// #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 // 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 ////////////////////////////////////////////////////////////////////////////// // 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 ////////////////////////////////////////////////////////////////////////////// // 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