# # This files is used by cmake to present options to the # user in the cmake-gui, it can also be used directly to # set options in the cmake command line. # # This file generates APM_Config_cmake.h # which overrides the APM_Config.h file. When disributing # to the Arduino IDE user. APM_Confg_cmake.h could be copied to # APM_Config.h, but this is not necessary. The # advantage would be that the Arduino user would have # a more up-to-date/ complete list of options and the developers # using cmake have a nice gui/ command-line interface. # apm_option("APM_PROGRAMMING_PORT" TYPE STRING DESCRIPTION "Programming upload port?" DEFAULT "/dev/ttyACM0") apm_option("CONFIG_APM_HARDWARE" TYPE STRING DESCRIPTION "APM Hardware?" OPTIONS "APM_HARDWARE_APM2" "APM_HARDWARE_APM1" DEFAULT "APM_HARDWARE_APM2") apm_option("APM2_BETA_HARDWARE" TYPE BOOL DEFINE_ONLY DESCRIPTION "Is this an APM 2.0 Beta board?" DEFAULT OFF) apm_option("APM_PROCESSOR" TYPE STRING DESCRIPTION "ArduPilotMega processor (2560 for APM2 and later APM1)?" DEFAULT "mega2560" OPTIONS "mega" "mega2560") #apm_option("CLI_SLIDER_ENABLED" TYPE BOOL #DESCRIPTION "Enable command line interface switch?" #DEFAULT OFF) apm_option("LOGGING_ENABLED" TYPE BOOL DESCRIPTION "Enable logging?" DEFAULT OFF) apm_option("GPS_PROTOCOL" TYPE STRING DESCRIPTION "GPS protocol?" DEFAULT "GPS_PROTOCOL_AUTO" OPTIONS "GPS_PROTOOCL_NONE" "GPS_PROTOCOL_AUTO" "GPS_PROTOCOL_NONE" "GPS_PROTOCOL_IMU" "GPS_PROTOCOL_MTK" "GPS_PROTOCOL_MTK19" "GPS_PROTOCOL_UBLOX" "GPS_PROTOCOL_SIRF" "GPS_PROTOCOL_NMEA") apm_option("AIRSPEED_SENSOR" TYPE BOOL DESCRIPTION "Enable airspeed sensor?" DEFAULT OFF) apm_option("PITOT_ENABLED" TYPE BOOL DESCRIPTION "Enable pitot static system?" DEFAULT OFF) apm_option("SONAR_ENABLED" TYPE BOOL DESCRIPTION "Enable sonar?" DEFAULT OFF) apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED DESCRIPTION "Airspeed ratio?" DEFAULT "1.9936") #apm_option("MAGNETOMETER" TYPE BOOL #DESCRIPTION "Enable airspeed sensor?" #DEFAULT OFF) #apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED #DESCRIPTION "Magnetometer orientation?" #DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD" #OPTIONS #"AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD" #"AP_COMPASS_COMPONENTS_DOWN_PINS_BACK" #"AP_COMPASS_COMPONENTS_UP_PINS_FORWARD" #"AP_COMPASS_COMPONENTS_UP_PINS_BACK") apm_option("HIL_MODE" TYPE STRING DESCRIPTION "Hardware-in-the-loop- mode?" DEFAULT "HIL_MODE_DISABLED" OPTIONS "HIL_MODE_DISABLED" "HIL_MODE_ATTITUDE" "HIL_MODE_SENSORS") apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED DESCRIPTION "MAVLink System ID?" DEFAULT "1") apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED DESCRIPTION "Serial 0 baudrate?" DEFAULT "115200" OPTIONS "57600" "115200") apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED DESCRIPTION "Serial 3 baudrate?" DEFAULT "57600" OPTIONS "57600" "115200") apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED DESCRIPTION "Enable low voltage/ high discharge warnings?" DEFAULT OFF) apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED DESCRIPTION "Voltage to consider low (volts)?" DEFAULT "9.6") apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED DESCRIPTION "Voltage division ratio?" DEFAULT "3.56") apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED DESCRIPTION "Current amps/volt?" DEFAULT "27.32") apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED DESCRIPTION "Current amps offset?" DEFAULT "0.0") apm_option("HIGH_DISCHARGE" TYPE STRING ADVANCED DESCRIPTION "What to consider high discharge rate (milliamps)?" DEFAULT "1760") apm_option("INPUT_VOLTAGE" TYPE STRING ADVANCED DESCRIPTION "Voltage measured at the process (V)? (affects ADC measurements)" DEFAULT "4.68") set(RADIO_CHANNELS "1" "2" "3" "4" "5" "6" "7" "8") apm_option("FLIGHT_MODE_CHANNEL" TYPE STRING ADVANCED DESCRIPTION "The radio channel to control the flight mode." DEFAULT "8" OPTIONS ${RADIO_CHANNELS}) set(FLIGHT_MODES MANUAL STABILIZE FLY_BY_WIRE_A FLY_BY_WIRE_B RTL AUTO LOITER CIRCLE) set(FLIGHT_MODES_RADIO_PWM 1165 1295 1425 1555 1685 1815) set(FLIGHT_MODES_DEFAULT RTL RTL STABILIZE STABILIZE MANUAL MANUAL) foreach(MODE 1 2 3 4 5 6) math(EXPR INDEX "${MODE} -1") list(GET FLIGHT_MODES_RADIO_PWM ${INDEX} RADIO_PWM) list(GET FLIGHT_MODES_DEFAULT ${INDEX} FLIGHT_MODE_DEFAULT) apm_option("FLIGHT_MODE_${MODE}" TYPE STRING ADVANCED DESCRIPTION "Flight mode ${MODE} (pwm ${RADIO_PWM} ms)?" DEFAULT "${FLIGHT_MODE_DEFAULT}" OPTIONS ${FLIGHT_MODES}) endforeach() #set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?") #set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?") #set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?") #set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?") #set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?") #set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) #set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).") #set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?") #set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED) #set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER") #set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL") #set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?") #set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED) #set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?") #set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) #set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?") #set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED) #set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?") #set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED) #set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and INS calibration (s)?") #set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?") #set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED)