//
#pragma once

//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
//
#include "defines.h"

//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////

#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build Blimp
#endif

#ifndef ADVANCED_FAILSAFE
# define ADVANCED_FAILSAFE DISABLED
#endif

#ifndef ARMING_DELAY_SEC
# define ARMING_DELAY_SEC 2.0f
#endif

//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
# define FRAME_CONFIG   MULTICOPTER_FRAME
#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

// 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

//////////////////////////////////////////////////////////////////////////////
//  OPTICAL_FLOW
#ifndef OPTFLOW
# define OPTFLOW       ENABLED
#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_SPRAYER_ENABLED
#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

//////////////////////////////////////////////////////////////////////////////
// rotations per minute sensor support
#ifndef RPM_ENABLED
# define RPM_ENABLED !HAL_MINIMIZE_FEATURES
#endif

//////////////////////////////////////////////////////////////////////////////
// Parachute release
#ifndef PARACHUTE
# define PARACHUTE HAL_PARACHUTE_ENABLED
#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

//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////


//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//

#ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1                  Mode::Number::MANUAL
#endif
#ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2                  Mode::Number::MANUAL
#endif
#ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3                  Mode::Number::MANUAL
#endif
#ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4                  Mode::Number::MANUAL
#endif
#ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5                  Mode::Number::MANUAL
#endif
#ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6                  Mode::Number::MANUAL
#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

//////////////////////////////////////////////////////////////////////////////
// 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 YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED  100             // minimum ground speed in cm/s required before blimp is aimed at ground course
#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

//////////////////////////////////////////////////////////////////////////////
// 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

#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

#ifndef CH_MODE_DEFAULT
# define CH_MODE_DEFAULT   5
#endif

#ifndef STATS_ENABLED
# define STATS_ENABLED ENABLED
#endif

#ifndef HAL_FRAME_TYPE_DEFAULT
#define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH
#endif