// #pragma once ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // // WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING // // DO NOT EDIT this file to adjust your configuration. Create your own // APM_Config.h and use APM_Config.h.example as a reference. // // WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING /// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // // Default and automatic configuration details. // // Notes for maintainers: // // - Try to keep this file organised in the same order as APM_Config.h.example // #include "defines.h" /// /// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that /// change in your local copy of APM_Config.h. /// #include "APM_Config.h" ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// #ifndef CONFIG_HAL_BOARD #error CONFIG_HAL_BOARD must be defined to build ArduCopter #endif ////////////////////////////////////////////////////////////////////////////// // HIL_MODE OPTIONAL #ifndef HIL_MODE #define HIL_MODE HIL_MODE_DISABLED #endif #define MAGNETOMETER ENABLED #ifndef ARMING_DELAY_SEC # define ARMING_DELAY_SEC 2.0f #endif ////////////////////////////////////////////////////////////////////////////// // FRAME_CONFIG // #ifndef FRAME_CONFIG # define FRAME_CONFIG MULTICOPTER_FRAME #endif ///////////////////////////////////////////////////////////////////////////////// // TradHeli defaults #if FRAME_CONFIG == HELI_FRAME # define RC_FAST_SPEED 125 # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD # define THR_MIN_DEFAULT 0 # define AUTOTUNE_ENABLED DISABLED # define ACCEL_Z_P 0.30f #endif ////////////////////////////////////////////////////////////////////////////// // PWM control // default RC speed in Hz #ifndef RC_FAST_SPEED # define RC_FAST_SPEED 490 #endif ////////////////////////////////////////////////////////////////////////////// // Rangefinder // #ifndef RANGEFINDER_ENABLED # define RANGEFINDER_ENABLED ENABLED #endif #ifndef RANGEFINDER_HEALTH_MAX # define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder #endif #ifndef RANGEFINDER_TIMEOUT_MS # define RANGEFINDER_TIMEOUT_MS 1000 // rangefinder filter reset if no updates from sensor in 1 second #endif #ifndef RANGEFINDER_GAIN_DEFAULT # define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction) #endif #ifndef SURFACE_TRACKING_VELZ_MAX # define SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder #endif #ifndef SURFACE_TRACKING_TIMEOUT_MS # define SURFACE_TRACKING_TIMEOUT_MS 1000 // surface tracking target alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt #endif #ifndef RANGEFINDER_WPNAV_FILT_HZ # define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class #endif #ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF # define RANGEFINDER_TILT_CORRECTION ENABLED #endif #ifndef RANGEFINDER_GLITCH_ALT_CM # define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch #endif #ifndef RANGEFINDER_GLITCH_NUM_SAMPLES # define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading #endif ////////////////////////////////////////////////////////////////////////////// // Proximity sensor // #ifndef PROXIMITY_ENABLED # define PROXIMITY_ENABLED ENABLED #endif #ifndef MAV_SYSTEM_ID # define MAV_SYSTEM_ID 1 #endif ////////////////////////////////////////////////////////////////////////////// // Battery monitoring // #ifndef BOARD_VOLTAGE_MIN # define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks #endif #ifndef BOARD_VOLTAGE_MAX # define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks #endif // prearm GPS hdop check #ifndef GPS_HDOP_GOOD_DEFAULT # define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled #endif // GCS failsafe #ifndef FS_GCS # define FS_GCS DISABLED #endif #ifndef FS_GCS_TIMEOUT_MS # define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat #endif // Radio failsafe while using RC_override #ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS # define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station #endif // Radio failsafe #ifndef FS_RADIO_TIMEOUT_MS #define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 milliseconds with No RC Input #endif // missing terrain data failsafe #ifndef FS_TERRAIN_TIMEOUT_MS #define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL) #endif #ifndef PREARM_DISPLAY_PERIOD # define PREARM_DISPLAY_PERIOD 30 #endif // pre-arm baro vs inertial nav max alt disparity #ifndef PREARM_MAX_ALT_DISPARITY_CM # define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters #endif ////////////////////////////////////////////////////////////////////////////// // EKF Failsafe #ifndef FS_EKF_ACTION_DEFAULT # define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default #endif #ifndef FS_EKF_THRESHOLD_DEFAULT # define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered #endif #ifndef EKF_ORIGIN_MAX_DIST_M # define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km #endif ////////////////////////////////////////////////////////////////////////////// // MAGNETOMETER #ifndef MAGNETOMETER # define MAGNETOMETER ENABLED #endif #ifndef COMPASS_CAL_STICK_GESTURE_TIME #define COMPASS_CAL_STICK_GESTURE_TIME 2.0f // 2 seconds #endif #ifndef COMPASS_CAL_STICK_DELAY #define COMPASS_CAL_STICK_DELAY 5.0f #endif ////////////////////////////////////////////////////////////////////////////// // OPTICAL_FLOW & VISUAL ODOMETRY #ifndef OPTFLOW # define OPTFLOW ENABLED #endif #ifndef VISUAL_ODOMETRY_ENABLED # define VISUAL_ODOMETRY_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Auto Tuning #ifndef AUTOTUNE_ENABLED # define AUTOTUNE_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Crop Sprayer - enabled only on larger firmwares #ifndef SPRAYER_ENABLED # define SPRAYER_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Precision Landing with companion computer or IRLock sensor #ifndef PRECISION_LANDING # define PRECISION_LANDING ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // gripper - enabled only on larger firmwares #ifndef GRIPPER_ENABLED # define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // winch support #ifndef WINCH_ENABLED # define WINCH_ENABLED DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // rotations per minute sensor support #ifndef RPM_ENABLED # define RPM_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Parachute release #ifndef PARACHUTE # define PARACHUTE ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // ADSB support #ifndef ADSB_ENABLED # define ADSB_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Nav-Guided - allows external nav computer to control vehicle #ifndef NAV_GUIDED # define NAV_GUIDED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Acro - fly vehicle in acrobatic mode #ifndef MODE_ACRO_ENABLED # define MODE_ACRO_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Auto mode - allows vehicle to trace waypoints and perform automated actions #ifndef MODE_AUTO_ENABLED # define MODE_AUTO_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Brake mode - bring vehicle to stop #ifndef MODE_BRAKE_ENABLED # define MODE_BRAKE_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Circle - fly vehicle around a central point #ifndef MODE_CIRCLE_ENABLED # define MODE_CIRCLE_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Drift - fly vehicle in altitude-held, coordinated-turn mode #ifndef MODE_DRIFT_ENABLED # define MODE_DRIFT_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // flip - fly vehicle in flip in pitch and roll direction mode #ifndef MODE_FLIP_ENABLED # define MODE_FLIP_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Follow - follow another vehicle or GCS #ifndef MODE_FOLLOW_ENABLED # define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Guided mode - control vehicle's position or angles from GCS #ifndef MODE_GUIDED_ENABLED # define MODE_GUIDED_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // GuidedNoGPS mode - control vehicle's angles from GCS #ifndef MODE_GUIDED_NOGPS_ENABLED # define MODE_GUIDED_NOGPS_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Loiter mode - allows vehicle to hold global position #ifndef MODE_LOITER_ENABLED # define MODE_LOITER_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Position Hold - enable holding of global position #ifndef MODE_POSHOLD_ENABLED # define MODE_POSHOLD_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // RTL - Return To Launch #ifndef MODE_RTL_ENABLED # define MODE_RTL_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home #ifndef MODE_SMARTRTL_ENABLED # define MODE_SMARTRTL_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Sport - fly vehicle in rate-controlled (earth-frame) mode #ifndef MODE_SPORT_ENABLED # define MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // System ID - conduct system identification tests on vehicle #ifndef MODE_SYSTEMID_ENABLED # define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Throw - fly vehicle after throwing it in the air #ifndef MODE_THROW_ENABLED # define MODE_THROW_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // ZigZag - allow vehicle to fly in a zigzag manner with predefined point A B #ifndef MODE_ZIGZAG_ENABLED # define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Autorotate - autonomous auto-rotation - helicopters only #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if FRAME_CONFIG == HELI_FRAME #ifndef MODE_AUTOROTATE_ENABLED # define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES #endif #else # define MODE_AUTOROTATE_ENABLED DISABLED #endif #else # define MODE_AUTOROTATE_ENABLED DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // Beacon support - support for local positioning systems #ifndef BEACON_ENABLED # define BEACON_ENABLED !HAL_MINIMIZE_FEATURES #endif ////////////////////////////////////////////////////////////////////////////// // Button - Enable the button connected to AUX1-6 #ifndef BUTTON_ENABLED # define BUTTON_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // RADIO CONFIGURATION ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT_MODE // #ifndef FLIGHT_MODE_1 # define FLIGHT_MODE_1 Mode::Number::STABILIZE #endif #ifndef FLIGHT_MODE_2 # define FLIGHT_MODE_2 Mode::Number::STABILIZE #endif #ifndef FLIGHT_MODE_3 # define FLIGHT_MODE_3 Mode::Number::STABILIZE #endif #ifndef FLIGHT_MODE_4 # define FLIGHT_MODE_4 Mode::Number::STABILIZE #endif #ifndef FLIGHT_MODE_5 # define FLIGHT_MODE_5 Mode::Number::STABILIZE #endif #ifndef FLIGHT_MODE_6 # define FLIGHT_MODE_6 Mode::Number::STABILIZE #endif ////////////////////////////////////////////////////////////////////////////// // Throttle Failsafe // #ifndef FS_THR_VALUE_DEFAULT # define FS_THR_VALUE_DEFAULT 975 #endif ////////////////////////////////////////////////////////////////////////////// // Takeoff // #ifndef PILOT_TKOFF_ALT_DEFAULT # define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff #endif ////////////////////////////////////////////////////////////////////////////// // Landing // #ifndef LAND_SPEED # define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s #endif #ifndef LAND_REPOSITION_DEFAULT # define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing #endif #ifndef LAND_WITH_DELAY_MS # define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event #endif #ifndef LAND_CANCEL_TRIGGER_THR # define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700 #endif #ifndef LAND_RANGEFINDER_MIN_ALT_CM #define LAND_RANGEFINDER_MIN_ALT_CM 200 #endif ////////////////////////////////////////////////////////////////////////////// // Landing Detector // #ifndef LAND_DETECTOR_TRIGGER_SEC # define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing #endif #ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC # define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over) #endif #ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF # define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter #endif #ifndef LAND_DETECTOR_ACCEL_MAX # define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s #endif ////////////////////////////////////////////////////////////////////////////// // CAMERA TRIGGER AND CONTROL // #ifndef CAMERA # define CAMERA ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // MOUNT (ANTENNA OR CAMERA) // #ifndef MOUNT # define MOUNT ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Flight mode definitions // // Acro Mode #ifndef ACRO_RP_P # define ACRO_RP_P 4.5f #endif #ifndef ACRO_YAW_P # define ACRO_YAW_P 4.5f #endif #ifndef ACRO_LEVEL_MAX_ANGLE # define ACRO_LEVEL_MAX_ANGLE 3000 #endif #ifndef ACRO_BALANCE_ROLL #define ACRO_BALANCE_ROLL 1.0f #endif #ifndef ACRO_BALANCE_PITCH #define ACRO_BALANCE_PITCH 1.0f #endif #ifndef ACRO_RP_EXPO_DEFAULT #define ACRO_RP_EXPO_DEFAULT 0.3f #endif #ifndef ACRO_Y_EXPO_DEFAULT #define ACRO_Y_EXPO_DEFAULT 0.0f #endif #ifndef ACRO_THR_MID_DEFAULT #define ACRO_THR_MID_DEFAULT 0.0f #endif // RTL Mode #ifndef RTL_ALT_FINAL # define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land. #endif #ifndef RTL_ALT # define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude #endif #ifndef RTL_ALT_MIN # define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m) #endif #ifndef RTL_CLIMB_MIN_DEFAULT # define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL #endif #ifndef RTL_ABS_MIN_CLIMB # define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb #endif #ifndef RTL_CONE_SLOPE_DEFAULT # define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone #endif #ifndef RTL_MIN_CONE_SLOPE # define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone #endif #ifndef RTL_LOITER_TIME # define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning final descent #endif // AUTO Mode #ifndef WP_YAW_BEHAVIOR_DEFAULT # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL #endif #ifndef AUTO_YAW_SLEW_RATE # define AUTO_YAW_SLEW_RATE 60 // degrees/sec #endif #ifndef YAW_LOOK_AHEAD_MIN_SPEED # define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course #endif // Super Simple mode #ifndef SUPER_SIMPLE_RADIUS # define SUPER_SIMPLE_RADIUS 1000 #endif ////////////////////////////////////////////////////////////////////////////// // Stabilize Rate Control // #ifndef ROLL_PITCH_YAW_INPUT_MAX # define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range #endif #ifndef DEFAULT_ANGLE_MAX # define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value #endif #ifndef ANGLE_RATE_MAX # 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 #endif ////////////////////////////////////////////////////////////////////////////// // Stop mode defaults // #ifndef BRAKE_MODE_SPEED_Z # define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode #endif #ifndef BRAKE_MODE_DECEL_RATE # define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode #endif ////////////////////////////////////////////////////////////////////////////// // PosHold parameter defaults // #ifndef POSHOLD_BRAKE_RATE_DEFAULT # define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec #endif #ifndef POSHOLD_BRAKE_ANGLE_DEFAULT # define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees #endif ////////////////////////////////////////////////////////////////////////////// // Throttle control defaults // #ifndef THR_DZ_DEFAULT # define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter #endif // default maximum vertical velocity and acceleration the pilot may request #ifndef PILOT_VELZ_MAX # define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s #endif #ifndef PILOT_ACCEL_Z_DEFAULT # define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control #endif // max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode #ifndef ALT_HOLD_INIT_MAX_OVERSHOOT # define ALT_HOLD_INIT_MAX_OVERSHOOT 200 #endif // the acceleration used to define the distance-velocity curve #ifndef ALT_HOLD_ACCEL_MAX # define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h #endif #ifndef AUTO_DISARMING_DELAY # define AUTO_DISARMING_DELAY 10 #endif ////////////////////////////////////////////////////////////////////////////// // Throw mode configuration // #ifndef THROW_HIGH_SPEED # define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling) #endif #ifndef THROW_VERTICAL_SPEED # define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s #endif ////////////////////////////////////////////////////////////////////////////// // Logging control // #ifndef LOGGING_ENABLED # define LOGGING_ENABLED ENABLED #endif // Default logging bitmask #ifndef DEFAULT_LOG_BITMASK # define DEFAULT_LOG_BITMASK \ MASK_LOG_ATTITUDE_MED | \ MASK_LOG_GPS | \ MASK_LOG_PM | \ MASK_LOG_CTUN | \ MASK_LOG_NTUN | \ MASK_LOG_RCIN | \ MASK_LOG_IMU | \ MASK_LOG_CMD | \ MASK_LOG_CURRENT | \ MASK_LOG_RCOUT | \ MASK_LOG_OPTFLOW | \ MASK_LOG_COMPASS | \ MASK_LOG_CAMERA | \ MASK_LOG_MOTBATT #endif ////////////////////////////////////////////////////////////////////////////// // Fence, Rally and Terrain and AC_Avoidance defaults // // Enable/disable Fence #ifndef AC_FENCE #define AC_FENCE ENABLED #endif #ifndef AC_RALLY #define AC_RALLY ENABLED #endif #ifndef AC_TERRAIN #define AC_TERRAIN ENABLED #endif #if AC_TERRAIN && !AC_RALLY #error Terrain relies on Rally which is disabled #endif #ifndef AC_AVOID_ENABLED #define AC_AVOID_ENABLED ENABLED #endif #ifndef AC_OAPATHPLANNER_ENABLED #define AC_OAPATHPLANNER_ENABLED !HAL_MINIMIZE_FEATURES #endif #if AC_AVOID_ENABLED && !PROXIMITY_ENABLED #error AC_Avoidance relies on PROXIMITY_ENABLED which is disabled #endif #if AC_AVOID_ENABLED && !AC_FENCE #error AC_Avoidance relies on AC_FENCE which is disabled #endif #if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED #error Follow Mode relies on AC_AVOID which is disabled #endif #if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED #error ModeAuto requires ModeGuided which is disabled #endif #if MODE_AUTO_ENABLED && !MODE_CIRCLE_ENABLED #error ModeAuto requires ModeCircle which is disabled #endif #if MODE_AUTO_ENABLED && !MODE_RTL_ENABLED #error ModeAuto requires ModeRTL which is disabled #endif #if AC_TERRAIN && !MODE_AUTO_ENABLED #error Terrain requires ModeAuto which is disabled #endif #if FRAME_CONFIG == HELI_FRAME && !MODE_ACRO_ENABLED #error Helicopter frame requires acro mode support which is disabled #endif #if MODE_SMARTRTL_ENABLED && !MODE_RTL_ENABLED #error SmartRTL requires ModeRTL which is disabled #endif #if ADSB_ENABLED && !MODE_GUIDED_ENABLED #error ADSB requires ModeGuided which is disabled #endif #if MODE_FOLLOW_ENABLED && !MODE_GUIDED_ENABLED #error Follow requires ModeGuided which is disabled #endif #if MODE_GUIDED_NOGPS_ENABLED && !MODE_GUIDED_ENABLED #error ModeGuided-NoGPS requires ModeGuided which is disabled #endif ////////////////////////////////////////////////////////////////////////////// // Developer Items // //use this to completely disable FRSKY TELEM #ifndef FRSKY_TELEM_ENABLED # define FRSKY_TELEM_ENABLED ENABLED #endif #ifndef ADVANCED_FAILSAFE # define ADVANCED_FAILSAFE DISABLED #endif #ifndef CH_MODE_DEFAULT # define CH_MODE_DEFAULT 5 #endif #ifndef TOY_MODE_ENABLED #define TOY_MODE_ENABLED DISABLED #endif #if TOY_MODE_ENABLED && FRAME_CONFIG == HELI_FRAME #error Toy mode is not available on Helicopters #endif #ifndef STATS_ENABLED # define STATS_ENABLED ENABLED #endif #ifndef OSD_ENABLED #define OSD_ENABLED DISABLED #endif #ifndef HAL_FRAME_TYPE_DEFAULT #define HAL_FRAME_TYPE_DEFAULT AP_Motors::MOTOR_FRAME_TYPE_X #endif