = Maintain current altitude
|
2012-02-15 13:09:42 -04:00
|
|
|
#endif
|
|
|
|
|
|
2012-07-03 21:37:37 -03:00
|
|
|
|
2012-01-27 20:27:16 -04:00
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// LOITER Mode
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#ifndef OF_LOITER_YAW
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# define OF_LOITER_YAW YAW_HOLD
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#endif
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#ifndef OF_LOITER_RP
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# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
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#endif
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#ifndef OF_LOITER_THR
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# define OF_LOITER_THR THROTTLE_HOLD
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#endif
|
2011-09-04 21:15:36 -03:00
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2011-07-10 21:47:08 -03:00
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//////////////////////////////////////////////////////////////////////////////
|
2011-07-31 17:09:27 -03:00
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// Attitude Control
|
2011-07-10 21:47:08 -03:00
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//
|
2011-10-21 00:41:52 -03:00
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// Extra motor values that are changed from time to time by jani @ jDrones as software
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// and charachteristics changes.
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|
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#ifdef MOTORS_JD880
|
2012-01-30 22:00:31 -04:00
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# define STABILIZE_ROLL_P 3.7
|
2011-12-18 22:29:05 -04:00
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# define STABILIZE_ROLL_I 0.0
|
2012-07-29 23:01:45 -03:00
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|
# define STABILIZE_ROLL_IMAX 8.0 // degrees
|
2012-01-30 22:00:31 -04:00
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|
# define STABILIZE_PITCH_P 3.7
|
2011-12-18 22:29:05 -04:00
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|
|
# define STABILIZE_PITCH_I 0.0
|
2012-07-29 23:01:45 -03:00
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# define STABILIZE_PITCH_IMAX 8.0 // degrees
|
2011-10-21 00:41:52 -03:00
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#endif
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|
2011-12-18 22:29:05 -04:00
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#ifdef MOTORS_JD850
|
2012-01-30 22:00:31 -04:00
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# define STABILIZE_ROLL_P 4.2
|
2011-12-18 22:29:05 -04:00
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# define STABILIZE_ROLL_I 0.0
|
2012-07-29 23:01:45 -03:00
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# define STABILIZE_ROLL_IMAX 8.0 // degrees
|
2012-01-30 22:00:31 -04:00
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# define STABILIZE_PITCH_P 4.2
|
2011-12-18 22:29:05 -04:00
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# define STABILIZE_PITCH_I 0.0
|
2012-07-29 23:01:45 -03:00
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# define STABILIZE_PITCH_IMAX 8.0 // degrees
|
2011-12-18 22:29:05 -04:00
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#endif
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2012-02-18 18:23:21 -04:00
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#ifndef ACRO_P
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# define ACRO_P 4.5
|
2011-12-29 14:23:59 -04:00
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|
#endif
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|
2012-02-15 15:29:25 -04:00
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|
2012-02-18 18:23:21 -04:00
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#ifndef AXIS_LOCK_ENABLED
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# define AXIS_LOCK_ENABLED DISABLED
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#endif
|
2012-02-15 15:29:25 -04:00
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|
2012-02-18 18:23:21 -04:00
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|
#ifndef AXIS_LOCK_P
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# define AXIS_LOCK_P .02
|
2012-02-15 15:29:25 -04:00
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|
#endif
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|
2012-02-11 19:27:50 -04:00
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|
// Good for smaller payload motors.
|
2011-07-10 21:47:08 -03:00
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|
#ifndef STABILIZE_ROLL_P
|
2012-02-18 18:23:21 -04:00
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|
# define STABILIZE_ROLL_P 4.5
|
2010-12-19 12:40:33 -04:00
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|
|
#endif
|
2011-07-10 21:47:08 -03:00
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|
|
#ifndef STABILIZE_ROLL_I
|
2012-06-30 07:26:14 -03:00
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|
# define STABILIZE_ROLL_I 0.01
|
2010-12-19 12:40:33 -04:00
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|
|
#endif
|
2011-07-10 21:47:08 -03:00
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|
|
#ifndef STABILIZE_ROLL_IMAX
|
2012-07-29 23:01:45 -03:00
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|
# define STABILIZE_ROLL_IMAX 8.0 // degrees
|
2010-12-19 12:40:33 -04:00
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|
|
#endif
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|
2011-07-31 17:09:27 -03:00
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|
|
#ifndef STABILIZE_PITCH_P
|
2012-02-18 18:23:21 -04:00
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|
# define STABILIZE_PITCH_P 4.5
|
2010-12-19 12:40:33 -04:00
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|
|
#endif
|
2011-07-31 17:09:27 -03:00
|
|
|
#ifndef STABILIZE_PITCH_I
|
2012-07-03 21:18:33 -03:00
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|
# define STABILIZE_PITCH_I 0.01
|
2010-12-19 12:40:33 -04:00
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|
|
#endif
|
2011-07-31 17:09:27 -03:00
|
|
|
#ifndef STABILIZE_PITCH_IMAX
|
2012-07-29 23:01:45 -03:00
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|
|
# define STABILIZE_PITCH_IMAX 8.0 // degrees
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
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|
|
2012-01-29 02:00:05 -04:00
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|
|
#ifndef STABILIZE_YAW_P
|
2012-02-17 02:19:39 -04:00
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|
# define STABILIZE_YAW_P 7.0 // increase for more aggressive Yaw Hold, decrease if it's bouncy
|
2011-10-27 15:55:13 -03:00
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|
|
#endif
|
2012-01-29 02:00:05 -04:00
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|
|
#ifndef STABILIZE_YAW_I
|
2012-07-03 21:18:33 -03:00
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|
|
# define STABILIZE_YAW_I 0.02
|
2011-10-27 15:55:13 -03:00
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|
|
#endif
|
2012-01-29 02:00:05 -04:00
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|
|
#ifndef STABILIZE_YAW_IMAX
|
2012-07-29 23:01:45 -03:00
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|
# define STABILIZE_YAW_IMAX 8.0 // degrees * 100
|
2011-10-27 15:55:13 -03:00
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|
|
#endif
|
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|
|
|
//////////////////////////////////////////////////////////////////////////////
|
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|
|
// Stabilize Rate Control
|
2010-12-19 12:40:33 -04:00
|
|
|
//
|
2011-07-31 17:09:27 -03:00
|
|
|
#ifndef RATE_ROLL_P
|
2012-06-05 20:41:31 -03:00
|
|
|
# define RATE_ROLL_P 0.18
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-07-31 17:09:27 -03:00
|
|
|
#ifndef RATE_ROLL_I
|
2012-02-18 18:23:21 -04:00
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|
|
# define RATE_ROLL_I 0.0
|
2012-01-29 02:00:05 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_ROLL_D
|
2012-07-20 02:14:04 -03:00
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|
|
# define RATE_ROLL_D 0.005
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-07-31 17:09:27 -03:00
|
|
|
#ifndef RATE_ROLL_IMAX
|
2012-07-29 23:01:45 -03:00
|
|
|
# define RATE_ROLL_IMAX 5.0 // degrees
|
2011-07-10 21:47:08 -03:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef RATE_PITCH_P
|
2012-06-05 20:41:31 -03:00
|
|
|
# define RATE_PITCH_P 0.18
|
2011-07-10 21:47:08 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_PITCH_I
|
2012-02-18 18:23:21 -04:00
|
|
|
# define RATE_PITCH_I 0.0
|
2012-01-29 02:00:05 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_PITCH_D
|
2012-07-20 02:14:04 -03:00
|
|
|
# define RATE_PITCH_D 0.005
|
2011-07-10 21:47:08 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_PITCH_IMAX
|
2012-07-29 23:01:45 -03:00
|
|
|
# define RATE_PITCH_IMAX 5.0 // degrees
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef RATE_YAW_P
|
2012-01-29 02:00:05 -04:00
|
|
|
# define RATE_YAW_P .13
|
2011-07-10 21:47:08 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_YAW_I
|
2012-07-03 21:18:33 -03:00
|
|
|
# define RATE_YAW_I 0.02
|
2012-01-29 02:00:05 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_YAW_D
|
2012-03-07 02:12:24 -04:00
|
|
|
# define RATE_YAW_D 0.000
|
2011-07-10 21:47:08 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef RATE_YAW_IMAX
|
2012-07-29 23:01:45 -03:00
|
|
|
# define RATE_YAW_IMAX 8.0 // degrees
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-06-30 21:19:10 -03:00
|
|
|
|
|
|
|
|
|
2012-02-18 18:23:21 -04:00
|
|
|
#ifndef STABILIZE_D
|
2012-06-05 20:41:31 -03:00
|
|
|
# define STABILIZE_D 0.00
|
2012-02-29 00:15:18 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef STABILIZE_D_SCHEDULE
|
2012-03-07 02:12:24 -04:00
|
|
|
# define STABILIZE_D_SCHEDULE 0.5
|
2012-02-18 18:23:21 -04:00
|
|
|
#endif
|
|
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
2012-01-12 01:49:23 -04:00
|
|
|
// Loiter control gains
|
2010-12-19 12:40:33 -04:00
|
|
|
//
|
2011-09-04 21:15:36 -03:00
|
|
|
#ifndef LOITER_P
|
2012-06-12 08:56:31 -03:00
|
|
|
# define LOITER_P .20
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-09-04 21:15:36 -03:00
|
|
|
#ifndef LOITER_I
|
2012-01-31 01:12:42 -04:00
|
|
|
# define LOITER_I 0.0
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-09-04 21:15:36 -03:00
|
|
|
#ifndef LOITER_IMAX
|
2012-01-29 02:00:05 -04:00
|
|
|
# define LOITER_IMAX 30 // degrees
|
2012-01-22 02:09:13 -04:00
|
|
|
#endif
|
2011-04-25 02:12:59 -03:00
|
|
|
|
2012-02-15 13:09:42 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Loiter Navigation control gains
|
|
|
|
|
//
|
|
|
|
|
#ifndef LOITER_RATE_P
|
2012-06-12 08:56:31 -03:00
|
|
|
# define LOITER_RATE_P 2.4 //
|
2012-02-15 13:09:42 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOITER_RATE_I
|
2012-05-16 02:01:01 -03:00
|
|
|
# define LOITER_RATE_I 0.08 // Wind control
|
2012-02-15 13:09:42 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOITER_RATE_D
|
2012-06-12 08:56:31 -03:00
|
|
|
# define LOITER_RATE_D 0.40 // try 2 or 3 for LOITER_RATE 1
|
2012-02-15 13:09:42 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOITER_RATE_IMAX
|
2012-02-24 02:02:23 -04:00
|
|
|
# define LOITER_RATE_IMAX 30 // degrees
|
2012-02-15 13:09:42 -04:00
|
|
|
#endif
|
|
|
|
|
|
2012-01-12 01:49:23 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// WP Navigation control gains
|
|
|
|
|
//
|
2011-09-04 21:15:36 -03:00
|
|
|
#ifndef NAV_P
|
2012-07-10 21:18:49 -03:00
|
|
|
# define NAV_P 2.4 //
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
|
|
|
|
#ifndef NAV_I
|
2012-06-29 18:36:13 -03:00
|
|
|
# define NAV_I 0.17 // Wind control
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
2012-01-29 02:00:05 -04:00
|
|
|
#ifndef NAV_D
|
2012-07-09 17:10:12 -03:00
|
|
|
# define NAV_D 0.00 // .95
|
2012-01-29 02:00:05 -04:00
|
|
|
#endif
|
2011-09-04 21:15:36 -03:00
|
|
|
#ifndef NAV_IMAX
|
2012-06-19 23:53:29 -03:00
|
|
|
# define NAV_IMAX 18 // degrees
|
2011-09-04 21:15:36 -03:00
|
|
|
#endif
|
2011-06-28 03:31:18 -03:00
|
|
|
|
2012-02-15 13:09:42 -04:00
|
|
|
#ifndef AUTO_SLEW_RATE
|
|
|
|
|
# define AUTO_SLEW_RATE 30 // degrees
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef WAYPOINT_SPEED_MAX
|
2012-07-11 21:45:56 -03:00
|
|
|
# define WAYPOINT_SPEED_MAX 500 // 6m/s error = 13mph
|
2011-06-28 03:31:18 -03:00
|
|
|
#endif
|
|
|
|
|
|
2012-01-22 02:09:13 -04:00
|
|
|
#ifndef WAYPOINT_SPEED_MIN
|
2012-01-29 02:00:05 -04:00
|
|
|
# define WAYPOINT_SPEED_MIN 100 // 1m/s
|
2012-01-22 02:09:13 -04:00
|
|
|
#endif
|
|
|
|
|
|
2011-09-04 21:15:36 -03:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Throttle control gains
|
|
|
|
|
//
|
2012-03-22 14:01:24 -03:00
|
|
|
#ifndef AUTO_THROTTLE_HOLD
|
|
|
|
|
# define AUTO_THROTTLE_HOLD 1
|
|
|
|
|
#endif
|
|
|
|
|
|
2011-09-23 03:10:55 -03:00
|
|
|
#ifndef THROTTLE_CRUISE
|
2012-03-20 04:34:07 -03:00
|
|
|
# define THROTTLE_CRUISE 450 //
|
2011-09-23 03:10:55 -03:00
|
|
|
#endif
|
|
|
|
|
|
2012-01-29 02:00:05 -04:00
|
|
|
#ifndef ALT_HOLD_P
|
2012-07-21 20:43:23 -03:00
|
|
|
# define ALT_HOLD_P 0.3 // .5
|
2011-10-02 15:36:23 -03:00
|
|
|
#endif
|
2012-01-29 02:00:05 -04:00
|
|
|
#ifndef ALT_HOLD_I
|
2012-07-03 21:37:37 -03:00
|
|
|
# define ALT_HOLD_I 0.038
|
2011-10-02 15:36:23 -03:00
|
|
|
#endif
|
2012-01-29 02:00:05 -04:00
|
|
|
#ifndef ALT_HOLD_IMAX
|
|
|
|
|
# define ALT_HOLD_IMAX 300
|
2011-10-02 15:36:23 -03:00
|
|
|
#endif
|
|
|
|
|
|
2011-10-16 19:41:54 -03:00
|
|
|
// RATE control
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef THROTTLE_P
|
2012-07-19 21:48:48 -03:00
|
|
|
# define THROTTLE_P 0.3 // .25
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef THROTTLE_I
|
2012-07-19 21:48:48 -03:00
|
|
|
# define THROTTLE_I 0.03
|
2012-01-29 02:00:05 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef THROTTLE_D
|
2012-07-03 21:18:33 -03:00
|
|
|
# define THROTTLE_D 0.0 //
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
2011-07-10 21:47:08 -03:00
|
|
|
#ifndef THROTTLE_IMAX
|
2012-01-29 02:00:05 -04:00
|
|
|
# define THROTTLE_IMAX 300
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Crosstrack compensation
|
|
|
|
|
//
|
2011-11-19 17:59:15 -04:00
|
|
|
#ifndef CROSSTRACK_GAIN
|
2012-06-26 02:21:43 -03:00
|
|
|
# define CROSSTRACK_GAIN .2
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// DEBUGGING
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// DEBUG_LEVEL
|
|
|
|
|
//
|
|
|
|
|
#ifndef DEBUG_LEVEL
|
|
|
|
|
# define DEBUG_LEVEL SEVERITY_LOW
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Dataflash logging control
|
|
|
|
|
//
|
2011-12-23 22:44:30 -04:00
|
|
|
// Logging must be disabled for 1280 build.
|
2011-12-09 19:01:14 -04:00
|
|
|
#if defined( __AVR_ATmega1280__ )
|
2011-12-23 22:44:30 -04:00
|
|
|
# if LOGGING_ENABLED == ENABLED
|
|
|
|
|
// If logging was enabled in APM_Config or command line, warn the user.
|
|
|
|
|
# warning "Logging is not supported on ATmega1280"
|
|
|
|
|
# undef LOGGING_ENABLED
|
2011-12-09 19:01:14 -04:00
|
|
|
# endif
|
2011-12-23 22:44:30 -04:00
|
|
|
# ifndef LOGGING_ENABLED
|
|
|
|
|
# define LOGGING_ENABLED DISABLED
|
|
|
|
|
# endif
|
|
|
|
|
#elif !defined(LOGGING_ENABLED)
|
|
|
|
|
// Logging is enabled by default for all other builds.
|
|
|
|
|
# define LOGGING_ENABLED ENABLED
|
2011-07-17 07:31:07 -03:00
|
|
|
#endif
|
|
|
|
|
|
2011-12-03 19:38:46 -04:00
|
|
|
|
2010-12-19 12:40:33 -04:00
|
|
|
#ifndef LOG_ATTITUDE_FAST
|
|
|
|
|
# define LOG_ATTITUDE_FAST DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_ATTITUDE_MED
|
2011-09-14 17:58:18 -03:00
|
|
|
# define LOG_ATTITUDE_MED ENABLED
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_GPS
|
|
|
|
|
# define LOG_GPS ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_PM
|
|
|
|
|
# define LOG_PM ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_CTUN
|
2011-06-28 03:31:18 -03:00
|
|
|
# define LOG_CTUN ENABLED
|
2010-12-19 12:40:33 -04:00
|
|
|
#endif
|
|
|
|
|
#ifndef LOG_NTUN
|
2011-06-28 03:31:18 -03:00
|
|
|
# define LOG_NTUN ENABLED
|
2010-12-19 12:40:33 -04:00
|
|
|
#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
|
2011-07-30 17:42:54 -03:00
|
|
|
// current
|
|
|
|
|
#ifndef LOG_CUR
|
|
|
|
|
# define LOG_CUR DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
// quad motor PWMs
|
|
|
|
|
#ifndef LOG_MOTORS
|
|
|
|
|
# define LOG_MOTORS DISABLED
|
|
|
|
|
#endif
|
2012-03-25 03:55:49 -03:00
|
|
|
// optical flow
|
2011-07-30 17:42:54 -03:00
|
|
|
#ifndef LOG_OPTFLOW
|
2012-01-31 01:12:42 -04:00
|
|
|
# define LOG_OPTFLOW DISABLED
|
2011-01-16 23:44:12 -04:00
|
|
|
#endif
|
2012-03-25 03:55:49 -03:00
|
|
|
#ifndef LOG_PID
|
|
|
|
|
# define LOG_PID DISABLED
|
|
|
|
|
#endif
|
2011-07-17 07:31:17 -03:00
|
|
|
|
2011-08-01 07:06:15 -03:00
|
|
|
// calculate the default log_bitmask
|
|
|
|
|
#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
|
|
|
|
|
|
|
|
|
|
#define DEFAULT_LOG_BITMASK \
|
2012-03-25 03:55:49 -03:00
|
|
|
LOGBIT(ATTITUDE_FAST) | \
|
|
|
|
|
LOGBIT(ATTITUDE_MED) | \
|
|
|
|
|
LOGBIT(GPS) | \
|
|
|
|
|
LOGBIT(PM) | \
|
|
|
|
|
LOGBIT(CTUN) | \
|
|
|
|
|
LOGBIT(NTUN) | \
|
|
|
|
|
LOGBIT(MODE) | \
|
|
|
|
|
LOGBIT(RAW) | \
|
|
|
|
|
LOGBIT(CMD) | \
|
|
|
|
|
LOGBIT(CUR) | \
|
|
|
|
|
LOGBIT(MOTORS) | \
|
|
|
|
|
LOGBIT(OPTFLOW) | \
|
|
|
|
|
LOGBIT(PID)
|
2011-08-01 07:06:15 -03:00
|
|
|
|
2011-05-31 02:29:06 -03:00
|
|
|
// if we are using fast, Disable Medium
|
2011-06-03 02:36:39 -03:00
|
|
|
//#if LOG_ATTITUDE_FAST == ENABLED
|
|
|
|
|
// #undef LOG_ATTITUDE_MED
|
|
|
|
|
// #define LOG_ATTITUDE_MED DISABLED
|
|
|
|
|
//#endif
|
2011-05-31 02:29:06 -03:00
|
|
|
|
2011-02-17 03:09:13 -04:00
|
|
|
#ifndef DEBUG_PORT
|
|
|
|
|
# define DEBUG_PORT 0
|
|
|
|
|
#endif
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-02-17 03:09:13 -04:00
|
|
|
#if DEBUG_PORT == 0
|
|
|
|
|
# define SendDebug_P(a) Serial.print_P(PSTR(a))
|
|
|
|
|
# define SendDebugln_P(a) Serial.println_P(PSTR(a))
|
|
|
|
|
# define SendDebug Serial.print
|
|
|
|
|
# define SendDebugln Serial.println
|
|
|
|
|
#elif DEBUG_PORT == 1
|
|
|
|
|
# define SendDebug_P(a) Serial1.print_P(PSTR(a))
|
|
|
|
|
# define SendDebugln_P(a) Serial1.println_P(PSTR(a))
|
|
|
|
|
# define SendDebug Serial1.print
|
|
|
|
|
# define SendDebugln Serial1.println
|
|
|
|
|
#elif DEBUG_PORT == 2
|
|
|
|
|
# define SendDebug_P(a) Serial2.print_P(PSTR(a))
|
|
|
|
|
# define SendDebugln_P(a) Serial2.println_P(PSTR(a))
|
|
|
|
|
# define SendDebug Serial2.print
|
|
|
|
|
# define SendDebugln Serial2.println
|
|
|
|
|
#elif DEBUG_PORT == 3
|
|
|
|
|
# define SendDebug_P(a) Serial3.print_P(PSTR(a))
|
|
|
|
|
# define SendDebugln_P(a) Serial3.println_P(PSTR(a))
|
|
|
|
|
# define SendDebug Serial3.print
|
|
|
|
|
# define SendDebugln Serial3.println
|
|
|
|
|
#endif
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-02-17 03:09:13 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Navigation defaults
|
|
|
|
|
//
|
|
|
|
|
#ifndef WP_RADIUS_DEFAULT
|
2012-07-03 21:18:33 -03:00
|
|
|
# define WP_RADIUS_DEFAULT 2
|
2011-02-17 03:09:13 -04:00
|
|
|
#endif
|
|
|
|
|
|
2011-09-16 20:54:45 -03:00
|
|
|
#ifndef LOITER_RADIUS
|
2011-11-13 04:25:04 -04:00
|
|
|
# define LOITER_RADIUS 10 // meters for circle mode
|
2011-02-17 03:09:13 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef USE_CURRENT_ALT
|
|
|
|
|
# define USE_CURRENT_ALT FALSE
|
|
|
|
|
#endif
|
|
|
|
|
|
2011-06-01 02:50:17 -03:00
|
|
|
#ifndef CUT_MOTORS
|
|
|
|
|
# define CUT_MOTORS 1 // do we cut the motors with no throttle?
|
|
|
|
|
#endif
|
|
|
|
|
|
2011-03-19 07:18:21 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// RC override
|
|
|
|
|
//
|
|
|
|
|
#ifndef ALLOW_RC_OVERRIDE
|
|
|
|
|
# define ALLOW_RC_OVERRIDE DISABLED
|
|
|
|
|
#endif
|
2011-07-17 07:34:05 -03:00
|
|
|
|
2012-07-16 15:46:43 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// AP_Limits Defaults
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Enable/disable AP_Limits
|
|
|
|
|
#ifndef AP_LIMITS
|
|
|
|
|
#define AP_LIMITS ENABLED
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Use PIN for displaying LIMITS status. 0 is disabled.
|
|
|
|
|
#ifndef LIMITS_TRIGGERED_PIN
|
|
|
|
|
#define LIMITS_TRIGGERED_PIN 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// PWM of "on" state for LIM_CHANNEL
|
|
|
|
|
#ifndef LIMITS_ENABLE_PWM
|
|
|
|
|
#define LIMITS_ENABLE_PWM 1800
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LIM_ENABLED
|
|
|
|
|
#define LIM_ENABLED 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LIM_ALT_ON
|
|
|
|
|
#define LIM_ALT_ON 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LIM_FNC_ON
|
|
|
|
|
#define LIM_FNC_ON 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifndef LIM_GPSLCK_ON
|
|
|
|
|
#define LIM_GPSLCK_ON 0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2011-07-17 07:34:05 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Developer Items
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
// use this to completely disable the CLI
|
|
|
|
|
#ifndef CLI_ENABLED
|
2012-08-05 19:23:48 -03:00
|
|
|
// Sorry the chip is just too small to let this fit
|
|
|
|
|
# if defined( __AVR_ATmega1280__ )
|
|
|
|
|
# define CLI_ENABLED DISABLED
|
|
|
|
|
# else
|
|
|
|
|
# define CLI_ENABLED ENABLED
|
|
|
|
|
# endif
|
2011-07-17 07:34:05 -03:00
|
|
|
#endif
|
2011-09-05 02:12:13 -03:00
|
|
|
|
2011-10-27 04:35:25 -03:00
|
|
|
// use this to disable the CLI slider switch
|
|
|
|
|
#ifndef CLI_SLIDER_ENABLED
|
2012-08-05 19:22:33 -03:00
|
|
|
# define CLI_SLIDER_ENABLED DISABLED
|
2011-10-27 04:35:25 -03:00
|
|
|
#endif
|
|
|
|
|
|
2011-09-05 02:12:13 -03:00
|
|
|
// delay to prevent Xbee bricking, in milliseconds
|
|
|
|
|
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
|
|
|
|
|
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
|
|
|
|
|
#endif
|
2012-01-01 15:44:51 -04:00
|
|
|
|
|
|
|
|
|
2012-03-03 03:35:39 -04:00
|
|
|
// experimental quaternion code
|
|
|
|
|
#ifndef QUATERNION_ENABLE
|
|
|
|
|
# define QUATERNION_ENABLE DISABLED
|
|
|
|
|
#endif
|
2012-01-01 15:44:51 -04:00
|
|
|
|
2012-07-28 02:21:07 -03:00
|
|
|
// experimental mpu6000 DMP code
|
|
|
|
|
#ifndef DMP_ENABLED
|
|
|
|
|
# define DMP_ENABLED DISABLED
|
|
|
|
|
#endif
|
2012-04-23 02:16:41 -03:00
|
|
|
|
2012-06-13 09:50:16 -03:00
|
|
|
#ifndef ALTERNATIVE_YAW_MODE
|
|
|
|
|
# define ALTERNATIVE_YAW_MODE DISABLED
|
|
|
|
|
#endif
|
|
|
|
|
|
2012-01-01 15:44:51 -04:00
|
|
|
#endif // __ARDUCOPTER_CONFIG_H__
|
