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https://github.com/ArduPilot/ardupilot
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Sub: Remove unused #defines from config.h
This commit is contained in:
Jacob Walser
parent
0b080c78d8
commit
0c4e426ddb
126
ArduSub/config.h
126
ArduSub/config.h
@ -151,19 +151,6 @@
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// prearm GPS hdop check
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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@ -172,40 +159,11 @@
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# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
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#endif
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#ifndef PREARM_DISPLAY_PERIOD
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# define PREARM_DISPLAY_PERIOD 30
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#endif
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
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#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
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#define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
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#endif
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
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#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
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#define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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#ifndef FS_EKF_ACTION_DEFAULT
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@ -225,22 +183,6 @@
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# define MAGNETOMETER ENABLED
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#endif
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
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#ifndef COMPASS_MAGFIELD_EXPECTED
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#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
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#endif
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
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#endif
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#else // SITL, etc
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 500
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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@ -288,14 +230,6 @@
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA TRIGGER AND CONTROL
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//
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@ -340,39 +274,6 @@
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#define ACRO_EXPO_DEFAULT 0.3f
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#endif
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// RTL Mode
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#ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch.
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#endif
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#ifndef RTL_ALT
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# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
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#endif
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#ifndef RTL_ALT_MIN
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# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
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#endif
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#ifndef RTL_CLIMB_MIN_DEFAULT
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# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
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#endif
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#ifndef RTL_ABS_MIN_CLIMB
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# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
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#endif
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#ifndef RTL_CONE_SLOPE_DEFAULT
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# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
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#endif
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#ifndef RTL_MIN_CONE_SLOPE
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# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
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#endif
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#ifndef RTL_LOITER_TIME
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# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
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#endif
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// AUTO Mode
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#ifndef WP_YAW_BEHAVIOR_DEFAULT
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
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@ -386,11 +287,6 @@
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before vehicle is aimed at ground course
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#endif
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// Super Simple mode
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#ifndef SUPER_SIMPLE_RADIUS
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# define SUPER_SIMPLE_RADIUS 1000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stabilize Rate Control
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//
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@ -400,9 +296,6 @@
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#ifndef DEFAULT_ANGLE_MAX
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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#endif
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#ifndef ANGLE_RATE_MAX
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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@ -411,16 +304,6 @@
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# define POS_XY_P 1.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stop mode defaults
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//
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#ifndef BRAKE_MODE_SPEED_Z
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# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
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#endif
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#ifndef BRAKE_MODE_DECEL_RATE
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# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Velocity (horizontal) gains
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//
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@ -486,15 +369,6 @@
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# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
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#endif
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// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
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#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
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# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
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#endif
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// the acceleration used to define the distance-velocity curve
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#ifndef ALT_HOLD_ACCEL_MAX
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# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
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#endif
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#ifndef AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 0
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#endif
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