// -*- 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. /// /// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that /// change in your local copy of APM_Config.h. /// #if defined( __AVR_ATmega1280__ ) // default choices for a 1280. We can't fit everything in, so we // make some popular choices by default #define LOGGING_ENABLED DISABLED #ifndef MOUNT # define MOUNT DISABLED #endif #ifndef CAMERA # define CAMERA DISABLED #endif #endif // Just so that it's completely clear... #define ENABLED 1 #define DISABLED 0 ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // LED and IO Pins // #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 # define CONFIG_INS_TYPE CONFIG_INS_OILPAN # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define BATTERY_PIN_1 0 # define CURRENT_PIN_1 1 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 # define CONFIG_INS_TYPE CONFIG_INS_MPU6000 # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL # define CONFIG_INS_TYPE CONFIG_INS_HIL # define CONFIG_COMPASS AP_COMPASS_HIL # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 # define CONFIG_INS_TYPE CONFIG_INS_PX4 # define CONFIG_COMPASS AP_COMPASS_PX4 # define BATTERY_PIN_1 -1 # define CURRENT_PIN_1 -1 #elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE # define CONFIG_INS_TYPE CONFIG_INS_FLYMAPLE # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define BATTERY_PIN_1 20 # define CURRENT_PIN_1 19 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX # define CONFIG_INS_TYPE CONFIG_INS_L3G4200D # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define BATTERY_PIN_1 -1 # define CURRENT_PIN_1 -1 #endif ////////////////////////////////////////////////////////////////////////////// // IMU Selection // #ifndef CONFIG_INS_TYPE # define CONFIG_INS_TYPE CONFIG_INS_OILPAN #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_HIL #undef CONFIG_INS_TYPE #define CONFIG_INS_TYPE CONFIG_INS_HIL #undef CONFIG_COMPASS #define CONFIG_COMPASS AP_COMPASS_HIL #endif ////////////////////////////////////////////////////////////////////////////// // GPS_PROTOCOL // // Note that this test must follow the HIL_PROTOCOL block as the HIL // setup may override the GPS configuration. // #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 #ifndef CH7_OPTION # define CH7_OPTION CH7_SAVE_WP #endif #ifndef TUNING_OPTION # define TUNING_OPTION TUN_NONE #endif ////////////////////////////////////////////////////////////////////////////// // INPUT_VOLTAGE // #ifndef INPUT_VOLTAGE # define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail #endif ////////////////////////////////////////////////////////////////////////////// // MAGNETOMETER #ifndef MAGNETOMETER # define MAGNETOMETER ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // MODE // MODE_CHANNEL // #ifndef MODE_CHANNEL # define MODE_CHANNEL 8 #endif #if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8) # error XXX # error XXX You must set MODE_CHANNEL to 5, 6, 7 or 8 # error XXX #endif #if !defined(MODE_1) # define MODE_1 LEARNING #endif #if !defined(MODE_2) # define MODE_2 LEARNING #endif #if !defined(MODE_3) # define MODE_3 LEARNING #endif #if !defined(MODE_4) # define MODE_4 LEARNING #endif #if !defined(MODE_5) # define MODE_5 LEARNING #endif #if !defined(MODE_6) # define MODE_6 MANUAL #endif ////////////////////////////////////////////////////////////////////////////// // failsafe defaults #ifndef THROTTLE_FAILSAFE # define THROTTLE_FAILSAFE ENABLED #endif #ifndef THROTTLE_FS_VALUE # define THROTTLE_FS_VALUE 950 #endif #ifndef LONG_FAILSAFE_ACTION # define LONG_FAILSAFE_ACTION 0 #endif #ifndef GCS_HEARTBEAT_FAILSAFE # define GCS_HEARTBEAT_FAILSAFE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // THROTTLE_OUT // #ifndef THROTTE_OUT # define THROTTLE_OUT ENABLED #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // STARTUP BEHAVIOUR ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // GROUND_START_DELAY // #ifndef GROUND_START_DELAY # define GROUND_START_DELAY 0 #endif ////////////////////////////////////////////////////////////////////////////// // MOUNT (ANTENNA OR CAMERA) // #ifndef MOUNT # define MOUNT ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // CAMERA control // #ifndef CAMERA # define CAMERA ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_CRUISE // #ifndef SPEED_CRUISE # define SPEED_CRUISE 3 // 3 m/s #endif #ifndef GSBOOST # define GSBOOST 0 #endif #ifndef GSBOOST # define GSBOOST 0 #endif #ifndef NUDGE_OFFSET # define NUDGE_OFFSET 0 #endif #ifndef E_GLIDER # define E_GLIDER ENABLED #endif #ifndef TURN_GAIN # define TURN_GAIN 5 #endif ////////////////////////////////////////////////////////////////////////////// // Servo Mapping // #ifndef THROTTLE_MIN # define THROTTLE_MIN 0 // percent #endif #ifndef THROTTLE_CRUISE # define THROTTLE_CRUISE 45 #endif #ifndef THROTTLE_MAX # define THROTTLE_MAX 100 #endif ////////////////////////////////////////////////////////////////////////////// // Attitude control gains // #ifndef SERVO_STEER_P # define SERVO_STEER_P 0.4 #endif #ifndef SERVO_STEER_I # define SERVO_STEER_I 0.0 #endif #ifndef SERVO_STEER_D # define SERVO_STEER_D 0.0 #endif #ifndef SERVO_STEER_INT_MAX # define SERVO_STEER_INT_MAX 5 #endif #define SERVO_STEER_INT_MAX_CENTIDEGREE SERVO_STEER_INT_MAX*100 ////////////////////////////////////////////////////////////////////////////// // Crosstrack compensation // #ifndef XTRACK_GAIN # define XTRACK_GAIN 1 // deg/m #endif #ifndef XTRACK_ENTRY_ANGLE # define XTRACK_ENTRY_ANGLE 50 // deg #endif # define XTRACK_GAIN_SCALED XTRACK_GAIN*100 # define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100 ////////////////////////////////////////////////////////////////////////////// // Dataflash logging control // #ifndef LOGGING_ENABLED # define LOGGING_ENABLED ENABLED #endif #define DEFAULT_LOG_BITMASK \ MASK_LOG_ATTITUDE_MED | \ MASK_LOG_GPS | \ MASK_LOG_PM | \ MASK_LOG_CTUN | \ MASK_LOG_NTUN | \ MASK_LOG_MODE | \ MASK_LOG_CMD | \ MASK_LOG_SONAR | \ MASK_LOG_COMPASS | \ MASK_LOG_CURRENT | \ MASK_LOG_CAMERA ////////////////////////////////////////////////////////////////////////////// // Developer Items // #ifndef STANDARD_SPEED # define STANDARD_SPEED 3.0 #define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED) #endif #define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE) // use this to enable servos in HIL mode #ifndef HIL_SERVOS # define HIL_SERVOS DISABLED #endif // use this to completely disable the CLI #ifndef CLI_ENABLED # define CLI_ENABLED ENABLED #endif // if RESET_SWITCH_CH is not zero, then this is the PWM value on // that channel where we reset the control mode to the current switch // position (to for example return to switched mode after failsafe or // fence breach) #ifndef RESET_SWITCH_CHAN_PWM # define RESET_SWITCH_CHAN_PWM 1750 #endif #ifndef BOOSTER # define BOOSTER 2 // booster factor x1 = 1 or x2 = 2 #endif #ifndef SONAR_ENABLED # define SONAR_ENABLED DISABLED #endif