// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // // 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" // <== THIS INCLUDE, DO NOT EDIT IT. EVER. ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // APM HARDWARE // #ifndef CONFIG_APM_HARDWARE # define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 #endif ////////////////////////////////////////////////////////////////////////////// // APM2 HARDWARE DEFAULTS // #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 # define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000 # define CONFIG_PUSHBUTTON DISABLED # define CONFIG_RELAY DISABLED # define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # ifdef APM2_BETA_HARDWARE # define CONFIG_BARO AP_BARO_BMP085 # else // APM2 Production Hardware (default) # define CONFIG_BARO AP_BARO_MS5611 # endif #endif ////////////////////////////////////////////////////////////////////////////// // FRAME_CONFIG // #ifndef FRAME_CONFIG # define FRAME_CONFIG QUAD_FRAME #endif #ifndef FRAME_ORIENTATION # define FRAME_ORIENTATION PLUS_FRAME #endif ////////////////////////////////////////////////////////////////////////////// // IMU Selection // #ifndef CONFIG_IMU_TYPE # define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN #endif #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000 # ifndef CONFIG_MPU6000_CHIP_SELECT_PIN # define CONFIG_MPU6000_CHIP_SELECT_PIN 53 # endif #endif ////////////////////////////////////////////////////////////////////////////// // ADC Enable - used to eliminate for systems which don't have ADC. // #ifndef CONFIG_ADC # if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN # define CONFIG_ADC ENABLED # else # define CONFIG_ADC DISABLED # endif #endif ////////////////////////////////////////////////////////////////////////////// // PWM control // #ifndef INSTANT_PWM # define INSTANT_PWM DISABLED #endif // LED and IO Pins // #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 # define A_LED_PIN 37 # define B_LED_PIN 36 # define C_LED_PIN 35 # define LED_ON HIGH # define LED_OFF LOW # define SLIDE_SWITCH_PIN 40 # define PUSHBUTTON_PIN 41 # define USB_MUX_PIN -1 # define CLI_SLIDER_ENABLED DISABLED #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 # define A_LED_PIN 27 # define B_LED_PIN 26 # define C_LED_PIN 25 # define LED_ON LOW # define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED # define USB_MUX_PIN 23 #endif ////////////////////////////////////////////////////////////////////////////// // Pushbutton & Relay // #ifndef CONFIG_PUSHBUTTON # define CONFIG_PUSHBUTTON ENABLED #endif #ifndef CONFIG_RELAY # define CONFIG_RELAY ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Barometer // #ifndef CONFIG_BARO # define CONFIG_BARO AP_BARO_BMP085 #endif ////////////////////////////////////////////////////////////////////////////// // Sonar // #ifndef CONFIG_SONAR_SOURCE # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC #endif #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED # warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED # warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN # undef CONFIG_SONAR_SOURCE # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN #endif #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC # ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL # define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7 # endif #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN # ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN # define CONFIG_SONAR_SOURCE_ANALOG_PIN AN4 # endif #else # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar # undef SONAR_ENABLED # define SONAR_ENABLED DISABLED #endif #ifndef CONFIG_SONAR # define CONFIG_SONAR ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Acrobatics // #ifndef CH7_OPTION # define CH7_OPTION CH7_SAVE_WP #endif ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_SENSOR // AIRSPEED_RATIO // #ifndef AIRSPEED_SENSOR # define AIRSPEED_SENSOR DISABLED #endif #ifndef AIRSPEED_RATIO # define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution #endif ////////////////////////////////////////////////////////////////////////////// // HIL_MODE OPTIONAL #ifndef HIL_MODE #define HIL_MODE HIL_MODE_DISABLED #endif #if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode # undef GPS_PROTOCOL # define GPS_PROTOCOL GPS_PROTOCOL_NONE #undef CONFIG_SONAR #define CONFIG_SONAR DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // GPS_PROTOCOL // #ifndef GPS_PROTOCOL # define GPS_PROTOCOL GPS_PROTOCOL_AUTO #endif #ifndef MAV_SYSTEM_ID # define MAV_SYSTEM_ID 1 #endif ////////////////////////////////////////////////////////////////////////////// // Serial port speeds. // #ifndef SERIAL0_BAUD # define SERIAL0_BAUD 115200 #endif #ifndef SERIAL3_BAUD # define SERIAL3_BAUD 57600 #endif ////////////////////////////////////////////////////////////////////////////// // Battery monitoring // #ifndef BATTERY_EVENT # define BATTERY_EVENT DISABLED #endif #ifndef LOW_VOLTAGE # define LOW_VOLTAGE 9.6 #endif #ifndef VOLT_DIV_RATIO # define VOLT_DIV_RATIO 3.56 #endif #ifndef CURR_AMP_PER_VOLT # define CURR_AMP_PER_VOLT 27.32 #endif #ifndef CURR_AMPS_OFFSET # define CURR_AMPS_OFFSET 0.0 #endif #ifndef HIGH_DISCHARGE # define HIGH_DISCHARGE 1760 #endif #ifndef PIEZO # define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation #endif #ifndef PIEZO_LOW_VOLTAGE # define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert #endif #ifndef PIEZO_ARMING # define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm #endif ////////////////////////////////////////////////////////////////////////////// // INPUT_VOLTAGE // #ifndef INPUT_VOLTAGE # define INPUT_VOLTAGE 5.0 #endif ////////////////////////////////////////////////////////////////////////////// // MAGNETOMETER #ifndef MAGNETOMETER # define MAGNETOMETER DISABLED #endif #ifndef MAG_ORIENTATION # define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD #endif ////////////////////////////////////////////////////////////////////////////// // CAMERA GAINS #ifndef CAM_ROLL_GAIN # define CAM_ROLL_GAIN 1.0 #endif #ifndef CAM_PITCH_GAIN # define CAM_PITCH_GAIN 1.0 #endif ////////////////////////////////////////////////////////////////////////////// // OPTICAL_FLOW #if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included #define OPTFLOW_ENABLED #endif #ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI) # define OPTFLOW DISABLED #endif #ifndef OPTFLOW_ORIENTATION # define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD #endif #ifndef OPTFLOW_FOV # define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV #endif ////////////////////////////////////////////////////////////////////////////// // RADIO CONFIGURATION ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT_MODE // #if !defined(FLIGHT_MODE_1) # define FLIGHT_MODE_1 STABILIZE #endif #if !defined(FLIGHT_MODE_2) # define FLIGHT_MODE_2 STABILIZE #endif #if !defined(FLIGHT_MODE_3) # define FLIGHT_MODE_3 STABILIZE #endif #if !defined(FLIGHT_MODE_4) # define FLIGHT_MODE_4 STABILIZE #endif #if !defined(FLIGHT_MODE_5) # define FLIGHT_MODE_5 STABILIZE #endif #if !defined(FLIGHT_MODE_6) # define FLIGHT_MODE_6 STABILIZE #endif ////////////////////////////////////////////////////////////////////////////// // THROTTLE_FAILSAFE // THROTTLE_FS_VALUE // THROTTLE_FAILSAFE_ACTION // #ifndef THROTTLE_FAILSAFE # define THROTTLE_FAILSAFE DISABLED #endif #ifndef THROTTE_FS_VALUE # define THROTTLE_FS_VALUE 975 #endif #ifndef THROTTLE_FAILSAFE_ACTION # define THROTTLE_FAILSAFE_ACTION 2 #endif #ifndef MINIMUM_THROTTLE # define MINIMUM_THROTTLE 130 #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // STARTUP BEHAVIOUR ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // GROUND_START_DELAY // #ifndef GROUND_START_DELAY # define GROUND_START_DELAY 3 #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT AND NAVIGATION CONTROL ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Y6 Support #ifndef TOP_BOTTOM_RATIO # define TOP_BOTTOM_RATIO 1.00 #endif ////////////////////////////////////////////////////////////////////////////// // Attitude Control // // Alt Hold Mode #ifndef ALT_HOLD_YAW # define ALT_HOLD_YAW YAW_HOLD #endif #ifndef ALT_HOLD_RP # define ALT_HOLD_RP ROLL_PITCH_STABLE #endif #ifndef ALT_HOLD_THR # define ALT_HOLD_THR THROTTLE_HOLD #endif // AUTO Mode #ifndef AUTO_YAW # define AUTO_YAW YAW_AUTO #endif #ifndef AUTO_RP # define AUTO_RP ROLL_PITCH_AUTO #endif #ifndef AUTO_THR # define AUTO_THR THROTTLE_AUTO #endif // CIRCLE Mode #ifndef CIRCLE_YAW # define CIRCLE_YAW YAW_AUTO #endif #ifndef CIRCLE_RP # define CIRCLE_RP ROLL_PITCH_AUTO #endif #ifndef CIRCLE_THR # define CIRCLE_THR THROTTLE_HOLD #endif // LOITER Mode #ifndef LOITER_YAW # define LOITER_YAW YAW_HOLD #endif #ifndef LOITER_RP # define LOITER_RP ROLL_PITCH_AUTO #endif #ifndef LOITER_THR # define LOITER_THR THROTTLE_HOLD #endif // RTL Mode #ifndef RTL_YAW # define RTL_YAW YAW_HOLD #endif #ifndef RTL_RP # define RTL_RP ROLL_PITCH_AUTO #endif #ifndef RTL_THR # define RTL_THR THROTTLE_HOLD #endif #ifndef SUPER_SIMPLE # define SUPER_SIMPLE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // Attitude Control // // Extra motor values that are changed from time to time by jani @ jDrones as software // and charachteristics changes. #ifdef MOTORS_JD880 # define STABILIZE_ROLL_P 3.6 # define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_IMAX 40.0 // degrees # define STABILIZE_PITCH_P 3.6 # define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_IMAX 40.0 // degrees #endif #ifdef MOTORS_JD850 # define STABILIZE_ROLL_P 4.0 # define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_IMAX 40.0 // degrees # define STABILIZE_PITCH_P 4.0 # define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_IMAX 40.0 // degrees #endif // Jasons default values that are good for smaller payload motors. #ifndef STABILIZE_ROLL_P # define STABILIZE_ROLL_P 4.6 #endif #ifndef STABILIZE_ROLL_I # define STABILIZE_ROLL_I 0.02 #endif #ifndef STABILIZE_ROLL_IMAX # define STABILIZE_ROLL_IMAX 40 // degrees #endif #ifndef STABILIZE_PITCH_P # define STABILIZE_PITCH_P 4.6 #endif #ifndef STABILIZE_PITCH_I # define STABILIZE_PITCH_I 0.02 #endif #ifndef STABILIZE_PITCH_IMAX # define STABILIZE_PITCH_IMAX 40 // degrees #endif ////////////////////////////////////////////////////////////////////////////// // Acro Rate Control // #ifndef ACRO_ROLL_P # define ACRO_ROLL_P 0.145 #endif #ifndef ACRO_ROLL_I # define ACRO_ROLL_I 0.0 #endif #ifndef ACRO_ROLL_IMAX # define ACRO_ROLL_IMAX 15 // degrees #endif #ifndef ACRO_PITCH_P # define ACRO_PITCH_P 0.145 #endif #ifndef ACRO_PITCH_I # define ACRO_PITCH_I 0 //0.18 #endif #ifndef ACRO_PITCH_IMAX # define ACRO_PITCH_IMAX 15 // degrees #endif ////////////////////////////////////////////////////////////////////////////// // Stabilize Rate Control // #ifndef RATE_ROLL_P # define RATE_ROLL_P 0.145 #endif #ifndef RATE_ROLL_I # define RATE_ROLL_I 0.0 #endif #ifndef RATE_ROLL_IMAX # define RATE_ROLL_IMAX 15 // degrees #endif #ifndef RATE_PITCH_P # define RATE_PITCH_P 0.145 #endif #ifndef RATE_PITCH_I # define RATE_PITCH_I 0 //0.18 #endif #ifndef RATE_PITCH_IMAX # define RATE_PITCH_IMAX 15 // degrees #endif ////////////////////////////////////////////////////////////////////////////// // YAW Control // #ifndef STABILIZE_YAW_P # define STABILIZE_YAW_P 7 // increase for more aggressive Yaw Hold, decrease if it's bouncy #endif #ifndef STABILIZE_YAW_I # define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance #endif #ifndef STABILIZE_YAW_IMAX # define STABILIZE_YAW_IMAX 8 // degrees * 100 #endif #ifndef RATE_YAW_P # define RATE_YAW_P .13 // used to control response in turning #endif #ifndef RATE_YAW_I # define RATE_YAW_I 0.0 #endif #ifndef RATE_YAW_IMAX # define RATE_YAW_IMAX 50 #endif ////////////////////////////////////////////////////////////////////////////// // Navigation control gains // #ifndef LOITER_P # define LOITER_P .3 // #endif #ifndef LOITER_I # define LOITER_I 0.01 // #endif #ifndef LOITER_IMAX # define LOITER_IMAX 30 // degrees° #endif #ifndef NAV_P # define NAV_P 3.0 // #endif #ifndef NAV_I # define NAV_I 0.14 // Lowerd from .25 - saw lots of overshoot. #endif #ifndef NAV_IMAX # define NAV_IMAX 30 // degrees #endif #ifndef WAYPOINT_SPEED_MAX # define WAYPOINT_SPEED_MAX 600 // for 6m/s error = 13mph #endif ////////////////////////////////////////////////////////////////////////////// // Throttle control gains // #ifndef THROTTLE_CRUISE # define THROTTLE_CRUISE 350 // #endif #ifndef THR_HOLD_P # define THR_HOLD_P 0.4 // #endif #ifndef THR_HOLD_I # define THR_HOLD_I 0.01 // with 4m error, 12.5s windup #endif #ifndef THR_HOLD_IMAX # define THR_HOLD_IMAX 300 #endif // RATE control #ifndef THROTTLE_P # define THROTTLE_P 0.4 // #endif #ifndef THROTTLE_I # define THROTTLE_I 0.0 // #endif #ifndef THROTTLE_IMAX # define THROTTLE_IMAX 300 #endif ////////////////////////////////////////////////////////////////////////////// // Crosstrack compensation // #ifndef CROSSTRACK_GAIN # define CROSSTRACK_GAIN 40 #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // DEBUGGING ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // DEBUG_LEVEL // #ifndef DEBUG_LEVEL # define DEBUG_LEVEL SEVERITY_LOW #endif ////////////////////////////////////////////////////////////////////////////// // Dataflash logging control // // Logging must be disabled for 1280 build. #if defined( __AVR_ATmega1280__ ) # if LOGGING_ENABLED == ENABLED // If logging was enabled in APM_Config or command line, warn the user. # warning "Logging is not supported on ATmega1280" # undef LOGGING_ENABLED # endif # ifndef LOGGING_ENABLED # define LOGGING_ENABLED DISABLED # endif #elif !defined(LOGGING_ENABLED) // Logging is enabled by default for all other builds. # define LOGGING_ENABLED ENABLED #endif #ifndef LOG_ATTITUDE_FAST # define LOG_ATTITUDE_FAST DISABLED #endif #ifndef LOG_ATTITUDE_MED # define LOG_ATTITUDE_MED ENABLED #endif #ifndef LOG_GPS # define LOG_GPS ENABLED #endif #ifndef LOG_PM # define LOG_PM ENABLED #endif #ifndef LOG_CTUN # define LOG_CTUN ENABLED #endif #ifndef LOG_NTUN # define LOG_NTUN ENABLED #endif #ifndef LOG_MODE # define LOG_MODE ENABLED #endif #ifndef LOG_RAW # define LOG_RAW DISABLED #endif #ifndef LOG_CMD # define LOG_CMD ENABLED #endif // current #ifndef LOG_CUR # define LOG_CUR DISABLED #endif // quad motor PWMs #ifndef LOG_MOTORS # define LOG_MOTORS DISABLED #endif // guess! #ifndef LOG_OPTFLOW # define LOG_OPTFLOW DISABLED #endif // calculate the default log_bitmask #define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0) #define DEFAULT_LOG_BITMASK \ LOGBIT(ATTITUDE_FAST) | \ LOGBIT(ATTITUDE_MED) | \ LOGBIT(GPS) | \ LOGBIT(PM) | \ LOGBIT(CTUN) | \ LOGBIT(NTUN) | \ LOGBIT(MODE) | \ LOGBIT(RAW) | \ LOGBIT(CMD) | \ LOGBIT(CUR) | \ LOGBIT(MOTORS) | \ LOGBIT(OPTFLOW) // if we are using fast, Disable Medium //#if LOG_ATTITUDE_FAST == ENABLED // #undef LOG_ATTITUDE_MED // #define LOG_ATTITUDE_MED DISABLED //#endif #ifndef DEBUG_PORT # define DEBUG_PORT 0 #endif #if DEBUG_PORT == 0 # define SendDebug_P(a) Serial.print_P(PSTR(a)) # define SendDebugln_P(a) Serial.println_P(PSTR(a)) # define SendDebug Serial.print # define SendDebugln Serial.println #elif DEBUG_PORT == 1 # define SendDebug_P(a) Serial1.print_P(PSTR(a)) # define SendDebugln_P(a) Serial1.println_P(PSTR(a)) # define SendDebug Serial1.print # define SendDebugln Serial1.println #elif DEBUG_PORT == 2 # define SendDebug_P(a) Serial2.print_P(PSTR(a)) # define SendDebugln_P(a) Serial2.println_P(PSTR(a)) # define SendDebug Serial2.print # define SendDebugln Serial2.println #elif DEBUG_PORT == 3 # define SendDebug_P(a) Serial3.print_P(PSTR(a)) # define SendDebugln_P(a) Serial3.println_P(PSTR(a)) # define SendDebug Serial3.print # define SendDebugln Serial3.println #endif ////////////////////////////////////////////////////////////////////////////// // Navigation defaults // #ifndef WP_RADIUS_DEFAULT # define WP_RADIUS_DEFAULT 1 #endif #ifndef LOITER_RADIUS # define LOITER_RADIUS 10 // meters for circle mode #endif #ifndef ALT_HOLD_HOME # define ALT_HOLD_HOME 0 // height to return to Home, 0 = Maintain current altitude #endif #ifndef USE_CURRENT_ALT # define USE_CURRENT_ALT FALSE #endif #ifndef AUTO_RESET_LOITER # define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input. #endif #ifndef CUT_MOTORS # define CUT_MOTORS 1 // do we cut the motors with no throttle? #endif #ifndef MOTOR_LEDS # define MOTOR_LEDS 1 // 0 = off, 1 = on #endif ////////////////////////////////////////////////////////////////////////////// // RC override // #ifndef ALLOW_RC_OVERRIDE # define ALLOW_RC_OVERRIDE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // Developer Items // // use this to completely disable the CLI #ifndef CLI_ENABLED # define CLI_ENABLED ENABLED #endif // use this to disable the CLI slider switch #ifndef CLI_SLIDER_ENABLED # define CLI_SLIDER_ENABLED ENABLED #endif // delay to prevent Xbee bricking, in milliseconds #ifndef MAVLINK_TELEMETRY_PORT_DELAY # define MAVLINK_TELEMETRY_PORT_DELAY 2000 #endif