From b9a204419a6dfb5e60a3095e1adda51f4fddc704 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 22 Feb 2013 07:14:07 +1100 Subject: [PATCH] Rover: removed obsolete files --- APMrover2/APM_Config.h.reference | 954 ----------------------------- APMrover2/APM_Config_HILmode.h | 416 ------------- APMrover2/APM_Config_Rover.h | 424 ------------- APMrover2/APM_Config_mavlink_hil.h | 31 - 4 files changed, 1825 deletions(-) delete mode 100644 APMrover2/APM_Config.h.reference delete mode 100644 APMrover2/APM_Config_HILmode.h delete mode 100644 APMrover2/APM_Config_Rover.h delete mode 100644 APMrover2/APM_Config_mavlink_hil.h diff --git a/APMrover2/APM_Config.h.reference b/APMrover2/APM_Config.h.reference deleted file mode 100644 index 23d02d5e00..0000000000 --- a/APMrover2/APM_Config.h.reference +++ /dev/null @@ -1,954 +0,0 @@ -// -// Example and reference ArduPilot Mega configuration file -// ======================================================= -// -// This file contains documentation and examples for configuration options -// supported by the ArduPilot Mega software. -// -// Most of these options are just that - optional. You should create -// the APM_Config.h file and use this file as a reference for options -// that you want to change. Don't copy this file directly; the options -// described here and their default values may change over time. -// -// Each item is marked with a keyword describing when you should set it: -// -// REQUIRED -// You must configure this in your APM_Config.h file. The -// software will not compile if the option is not set. -// -// OPTIONAL -// The option has a sensible default (which will be described -// here), but you may wish to override it. -// -// EXPERIMENTAL -// You should configure this option unless you are prepared -// to deal with potential problems. It may relate to a feature -// still in development, or which is not yet adequately tested. -// -// DEBUG -// The option should only be set if you are debugging the -// software, or if you are gathering information for a bug -// report. -// -// NOTE: -// Many of these settings are considered 'factory defaults', and the -// live value is stored and managed in the ArduPilot Mega EEPROM. -// Use the setup 'factoryreset' command after changing options in -// your APM_Config.h file. -// -// Units -// ----- -// -// Unless indicated otherwise, numeric quantities use the following units: -// -// Measurement | Unit -// ------------+------------------------------------- -// angle | degrees -// distance | metres -// speed | metres per second -// servo angle | microseconds -// voltage | volts -// times | seconds -// throttle | percent -// - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// HARDWARE CONFIGURATION AND CONNECTIONS -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// GPS_PROTOCOL REQUIRED -// -// GPS configuration, must be one of: -// -// GPS_PROTOCOL_AUTO Auto detect GPS type (must be a supported GPS) -// GPS_PROTOCOL_NONE No GPS attached -// GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. -// GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4 -// GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9 -// GPS_PROTOCOL_UBLOX UBLOX GPS -// GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED -// GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?) -// -//#define GPS_PROTOCOL GPS_PROTOCOL_AUTO -// - -////////////////////////////////////////////////////////////////////////////// -// AIRSPEED_SENSOR OPTIONAL -// AIRSPEED_RATIO OPTIONAL -// -// Set AIRSPEED_SENSOR to ENABLED if you have an airspeed sensor attached. -// Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed -// sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s -// -// The default assumes that an airspeed sensor is connected. -// -//#define AIRSPEED_SENSOR ENABLED -//#define AIRSPEED_RATIO 1.9936 -// - -////////////////////////////////////////////////////////////////////////////// -// MAGNETOMETER OPTIONAL -// MAG_ORIENTATION OPTIONAL -// -// Set MAGNETOMETER to ENABLED if you have a magnetometer attached. -// Set MAG_ORIENTATION to reflect the orientation you have the magnetometer mounted with respect to ArduPilotMega -// -// The default assumes that a magnetometer is not connected. -// -//#define MAGNETOMETER DISABLED -//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD -// - -////////////////////////////////////////////////////////////////////////////// -// HIL_PROTOCOL OPTIONAL -// HIL_MODE OPTIONAL -// HIL_PORT OPTIONAL -// -// Configuration for Hardware-in-the-loop simulation. In these modes, -// APM is connected via one or more interfaces to simulation software -// running on another system. -// -// HIL_PROTOCOL_XPLANE Configure for the X-plane HIL interface. -// HIL_PROTOCOL_MAVLINK Configure for HIL over MAVLink. -// -// HIL_MODE_DISABLED Configure for standard flight. -// HIL_MODE_ATTITUDE Simulator provides attitude and position information. -// HIL_MODE_SENSORS Simulator provides raw sensor values. -// -// Note that currently HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE. -// Note that currently HIL_PROTOCOL_MAVLINK requires HIL_MODE_SENSORS. -// -//#define HIL_MODE HIL_MODE_DISABLED -//#define HIL_PORT 0 -//#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK -// - -////////////////////////////////////////////////////////////////////////////// -// GCS_PROTOCOL OPTIONAL -// GCS_PORT OPTIONAL -// MAV_SYSTEM_ID OPTIONAL -// -// The GCS_PROTOCOL option determines which (if any) ground control station -// protocol will be used. Must be one of: -// -// GCS_PROTOCOL_NONE No GCS output -// GCS_PROTOCOL_MAVLINK QGroundControl protocol -// -// The GCS_PORT option determines which serial port will be used by the -// GCS protocol. The usual values are 0 for the console/USB port, -// or 3 for the telemetry port on the oilpan. Note that some protocols -// will ignore this value and always use the console port. -// -// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1. -// If you will be flying multiple UAV's each should be assigned a different ID so -// that ground stations can tell them apart. -// -//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK -//#define GCS_PORT 3 -//#define MAV_SYSTEM_ID 1 -// - -////////////////////////////////////////////////////////////////////////////// -// Serial port speeds. -// -// SERIAL0_BAUD OPTIONAL -// -// Baudrate for the console port. Default is 115200bps. -// -// SERIAL3_BAUD OPTIONAL -// -// Baudrate for the telemetry port. Default is 57600bps. -// -//#define SERIAL0_BAUD 115200 -//#define SERIAL3_BAUD 57600 -// - -////////////////////////////////////////////////////////////////////////////// -// Battery monitoring OPTIONAL -// -// See the manual for details on selecting divider resistors for battery -// monitoring via the oilpan. -// -// BATTERY_EVENT OPTIONAL -// -// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings. -// The default is DISABLED. -// -// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set. -// -// Value in volts at which ArduPilot Mega should consider the -// battery to be "low". -// -// VOLT_DIV_RATIO OPTIONAL -// -// See the manual for details. The default value corresponds to the resistors -// recommended by the manual. -// -// CURR_AMPS_PER_VOLT OPTIONAL -// CURR_AMPS_OFFSET OPTIONAL -// -// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM -// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset -// -// -// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set. -// -// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of -// battery capacity. -// -//#define BATTERY_EVENT DISABLED -//#define LOW_VOLTAGE 9.6 -//#define VOLT_DIV_RATIO 3.56 -//#define CURR_AMPS_PER_VOLT 27.32 -//#define CURR_AMPS_OFFSET 0.0 -//#define HIGH_DISCHARGE 1760 - -////////////////////////////////////////////////////////////////////////////// -// INPUT_VOLTAGE OPTIONAL -// -// In order to have accurate pressure and battery voltage readings, this -// value should be set to the voltage measured at the processor. -// -// See the manual for more details. The default value should be close if you are applying 5 volts to the servo rail. -// -//#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 -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// RADIO CONFIGURATION -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// FLIGHT_MODE OPTIONAL -// FLIGHT_MODE_CHANNEL OPTIONAL -// -// Flight modes assigned to the control channel, and the input channel that -// is read for the control mode. -// -// Use a servo tester, or the ArduPilotMega_demo test program to check your -// switch settings. -// -// ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and -// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option -// uses channel numbers 1-8 (and defaults to 8). -// -// If you only have a three-position switch or just want three modes, set your -// switch to produce 1165, 1425, and 1815 microseconds and configure -// FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. -// -// If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control -// channel connected to input channel 8, the hardware failsafe mode will -// activate for any control input over 1750ms. -// -// For more modes (up to six), set your switch(es) to produce any of 1165, -// 1295, 1425, 1555, 1685, and 1815 microseconds. -// -// Flight mode | Switch Setting (ms) -// ------------+--------------------- -// 1 | 1165 -// 2 | 1295 -// 3 | 1425 -// 4 | 1555 -// 5 | 1685 -// 6 | 1815 (FAILSAFE if using channel 8) -// -// The following standard flight modes are available: -// -// Name | Description -// -----------------+-------------------------------------------- -// | -// MANUAL | Full manual control via software. -// | -// LEARNING | Full manual control, used for live waypoint definition via Ch7 toggle. -// | -// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle. -// | -// FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle. -// | -// RTL | Returns to the Home location and then LOITERs at a safe altitude. -// | -// AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter -// | application or your Ground Control System to edit and upload -// | waypoints and other commands. -// | -//air -// -// The following non-standard modes are EXPERIMENTAL: -// -// Name | Description -// -----------------+-------------------------------------------- -// | -// LOITER | Flies in a circle around the current location. -// | -// CIRCLE | Flies in a stabilized 'dumb' circle. -// | -// -// -// If you are using channel 8 for mode switching then FLIGHT_MODE_5 and -// FLIGHT_MODE_6 should be MANUAL. -// -// -//#define FLIGHT_MODE_CHANNEL 8 -// -//#define FLIGHT_MODE_1 RTL -//#define FLIGHT_MODE_2 RTL -//#define FLIGHT_MODE_3 LEARNING -//#define FLIGHT_MODE_4 LEARNING -//#define FLIGHT_MODE_5 MANUAL -//#define FLIGHT_MODE_6 MANUAL -// - -////////////////////////////////////////////////////////////////////////////// -// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed -// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed -// then the flap position shall be flap_1_percent. If the speed setpoint is below flap_2_speed -// then the flap position shall be flap_2_percent. Speed setpoint is the current value of -// airspeed_cruise (if airspeed sensor enabled) or throttle_cruise (if no airspeed sensor) - -// FLAP_1_PERCENT OPTIONAL -// FLAP_1_SPEED OPTIONAL -// FLAP_2_PERCENT OPTIONAL -// FLAP_2_SPEED OPTIONAL - - -////////////////////////////////////////////////////////////////////////////// -// THROTTLE_FAILSAFE OPTIONAL -// THROTTLE_FS_VALUE OPTIONAL -// -// The throttle failsafe allows you to configure a software failsafe activated -// by a setting on the throttle input channel (channel 3). Enabling this failsafe -// also enables "short failsafe" conditions (see below) based on loss of -// rc override control from the GCS -// -// This can be used to achieve a failsafe override on loss of radio control -// without having to sacrifice one of your FLIGHT_MODE settings, as the -// throttle failsafe overrides the switch-selected mode. -// -// Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default -// is for it to be enabled. -// -// If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value -// below which the failsafe engages. The default is 975ms, which is a very low -// throttle setting. Most transmitters will let you trim the manual throttle -// position up so that you cannot engage the failsafe with a regular stick movement. -// -// Configure your receiver's failsafe setting for the throttle channel to the -// absolute minimum, and use the ArduPilotMega_demo program to check that -// you cannot reach that value with the throttle control. Leave a margin of -// at least 50 microseconds between the lowest throttle setting and -// THROTTLE_FS_VALUE. -// -//#define THROTTLE_FAILSAFE ENABLED -//#define THROTTLE_FS_VALUE 950 -// - -////////////////////////////////////////////////////////////////////////////// - -// GCS_HEARTBEAT_FAILSAFE OPTIONAL -// SHORT_FAILSAFE_ACTION OPTIONAL -// LONG_FAILSAFE_ACTION OPTIONAL - -// There are two basic conditions which can trigger a failsafe. One is a loss of control signal. -// Normally this means a loss of the radio control RC signal. However if rc override from the -// GCS is in use then this can mean a loss of communication with the GCS. Such a failsafe will be -// classified as either short (greater than 1.5 seconds but less than 20) or long (greater than 20). -// Also, if GCS_HEARTBEAT_FAILSAFE is enabled and a heartbeat signal from the GCS has not been received -// in the preceeding 20 seconds then this will also trigger a "long" failsafe. -// -// The SHORT_FAILSAFE_ACTION and LONG_FAILSAFE_ACTION settings determines what APM will do when -// a failsafe mode is entered while flying in AUTO or LOITER mode. This is important in order to avoid -// accidental failsafe behaviour when flying waypoints that take the aircraft -// out of radio range. -// -// If SHORT_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes, -// the aircraft will head for home in RTL mode. If the failsafe condition is -// resolved, it will return to AUTO or LOITER mode. - -// If LONG_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes, -// the aircraft will head for home in RTL mode. If the failsafe condition is -// resolved the aircraft will not be returned to AUTO or LOITER mode, but will continue home - -// If XX_FAILSAFE_ACTION is 0 and the applicable failsafe occurs while in AUTO or LOITER -// mode the aircraft will continue in that mode ignoring the failsafe condition. - -// Note that for Manual, Stabilize, and Fly-By-Wire (A and B) modes the aircraft will always -// enter a circling mode for short failsafe conditions and will be switched to RTL for long -// failsafe conditions. RTL mode is unaffected by failsafe conditions. -// -// The default is to have GCS Heartbeat failsafes DISABLED -// The default behaviour is to ignore failsafes in AUTO and LOITER modes. -// -//#define GCS_HEARTBEAT_FAILSAFE DISABLED -//#define SHORT_FAILSAFE_ACTION 0 -//#define LONG_FAILSAFE_ACTION 0 - - -////////////////////////////////////////////////////////////////////////////// -// AUTO_TRIM OPTIONAL -// -// ArduPilot Mega can update its trim settings by looking at the -// radio inputs when switching out of MANUAL mode. This allows you to -// manually trim your aircraft before switching to an assisted mode, but it -// also means that you should avoid switching out of MANUAL while you have -// any control stick deflection. -// -// The default is to disable AUTO_TRIM. -// -//#define AUTO_TRIM DISABLED -// - -////////////////////////////////////////////////////////////////////////////// -// THROTTLE_REVERSE OPTIONAL -// -// A few speed controls require the throttle servo signal be reversed. Setting -// this to ENABLED will reverse the throttle output signal. Ensure that your -// throttle needs to be reversed by using the hardware failsafe and the -// ArduPilotMega_demo program before setting this option. -// -// The default is to not reverse the signal. -// -//#define THROTTLE_REVERSE DISABLED -// - -////////////////////////////////////////////////////////////////////////////// -// ENABLE_STICK_MIXING OPTIONAL -// -// If this option is set to ENABLED, manual control inputs are are respected -// while in the autopilot modes (AUTO, RTL, LOITER, CIRCLE etc.) -// -// The default is to enable stick mixing, allowing the pilot to take -// emergency action without switching modes. -// -//#define ENABLE_STICK_MIXING ENABLED -// - -////////////////////////////////////////////////////////////////////////////// -// THROTTLE_OUT DEBUG -// -// When debugging, it can be useful to disable the throttle output. Set -// this option to DISABLED to disable throttle output signals. -// -// The default is to not disable throttle output. -// -//#define THROTTLE_OUT ENABLED -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// STARTUP BEHAVIOUR -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// GROUND_START_DELAY OPTIONAL -// -// If configured, inserts a delay between power-up and the beginning of IMU -// calibration during a ground start. -// -// Use this setting to give you time to position the aircraft horizontally -// for the IMU calibration. -// -// The default is to begin IMU calibration immediately at startup. -// -//#define GROUND_START_DELAY 0 -// - -////////////////////////////////////////////////////////////////////////////// -// ENABLE_AIR_START OPTIONAL -// -// If air start is disabled then you will get a ground start (including IMU -// calibration) every time the AP is powered up. This means that if you get -// a power glitch or reboot for some reason in the air, you will probably -// crash, but it prevents a lot of problems on the ground like unintentional -// motor start-ups, etc. -// -// If air start is enabled then you will get an air start at power up and a -// ground start will be performed if the speed is near zero when we get gps -// lock. -// -// The default is to disable air start. -// -//#define ENABLE_AIR_START 0 -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// FLIGHT AND NAVIGATION CONTROL -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// Altitude measurement and control. -// -// ALT_EST_GAIN OPTIONAL -// -// The gain of the altitude estimation function; a lower number results -// in slower error correction and smoother output. The default is a -// reasonable starting point. -// -//#define ALT_EST_GAIN 0.01 -// -// ALTITUDE_MIX OPTIONAL -// -// Configures the blend between GPS and pressure altitude. -// 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc. -// -// The default is to use only pressure altitude. -// -//#define ALTITUDE_MIX 1 -// - -////////////////////////////////////////////////////////////////////////////// -// AIRSPEED_CRUISE OPTIONAL -// -// The speed in metres per second to maintain during cruise. The default -// is 10m/s, which is a conservative value suitable for relatively small, -// light aircraft. -// -//#define AIRSPEED_CRUISE 12 -// - -////////////////////////////////////////////////////////////////////////////// -// MIN_GNDSPEED OPTIONAL -// -// The minimum ground speed in metres per second to maintain during -// cruise. A value of 0 will disable any attempt to maintain a minumum -// speed over ground. -// -#define MIN_GNDSPEED 0 -// - -////////////////////////////////////////////////////////////////////////////// -// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO) -// -// AIRSPEED_FBW_MIN OPTIONAL -// AIRSPEED_FBW_MAX OPTIONAL -// -// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. -// The defaults are 6 and 30 metres per second. -// -// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set. -// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle -// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control. -// -//#define AIRSPEED_FBW_MIN 6 -//#define AIRSPEED_FBW_MAX 22 -// - -////////////////////////////////////////////////////////////////////////////// -// Servo mapping -// -// THROTTLE_MIN OPTIONAL -// -// The minimum throttle setting to which the autopilot will reduce the -// throttle while descending. The default is zero, which is -// suitable for aircraft with a steady power-off glide. Increase this -// value if your aircraft needs throttle to maintain a stable descent in -// level flight. -// -// THROTTLE_CRUISE OPTIONAL -// -// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. -// The default is 45%, which is reasonable for a modestly powered aircraft. -// -// THROTTLE_MAX OPTIONAL -// -// The maximum throttle setting the autopilot will apply. The default is 75%. -// Reduce this value if your aicraft is overpowered, or has complex flight -// characteristics at high throttle settings. -// -//#define THROTTLE_MIN 0 // percent -//#define THROTTLE_CRUISE 45 -//#define THROTTLE_MAX 75 - -////////////////////////////////////////////////////////////////////////////// -// Autopilot control limits -// -// HEAD_MAX OPTIONAL -// -// The maximum commanded bank angle in either direction. -// The default is 45 degrees. Decrease this value if your aircraft is not -// stable or has difficulty maintaining altitude in a steep bank. -// -// PITCH_MAX OPTIONAL -// -// The maximum commanded pitch up angle. -// The default is 15 degrees. Care should be taken not to set this value too -// large, as the aircraft may stall. -// -// PITCH_MIN -// -// The maximum commanded pitch down angle. Note that this value must be -// negative. The default is -25 degrees. Care should be taken not to set -// this value too large as it may result in overspeeding the aircraft. -// -// PITCH_TARGET -// -// The target pitch for cruise flight. When the APM measures this pitch -// value, the pitch error will be calculated to be 0 for the pitch PID -// control loop. -// -//#define HEAD_MAX 45 -//#define PITCH_MAX 15 -//#define PITCH_MIN -25 -//#define PITCH_TARGET 0 - -////////////////////////////////////////////////////////////////////////////// -// Attitude control gains -// -// Tuning values for the attitude control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to help control surfaces settle. This value should -// normally be kept low. -// -// The D term is used to control overshoot. Avoid using or adjusting this -// term if you are not familiar with tuning PID loops. It should normally -// be zero for most aircraft. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// SERVO_ROLL_P OPTIONAL -// SERVO_ROLL_I OPTIONAL -// SERVO_ROLL_D OPTIONAL -// -// P, I and D terms for roll control. Defaults are 0.4, 0, 0. -// -// SERVO_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// ROLL_SLEW_LIMIT EXPERIMENTAL -// -// Limits the slew rate of the roll control in degrees per second. If zero, -// slew rate is not limited. Default is to not limit the roll control slew rate. -// (This feature is currently not implemented.) -// -// SERVO_PITCH_P OPTIONAL -// SERVO_PITCH_I OPTIONAL -// SERVO_PITCH_D OPTIONAL -// -// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0. -// -// SERVO_PITCH_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. native flight -// AoA). -// Default is 5 degrees. -// -// PITCH_COMP OPTIONAL -// -// Adds pitch input to compensate for the loss of lift due to roll control. -// Default is 0.20 (20% of roll control also applied to pitch control). -// -// SERVO_YAW_P OPTIONAL -// SERVO_YAW_I OPTIONAL -// SERVO_YAW_D OPTIONAL -// -// P, I and D terms for the YAW control. Defaults are 0., 0., 0. -// Note units of this control loop are unusual. PID input is in m/s**2. -// -// SERVO_YAW_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 0. -// -// RUDDER_MIX OPTIONAL -// -// Roll to yaw mixing. This allows for co-ordinated turns. -// Default is 0.50 (50% of roll control also applied to yaw control.) -// -//#define SERVO_ROLL_P 0.4 -//#define SERVO_ROLL_I 0.0 -//#define SERVO_ROLL_D 0.0 -//#define SERVO_ROLL_INT_MAX 5 -//#define ROLL_SLEW_LIMIT 0 -//#define SERVO_PITCH_P 0.6 -//#define SERVO_PITCH_I 0.0 -//#define SERVO_PITCH_D 0.0 -//#define SERVO_PITCH_INT_MAX 5 -//#define PITCH_COMP 0.2 -//#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5 -//#define SERVO_YAW_I 0.0 -//#define SERVO_YAW_D 0.0 -//#define SERVO_YAW_INT_MAX 5 -//#define RUDDER_MIX 0.5 -// - -////////////////////////////////////////////////////////////////////////////// -// Navigation control gains -// -// Tuning values for the navigation control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to control drift. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// NAV_ROLL_P OPTIONAL -// NAV_ROLL_I OPTIONAL -// NAV_ROLL_D OPTIONAL -// -// P, I and D terms for navigation control over roll, normally used for -// controlling the aircraft's course. The P term controls how aggressively -// the aircraft will bank to change or hold course. -// Defaults are 0.7, 0.0, 0.02. -// -// NAV_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// NAV_PITCH_ASP_P OPTIONAL -// NAV_PITCH_ASP_I OPTIONAL -// NAV_PITCH_ASP_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain airspeed. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ASP_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed airspeed). -// Default is 5 degrees. -// -// NAV_PITCH_ALT_P OPTIONAL -// NAV_PITCH_ALT_I OPTIONAL -// NAV_PITCH_ALT_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain altitude. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ALT_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed altitude). -// Default is 5 meters. -// -//#define NAV_ROLL_P 0.7 -//#define NAV_ROLL_I 0.01 -//#define NAV_ROLL_D 0.02 -//#define NAV_ROLL_INT_MAX 5 -//#define NAV_PITCH_ASP_P 0.65 -//#define NAV_PITCH_ASP_I 0.0 -//#define NAV_PITCH_ASP_D 0.0 -//#define NAV_PITCH_ASP_INT_MAX 5 -//#define NAV_PITCH_ALT_P 0.65 -//#define NAV_PITCH_ALT_I 0.0 -//#define NAV_PITCH_ALT_D 0.0 -//#define NAV_PITCH_ALT_INT_MAX 5 -// - -////////////////////////////////////////////////////////////////////////////// -// Energy/Altitude control gains -// -// The Energy/altitude control system uses throttle input to control aircraft -// altitude. -// -// The P term is the primary tuning value. This determines how the throttle -// setting varies in proportion to the required correction. -// -// The I term is used to compensate for small offsets. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note units of this control loop are unusual. PID input is in m**2/s**2. -// -// THROTTLE_TE_P OPTIONAL -// THROTTLE_TE_I OPTIONAL -// THROTTLE_TE_D OPTIONAL -// -// P, I and D terms for throttle adjustments made to control altitude. -// Defaults are 0.5, 0, 0. -// -// THROTTLE_TE_INT_MAX OPTIONAL -// -// Maximum throttle input due to the integral term. This limits the -// throttle from being overdriven due to a persistent offset (e.g. -// inability to maintain the programmed altitude). -// Default is 20%. -// -// THROTTLE_SLEW_LIMIT OPTIONAL -// -// Limits the slew rate of the throttle, in percent per second. Helps -// avoid sudden throttle changes, which can destabilise the aircraft. -// A setting of zero disables the feature. Range 1 to 100. -// Default is zero (disabled). -// -// P_TO_T OPTIONAL -// -// Pitch to throttle feed-forward gain. Default is 0. -// -// T_TO_P OPTIONAL -// -// Throttle to pitch feed-forward gain. Default is 0. -// -//#define THROTTLE_TE_P 0.50 -//#define THROTTLE_TE_I 0.0 -//#define THROTTLE_TE_D 0.0 -//#define THROTTLE_TE_INT_MAX 20 -//#define THROTTLE_SLEW_LIMIT 0 -//#define P_TO_T 0 -//#define T_TO_P 0 -// - -////////////////////////////////////////////////////////////////////////////// -// Crosstrack compensation -// -// XTRACK_GAIN OPTIONAL -// -// Crosstrack compensation in degrees per metre off track. -// Default value is 1.0 degrees per metre. Values lower than 0.001 will -// disable crosstrack compensation. -// -// XTRACK_ENTRY_ANGLE OPTIONAL -// -// Maximum angle used to correct for track following. -// Default value is 30 degrees. -// -//#define XTRACK_GAIN 1 // deg/m -//#define XTRACK_ENTRY_ANGLE 30 // deg -// - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// DEBUGGING -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// Dataflash logging control -// -// Each of these logging options may be set to ENABLED to enable, or DISABLED -// to disable the logging of the respective data. -// -// LOG_ATTITUDE_FAST DEBUG -// -// Logs basic attitude info to the dataflash at 50Hz (uses more space). -// Defaults to DISABLED. -// -// LOG_ATTITUDE_MED OPTIONAL -// -// Logs basic attitude info to the dataflash at 10Hz (uses less space than -// LOG_ATTITUDE_FAST). Defaults to ENABLED. -// -// LOG_GPS OPTIONAL -// -// Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED. -// -// LOG_PM OPTIONAL -// -// Logs IMU performance monitoring info every 20 seconds. -// Defaults to DISABLED. -// -// LOG_CTUN OPTIONAL -// -// Logs control loop tuning info at 10 Hz. This information is useful for tuning -// servo control loop gain values. Defaults to DISABLED. -// -// LOG_NTUN OPTIONAL -// -// Logs navigation tuning info at 10 Hz. This information is useful for tuning -// navigation control loop gain values. Defaults to DISABLED. -// -// LOG_ MODE OPTIONAL -// -// Logs changes to the flight mode upon occurrence. Defaults to ENABLED. -// -// LOG_RAW DEBUG -// -// Logs raw accelerometer and gyro data at 50 Hz (uses more space). -// Defaults to DISABLED. -// -// LOG_CMD OPTIONAL -// -// Logs new commands when they process. -// Defaults to ENABLED. -// -//#define LOG_ATTITUDE_FAST DISABLED -//#define LOG_ATTITUDE_MED ENABLED -//#define LOG_GPS ENABLED -//#define LOG_PM ENABLED -//#define LOG_CTUN DISABLED -//#define LOG_NTUN DISABLED -//#define LOG_MODE ENABLED -//#define LOG_RAW DISABLED -//#define LOG_CMD ENABLED -//#define LOG_CUR DISABLED -// - -////////////////////////////////////////////////////////////////////////////// -// Navigation defaults -// -// WP_RADIUS_DEFAULT OPTIONAL -// -// When the user performs a factory reset on the APM, set the waypoint radius -// (the radius from a target waypoint within which the APM will consider -// itself to have arrived at the waypoint) to this value in meters. This is -// mainly intended to allow users to start using the APM without running the -// WaypointWriter first. -// -// LOITER_RADIUS_DEFAULT OPTIONAL -// -// When the user performs a factory reset on the APM, set the loiter radius -// (the distance the APM will attempt to maintain from a waypoint while -// loitering) to this value in meters. This is mainly intended to allow -// users to start using the APM without running the WaypointWriter first. -// -// USE_CURRENT_ALT OPTIONAL -// ALT_HOLD_HOME OPTIONAL -// -// When the user performs a factory reset on the APM, set the flag for weather -// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. -// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow -// users to start using the APM without running the WaypointWriter first. -// -//#define WP_RADIUS_DEFAULT 30 -//#define LOITER_RADIUS_DEFAULT 60 -//#define USE_CURRENT_ALT FALSE -//#define ALT_HOLD_HOME 100 -// - -////////////////////////////////////////////////////////////////////////////// -// Debugging interface -// -// DEBUG_PORT OPTIONAL -// -// The APM will periodically send messages reporting what it is doing; this -// variable determines to which serial port they will be sent. Port 0 is the -// USB serial port on the shield, port 3 is the telemetry port. -// -//#define DEBUG_PORT 0 -// - - -// -// Do not remove - this is to discourage users from copying this file -// and using it as-is rather than editing their own. -// -#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need. diff --git a/APMrover2/APM_Config_HILmode.h b/APMrover2/APM_Config_HILmode.h deleted file mode 100644 index efe346a81f..0000000000 --- a/APMrover2/APM_Config_HILmode.h +++ /dev/null @@ -1,416 +0,0 @@ -// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE ORIGINAL X-PLANE INTERFACE -// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE! - - -#define FLIGHT_MODE_CHANNEL 8 - -#define X_PLANE ENABLED - -//#define HIL_PROTOCOL HIL_PROTOCOL_XPLANE - -//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK -#define GCS_PROTOCOL GCS_PROTOCOL_NONE -#define GCS_PORT 3 - -#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK - -//#define HIL_MODE HIL_MODE_DISABLED -#define HIL_MODE HIL_MODE_ATTITUDE -#define HIL_PORT 0 - -#define FLIGHT_MODE_1 AUTO // pos 0 --- -#define FLIGHT_MODE_2 AUTO // pos 1 -#define FLIGHT_MODE_3 LEARNING // pos 2 -#define FLIGHT_MODE_4 LEARNING // pos 3 --- -#define FLIGHT_MODE_5 MANUAL // pos 4 -#define FLIGHT_MODE_6 MANUAL // pos 5 --- - -#define AUTO_TRIM ENABLED -#define THROTTLE_FAILSAFE DISABLED -#define AIRSPEED_SENSOR ENABLED -#define MAGNETOMETER DISABLED -#define LOGGING_ENABLED DISABLED - -#define TURN_GAIN 5 - -#define CH7_OPTION CH7_SAVE_WP - -#define FLIGHT_MODE_1 AUTO // pos 0 --- -#define FLIGHT_MODE_2 AUTO // pos 1 -#define FLIGHT_MODE_3 LEARNING // pos 2 -#define FLIGHT_MODE_4 LEARNING // pos 3 --- -#define FLIGHT_MODE_5 MANUAL // pos 4 -#define FLIGHT_MODE_6 MANUAL // pos 5 --- - -#define MANUAL_LEVEL DISABLED - -#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode -#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern - -#define BOOSTER 2 // booster factor x2 -#define AUTO_WP_RADIUS DISABLED -#define AIRSPEED_CRUISE 3 // 4m/s -#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// FLIGHT AND NAVIGATION CONTROL -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// AIRSPEED_CRUISE OPTIONAL -// -// The speed in metres per second to maintain during cruise. The default -// is 10m/s, which is a conservative value suitable for relatively small, -// light aircraft. -// -#define GSBOOST 0 // 60 // boost the throttle if ground speed is too low in case of windy conditions // 100 -#define NUDGE_OFFSET 0 //1603 // nudge_offset to get a good sustained speed in autonomous flight -#define MIN_GNDSPEED 3 - -////////////////////////////////////////////////////////////////////////////// -// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO) -// -// AIRSPEED_FBW_MIN OPTIONAL -// AIRSPEED_FBW_MAX OPTIONAL -// -// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. -// The defaults are 6 and 30 metres per second. -// -// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set. -// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle -// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control. -// -#define AIRSPEED_FBW_MIN 6 -#define AIRSPEED_FBW_MAX 35 -// - -////////////////////////////////////////////////////////////////////////////// -// Servo mapping -// -// THROTTLE_MIN OPTIONAL -// -// The minimum throttle setting to which the autopilot will reduce the -// throttle while descending. The default is zero, which is -// suitable for aircraft with a steady power-off glide. Increase this -// value if your aircraft needs throttle to maintain a stable descent in -// level flight. -// -// THROTTLE_CRUISE OPTIONAL -// -// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. -// The default is 45%, which is reasonable for a modestly powered aircraft. -// -// THROTTLE_MAX OPTIONAL -// -// The maximum throttle setting the autopilot will apply. The default is 75%. -// Reduce this value if your aicraft is overpowered, or has complex flight -// characteristics at high throttle settings. -// -#define THROTTLE_MIN 0 // percent -#define THROTTLE_CRUISE 1 // 40 -#define THROTTLE_MAX 100 - -////////////////////////////////////////////////////////////////////////////// -// AUTO_TRIM OPTIONAL -// -// ArduPilot Mega can update its trim settings by looking at the -// radio inputs when switching out of MANUAL mode. This allows you to -// manually trim your aircraft before switching to an assisted mode, but it -// also means that you should avoid switching out of MANUAL while you have -// any control stick deflection. -// -// The default is to enable AUTO_TRIM. -// -#define AUTO_TRIM ENABLED -#define THROTTLE_FAILSAFE DISABLED - -////////////////////////////////////////////////////////////////////////////// -// Autopilot control limits -// -// HEAD_MAX OPTIONAL -// -// The maximum commanded bank angle in either direction. -// The default is 45 degrees. Decrease this value if your aircraft is not -// stable or has difficulty maintaining altitude in a steep bank. -// -// PITCH_MAX OPTIONAL -// -// The maximum commanded pitch up angle. -// The default is 15 degrees. Care should be taken not to set this value too -// large, as the aircraft may stall. -// -// PITCH_MIN -// -// The maximum commanded pitch down angle. Note that this value must be -// negative. The default is -25 degrees. Care should be taken not to set -// this value too large as it may result in overspeeding the aircraft. -// -// PITCH_TARGET -// -// The target pitch for cruise flight. When the APM measures this pitch -// value, the pitch error will be calculated to be 0 for the pitch PID -// control loop. -// -#define HEAD_MAX 80 -#define PITCH_MAX 15 -#define PITCH_MIN -20 //-25 -#define PITCH_TARGET 0 - -////////////////////////////////////////////////////////////////////////////// -// Attitude control gains -// -// Tuning values for the attitude control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to help control surfaces settle. This value should -// normally be kept low. -// -// The D term is used to control overshoot. Avoid using or adjusting this -// term if you are not familiar with tuning PID loops. It should normally -// be zero for most aircraft. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// SERVO_ROLL_P OPTIONAL -// SERVO_ROLL_I OPTIONAL -// SERVO_ROLL_D OPTIONAL -// -// P, I and D terms for roll control. Defaults are 0.4, 0, 0. -// -// SERVO_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// ROLL_SLEW_LIMIT EXPERIMENTAL -// -// Limits the slew rate of the roll control in degrees per second. If zero, -// slew rate is not limited. Default is to not limit the roll control slew rate. -// (This feature is currently not implemented.) -// -// SERVO_PITCH_P OPTIONAL -// SERVO_PITCH_I OPTIONAL -// SERVO_PITCH_D OPTIONAL -// -// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0. -// -// SERVO_PITCH_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. native flight -// AoA). If you find this value is insufficient, consider adjusting the AOA -// parameter. -// Default is 5 degrees. -// -// PITCH_COMP OPTIONAL -// -// Adds pitch input to compensate for the loss of lift due to roll control. -// Default is 0.20 (20% of roll control also applied to pitch control). -// -// SERVO_YAW_P OPTIONAL -// SERVO_YAW_I OPTIONAL -// SERVO_YAW_D OPTIONAL -// -// P, I and D terms for the YAW control. Defaults are 0., 0., 0. -// Note units of this control loop are unusual. PID input is in m/s**2. -// -// SERVO_YAW_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 0. -// -// RUDDER_MIX OPTIONAL -// -// Roll to yaw mixing. This allows for co-ordinated turns. -// Default is 0.50 (50% of roll control also applied to yaw control.) -// -#define SERVO_ROLL_P 0.0 -#define SERVO_ROLL_I 0.0 -#define SERVO_ROLL_D 0.0 -#define SERVO_ROLL_INT_MAX 5 -#define ROLL_SLEW_LIMIT 0 -#define SERVO_PITCH_P 0.0 -#define SERVO_PITCH_I 0.0 -#define SERVO_PITCH_D 0.0 -#define SERVO_PITCH_INT_MAX 5 -#define PITCH_COMP 0.0 -#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5 -#define SERVO_YAW_I 0.0 -#define SERVO_YAW_D 0.0 -#define SERVO_YAW_INT_MAX 5 -#define RUDDER_MIX 0.0 -// -////////////////////////////////////////////////////////////////////////////// -// Navigation control gains -// -// Tuning values for the navigation control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to control drift. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// NAV_ROLL_P OPTIONAL -// NAV_ROLL_I OPTIONAL -// NAV_ROLL_D OPTIONAL -// -// P, I and D terms for navigation control over roll, normally used for -// controlling the aircraft's course. The P term controls how aggressively -// the aircraft will bank to change or hold course. -// Defaults are 0.7, 0.0, 0.02. -// -// NAV_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// NAV_PITCH_ASP_P OPTIONAL -// NAV_PITCH_ASP_I OPTIONAL -// NAV_PITCH_ASP_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain airspeed. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ASP_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed airspeed). -// Default is 5 degrees. -// -// NAV_PITCH_ALT_P OPTIONAL -// NAV_PITCH_ALT_I OPTIONAL -// NAV_PITCH_ALT_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain altitude. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ALT_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed altitude). -// Default is 5 meters. -// -#define NAV_ROLL_P 0.7 -#define NAV_ROLL_I 0.001 -#define NAV_ROLL_D 0.06 -#define NAV_ROLL_INT_MAX 5 - -#define NAV_PITCH_ASP_P 0.0 -#define NAV_PITCH_ASP_I 0.0 -#define NAV_PITCH_ASP_D 0.0 -#define NAV_PITCH_ASP_INT_MAX 5 - -#define NAV_PITCH_ALT_P 0.0 -#define NAV_PITCH_ALT_I 0.0 -#define NAV_PITCH_ALT_D 0.0 -#define NAV_PITCH_ALT_INT_MAX 5 - -////////////////////////////////////////////////////////////////////////////// -// Energy/Altitude control gains -// -// The Energy/altitude control system uses throttle input to control aircraft -// altitude. -// -// The P term is the primary tuning value. This determines how the throttle -// setting varies in proportion to the required correction. -// -// The I term is used to compensate for small offsets. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note units of this control loop are unusual. PID input is in m**2/s**2. -// -// THROTTLE_TE_P OPTIONAL -// THROTTLE_TE_I OPTIONAL -// THROTTLE_TE_D OPTIONAL -// -// P, I and D terms for throttle adjustments made to control altitude. -// Defaults are 0.5, 0, 0. -// -// THROTTLE_TE_INT_MAX OPTIONAL -// -// Maximum throttle input due to the integral term. This limits the -// throttle from being overdriven due to a persistent offset (e.g. -// inability to maintain the programmed altitude). -// Default is 20%. -// -// THROTTLE_SLEW_LIMIT OPTIONAL -// -// Limits the slew rate of the throttle, in percent per second. Helps -// avoid sudden throttle changes, which can destabilise the aircraft. -// A setting of zero disables the feature. -// Default is zero (disabled). -// -// P_TO_T OPTIONAL -// -// Pitch to throttle feed-forward gain. Default is 0. -// -// T_TO_P OPTIONAL -// -// Throttle to pitch feed-forward gain. Default is 0. -// -#define THROTTLE_TE_P 0.1 -#define THROTTLE_TE_I 0.0 -#define THROTTLE_TE_D 0.0 -#define THROTTLE_TE_INT_MAX 20 -#define P_TO_T 0.0 -#define T_TO_P 0 - -////////////////////////////////////////////////////////////////////////////// -// Crosstrack compensation -// -// XTRACK_GAIN OPTIONAL -// -// Crosstrack compensation in degrees per metre off track. -// Default value is 1.0 degrees per metre. Values lower than 0.001 will -// disable crosstrack compensation. -// -// XTRACK_ENTRY_ANGLE OPTIONAL -// -// Maximum angle used to correct for track following. -// Default value is 30 degrees. -// -#define XTRACK_GAIN 1 // deg/m -#define XTRACK_ENTRY_ANGLE 20 // deg - -///////////////////////////////////////////////////////////////////////////// -// Navigation defaults -// -// WP_RADIUS_DEFAULT OPTIONAL -// -// When the user performs a factory reset on the APM, set the waypoint radius -// (the radius from a target waypoint within which the APM will consider -// itself to have arrived at the waypoint) to this value in meters. This is -// mainly intended to allow users to start using the APM without running the -// WaypointWriter first. -// -#define WP_RADIUS_DEFAULT 1 // meters - -////////////////////////////////////////////////////////////////////////////// -// INPUT_VOLTAGE OPTIONAL -// -// In order to have accurate pressure and battery voltage readings, this -// value should be set to the voltage measured on the 5V rail on the oilpan. -// -// See the manual for more details. The default value should be close. -// -#define INPUT_VOLTAGE 5.2 -// diff --git a/APMrover2/APM_Config_Rover.h b/APMrover2/APM_Config_Rover.h deleted file mode 100644 index 6a8b2b2e8b..0000000000 --- a/APMrover2/APM_Config_Rover.h +++ /dev/null @@ -1,424 +0,0 @@ -// CONFIG FILE FOR APM_Rover project by Jean-Louis Naudin -// -#define GCS_PORT 3 -#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK // QGroundControl protocol -//#define GCS_PROTOCOL GCS_PROTOCOL_NONE // No GCS protocol to save memory -#define HIL_MODE HIL_MODE_DISABLED - -#define MAV_SYSTEM_ID 1 - -// Add a ground start delay in seconds -//#define GROUND_START_DELAY 1 - -#define AIRSPEED_SENSOR DISABLED - -#define SONAR_ENABLED DISABLED -#define SONAR_TRIGGER 200 // trigger distance in cm - -#if LITE == DISABLED - #define LOGGING_ENABLED ENABLED -#endif - -// for an accurate navigation a magnetometer must be used with the APM1 -#define MAGNETOMETER ENABLED -//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD -//#define PARAM_DECLINATION 0.18 // Paris - -////////////////////////////////////////////////////////////////////////////// -// Serial port speeds. -// -#define SERIAL0_BAUD 115200 -#define SERIAL3_BAUD 57600 - -////////////////////////////////////////////////////////////////////////////// -// GPS_PROTOCOL -#define GPS_PROTOCOL GPS_PROTOCOL_AUTO - -#define CH7_OPTION CH7_SAVE_WP - -#define FLIGHT_MODE_1 AUTO // pos 0 --- -#define FLIGHT_MODE_2 AUTO // pos 1 -#define FLIGHT_MODE_3 LEARNING // pos 2 -#define FLIGHT_MODE_4 LEARNING // pos 3 --- -#define FLIGHT_MODE_5 MANUAL // pos 4 -#define FLIGHT_MODE_6 MANUAL // pos 5 --- - -#define MANUAL_LEVEL DISABLED - -#define TURN_GAIN 5 - -#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode -#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern -/* -During straight lines if the speed booster is enabled, after passing the Wp, -the speed is multplied by a speed factor ROV_BOOSTER = 2 -(i.e. this is my tested value... so the required speed will be 2 x 4 = 8 m/s in straight lines), -the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)... -This feature works only if the ROV_AWPR_NAV is set to 0 -*/ - -#define BOOSTER 2 // booster factor x1 = 1 or x2 = 2 -#define AUTO_WP_RADIUS DISABLED -#define AIRSPEED_CRUISE 4 // 4m/s -#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// FLIGHT AND NAVIGATION CONTROL -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// AIRSPEED_CRUISE OPTIONAL -// -// The speed in metres per second to maintain during cruise. The default -// is 10m/s, which is a conservative value suitable for relatively small, -// light aircraft. -// -#define GSBOOST 0 -#define NUDGE_OFFSET 0 -#define MIN_GNDSPEED 3 - -////////////////////////////////////////////////////////////////////////////// -// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO) -// -// AIRSPEED_FBW_MIN OPTIONAL -// AIRSPEED_FBW_MAX OPTIONAL -// -// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. -// The defaults are 6 and 30 metres per second. -// -// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set. -// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle -// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control. -// -#define AIRSPEED_FBW_MIN 6 -#define AIRSPEED_FBW_MAX 35 -// - -////////////////////////////////////////////////////////////////////////////// -// Servo mapping -// -// THROTTLE_MIN OPTIONAL -// -// The minimum throttle setting to which the autopilot will reduce the -// throttle while descending. The default is zero, which is -// suitable for aircraft with a steady power-off glide. Increase this -// value if your aircraft needs throttle to maintain a stable descent in -// level flight. -// -// THROTTLE_CRUISE OPTIONAL -// -// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. -// The default is 45%, which is reasonable for a modestly powered aircraft. -// -// THROTTLE_MAX OPTIONAL -// -// The maximum throttle setting the autopilot will apply. The default is 75%. -// Reduce this value if your aicraft is overpowered, or has complex flight -// characteristics at high throttle settings. -// -#define THROTTLE_MIN 0 // percent -#define THROTTLE_CRUISE 3 // 40 -#define THROTTLE_MAX 100 - -////////////////////////////////////////////////////////////////////////////// -// AUTO_TRIM OPTIONAL -// -// ArduPilot Mega can update its trim settings by looking at the -// radio inputs when switching out of MANUAL mode. This allows you to -// manually trim your aircraft before switching to an assisted mode, but it -// also means that you should avoid switching out of MANUAL while you have -// any control stick deflection. -// -// The default is to enable AUTO_TRIM. -// -#define AUTO_TRIM ENABLED -#define THROTTLE_FAILSAFE DISABLED - -////////////////////////////////////////////////////////////////////////////// -// Autopilot control limits -// -// HEAD_MAX OPTIONAL -// -// The maximum commanded bank angle in either direction. -// The default is 45 degrees. Decrease this value if your aircraft is not -// stable or has difficulty maintaining altitude in a steep bank. -// -// PITCH_MAX OPTIONAL -// -// The maximum commanded pitch up angle. -// The default is 15 degrees. Care should be taken not to set this value too -// large, as the aircraft may stall. -// -// PITCH_MIN -// -// The maximum commanded pitch down angle. Note that this value must be -// negative. The default is -25 degrees. Care should be taken not to set -// this value too large as it may result in overspeeding the aircraft. -// -// PITCH_TARGET -// -// The target pitch for cruise flight. When the APM measures this pitch -// value, the pitch error will be calculated to be 0 for the pitch PID -// control loop. -// -#define HEAD_MAX 80 -#define PITCH_MAX 15 -#define PITCH_MIN -20 //-25 -#define PITCH_TARGET 0 - -////////////////////////////////////////////////////////////////////////////// -// Attitude control gains -// -// Tuning values for the attitude control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to help control surfaces settle. This value should -// normally be kept low. -// -// The D term is used to control overshoot. Avoid using or adjusting this -// term if you are not familiar with tuning PID loops. It should normally -// be zero for most aircraft. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// SERVO_ROLL_P OPTIONAL -// SERVO_ROLL_I OPTIONAL -// SERVO_ROLL_D OPTIONAL -// -// P, I and D terms for roll control. Defaults are 0.4, 0, 0. -// -// SERVO_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// ROLL_SLEW_LIMIT EXPERIMENTAL -// -// Limits the slew rate of the roll control in degrees per second. If zero, -// slew rate is not limited. Default is to not limit the roll control slew rate. -// (This feature is currently not implemented.) -// -// SERVO_PITCH_P OPTIONAL -// SERVO_PITCH_I OPTIONAL -// SERVO_PITCH_D OPTIONAL -// -// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0. -// -// SERVO_PITCH_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. native flight -// AoA). If you find this value is insufficient, consider adjusting the AOA -// parameter. -// Default is 5 degrees. -// -// PITCH_COMP OPTIONAL -// -// Adds pitch input to compensate for the loss of lift due to roll control. -// Default is 0.20 (20% of roll control also applied to pitch control). -// -// SERVO_YAW_P OPTIONAL -// SERVO_YAW_I OPTIONAL -// SERVO_YAW_D OPTIONAL -// -// P, I and D terms for the YAW control. Defaults are 0., 0., 0. -// Note units of this control loop are unusual. PID input is in m/s**2. -// -// SERVO_YAW_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 0. -// -// RUDDER_MIX OPTIONAL -// -// Roll to yaw mixing. This allows for co-ordinated turns. -// Default is 0.50 (50% of roll control also applied to yaw control.) -// -#define SERVO_ROLL_P 0.0 -#define SERVO_ROLL_I 0.0 -#define SERVO_ROLL_D 0.0 -#define SERVO_ROLL_INT_MAX 5 -#define ROLL_SLEW_LIMIT 0 -#define SERVO_PITCH_P 0.0 -#define SERVO_PITCH_I 0.0 -#define SERVO_PITCH_D 0.0 -#define SERVO_PITCH_INT_MAX 5 -#define PITCH_COMP 0.0 -#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5 -#define SERVO_YAW_I 0.0 -#define SERVO_YAW_D 0.0 -#define SERVO_YAW_INT_MAX 5 -#define RUDDER_MIX 0.0 -// -////////////////////////////////////////////////////////////////////////////// -// Navigation control gains -// -// Tuning values for the navigation control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to control drift. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// -// NAV_ROLL_P OPTIONAL -// NAV_ROLL_I OPTIONAL -// NAV_ROLL_D OPTIONAL -// -// P, I and D terms for navigation control over roll, normally used for -// controlling the aircraft's course. The P term controls how aggressively -// the aircraft will bank to change or hold course. -// Defaults are 0.7, 0.0, 0.02. -// -// NAV_ROLL_INT_MAX OPTIONAL -// -// Maximum control offset due to the integral. This prevents the control -// output from being overdriven due to a persistent offset (e.g. crosstracking). -// Default is 5 degrees. -// -// NAV_PITCH_ASP_P OPTIONAL -// NAV_PITCH_ASP_I OPTIONAL -// NAV_PITCH_ASP_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain airspeed. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ASP_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed airspeed). -// Default is 5 degrees. -// -// NAV_PITCH_ALT_P OPTIONAL -// NAV_PITCH_ALT_I OPTIONAL -// NAV_PITCH_ALT_D OPTIONAL -// -// P, I and D terms for pitch adjustments made to maintain altitude. -// Defaults are 0.65, 0, 0. -// -// NAV_PITCH_ALT_INT_MAX OPTIONAL -// -// Maximum pitch offset due to the integral. This limits the control -// output from being overdriven due to a persistent offset (eg. inability -// to maintain the programmed altitude). -// Default is 5 meters. -// -#define NAV_ROLL_P 0.7 -#define NAV_ROLL_I 0.001 -#define NAV_ROLL_D 0.06 -#define NAV_ROLL_INT_MAX 5 - -#define NAV_PITCH_ASP_P 0.0 -#define NAV_PITCH_ASP_I 0.0 -#define NAV_PITCH_ASP_D 0.0 -#define NAV_PITCH_ASP_INT_MAX 5 - -#define NAV_PITCH_ALT_P 0.0 -#define NAV_PITCH_ALT_I 0.0 -#define NAV_PITCH_ALT_D 0.0 -#define NAV_PITCH_ALT_INT_MAX 5 - -////////////////////////////////////////////////////////////////////////////// -// Energy/Altitude control gains -// -// The Energy/altitude control system uses throttle input to control aircraft -// altitude. -// -// The P term is the primary tuning value. This determines how the throttle -// setting varies in proportion to the required correction. -// -// The I term is used to compensate for small offsets. -// -// The D term is used to control overshoot. Avoid adjusting this term if -// you are not familiar with tuning PID loops. -// -// Note units of this control loop are unusual. PID input is in m**2/s**2. -// -// THROTTLE_TE_P OPTIONAL -// THROTTLE_TE_I OPTIONAL -// THROTTLE_TE_D OPTIONAL -// -// P, I and D terms for throttle adjustments made to control altitude. -// Defaults are 0.5, 0, 0. -// -// THROTTLE_TE_INT_MAX OPTIONAL -// -// Maximum throttle input due to the integral term. This limits the -// throttle from being overdriven due to a persistent offset (e.g. -// inability to maintain the programmed altitude). -// Default is 20%. -// -// THROTTLE_SLEW_LIMIT OPTIONAL -// -// Limits the slew rate of the throttle, in percent per second. Helps -// avoid sudden throttle changes, which can destabilise the aircraft. -// A setting of zero disables the feature. -// Default is zero (disabled). -// -// P_TO_T OPTIONAL -// -// Pitch to throttle feed-forward gain. Default is 0. -// -// T_TO_P OPTIONAL -// -// Throttle to pitch feed-forward gain. Default is 0. -// -#define THROTTLE_TE_P 0.1 -#define THROTTLE_TE_I 0.0 -#define THROTTLE_TE_D 0.0 -#define THROTTLE_TE_INT_MAX 20 -#define P_TO_T 0.0 -#define T_TO_P 0 - -////////////////////////////////////////////////////////////////////////////// -// Crosstrack compensation -// -// XTRACK_GAIN OPTIONAL -// -// Crosstrack compensation in degrees per metre off track. -// Default value is 1.0 degrees per metre. Values lower than 0.001 will -// disable crosstrack compensation. -// -// XTRACK_ENTRY_ANGLE OPTIONAL -// -// Maximum angle used to correct for track following. -// Default value is 30 degrees. -// -#define XTRACK_GAIN 1 // deg/m -#define XTRACK_ENTRY_ANGLE 20 // deg - -///////////////////////////////////////////////////////////////////////////// -// Navigation defaults -// -// WP_RADIUS_DEFAULT OPTIONAL -// -// When the user performs a factory reset on the APM, set the waypoint radius -// (the radius from a target waypoint within which the APM will consider -// itself to have arrived at the waypoint) to this value in meters. This is -// mainly intended to allow users to start using the APM without running the -// WaypointWriter first. -// -#define WP_RADIUS_DEFAULT 1 // meters - -////////////////////////////////////////////////////////////////////////////// -// INPUT_VOLTAGE OPTIONAL -// -// In order to have accurate pressure and battery voltage readings, this -// value should be set to the voltage measured on the 5V rail on the oilpan. -// -// See the manual for more details. The default value should be close. -// -#define INPUT_VOLTAGE 5.2 -// diff --git a/APMrover2/APM_Config_mavlink_hil.h b/APMrover2/APM_Config_mavlink_hil.h deleted file mode 100644 index aa76c48284..0000000000 --- a/APMrover2/APM_Config_mavlink_hil.h +++ /dev/null @@ -1,31 +0,0 @@ -// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE -// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE! - - -// Enable Autopilot Flight Mode -#define FLIGHT_MODE_CHANNEL 8 -#define FLIGHT_MODE_1 AUTO -#define FLIGHT_MODE_2 RTL -#define FLIGHT_MODE_3 FLY_BY_WIRE_A -#define FLIGHT_MODE_4 FLY_BY_WIRE_B -#define FLIGHT_MODE_5 LEARNING -#define FLIGHT_MODE_6 MANUAL - -// HIL_MODE SELECTION -// -// Mavlink supports -// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude -// 2. HIL_MODE_SENSORS: full sensor simulation -#define HIL_MODE HIL_MODE_ATTITUDE - -// Sensors -// All sensors are supported in all modes. -// The magnetometer is not used in -// HIL_MODE_ATTITUDE but you may leave it -// enabled if you wish. -#define AIRSPEED_SENSOR ENABLED -#define MAGNETOMETER ENABLED -#define AIRSPEED_CRUISE 25 -#define THROTTLE_FAILSAFE ENABLED