#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" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.


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

// run at 400Hz on all systems
# define MAIN_LOOP_RATE    400
# define MAIN_LOOP_SECONDS 0.0025f
# define MAIN_LOOP_MICROS  2500

#ifndef SURFACE_DEPTH_DEFAULT
# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
#endif

//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_SPEED_DEFAULT
#   define RC_SPEED_DEFAULT 200
#endif

//////////////////////////////////////////////////////////////////////////////
// Circle Nav parameters
//

#ifndef CIRCLE_NAV_ENABLED
# define CIRCLE_NAV_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// Channel 6 Tuning
//

#ifndef CH6_TUNE_ENABLED
# define CH6_TUNE_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// Aux Switches
//

#ifndef AUXSW_ENABLED
# define AUXSW_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// RPM
//

#ifndef RPM_ENABLED
# define RPM_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// RCMAP
//

#ifndef RCMAP_ENABLED
# define RCMAP_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// Experimental transect modes
//

#ifndef TRANSECT_ENABLED
# define TRANSECT_ENABLED DISABLED
#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_GAIN_DEFAULT
# define RANGEFINDER_GAIN_DEFAULT 0.8f     // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
#endif

#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
#endif

#ifndef RANGEFINDER_TIMEOUT_MS
# define RANGEFINDER_TIMEOUT_MS  1000      // desired rangefinder 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

// Avoidance (relies on Proximity and Fence)
#ifndef AVOIDANCE_ENABLED
# define AVOIDANCE_ENABLED DISABLED
#endif

#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Proximity and Fence
# define PROXIMITY_ENABLED ENABLED
# define FENCE_ENABLED ENABLED
#endif

// Proximity sensor
//
#ifndef PROXIMITY_ENABLED
# define PROXIMITY_ENABLED DISABLED
#endif

#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID          1
#endif


//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT       0       // default battery voltage below which failsafe will be triggered
#endif

#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT             0         // default battery capacity (in mah) below which failsafe will be triggered
#endif

#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             2500    // 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 miliseconds with No RC Input
#endif

// missing terrain data failsafe
#ifndef FS_TERRAIN_TIMEOUT_MS
#define FS_TERRAIN_TIMEOUT_MS          1000     // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
#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

// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
#define PREARM_MAX_ACCEL_VECTOR_DIFF      0.70f    // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
#endif

// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
#define PREARM_MAX_GYRO_VECTOR_DIFF       0.0873f  // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
#endif

//////////////////////////////////////////////////////////////////////////////
//  EKF Failsafe
#ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT         FS_EKF_ACTION_DISABLED  // 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

// expected magnetic field strength.  pre-arm checks will fail if 50% higher or lower than this value
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED      530        // pre arm will fail if mag field > 874 or < 185
#endif

// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX          600         // PX4 onboard compass has high offsets
#endif
#else   // SITL, etc
#ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX          500
#endif
#endif

//////////////////////////////////////////////////////////////////////////////
//  OPTICAL_FLOW
#ifndef OPTFLOW
# define OPTFLOW       DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
//  Auto Tuning
#ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED  ENABLED
#endif

//////////////////////////////////////////////////////////////////////////////
//  gripper
#ifndef GRIPPER_ENABLED
# define GRIPPER_ENABLED DISABLED
#endif

//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED
# define NAV_GUIDED    ENABLED
#endif

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


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

#ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1                  MANUAL
#endif
#ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2                  STABILIZE
#endif
#ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3                  ALT_HOLD
#endif
#ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4                  STABILIZE
#endif
#ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5                  STABILIZE
#endif
#ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6                  STABILIZE
#endif


//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
#ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT             975
#endif


//////////////////////////////////////////////////////////////////////////////
// Landing
//
#ifndef LAND_SPEED
# define LAND_SPEED    50          // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT -25         // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED  // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
#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

//////////////////////////////////////////////////////////////////////////////
// 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_EXPO_DEFAULT
#define ACRO_EXPO_DEFAULT          0.3f
#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 begining 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_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX      4500            // roll, pitch 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

//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef POS_XY_P
# define POS_XY_P               1.0f
#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

//////////////////////////////////////////////////////////////////////////////
// Velocity (horizontal) gains
//
#ifndef VEL_XY_P
# define VEL_XY_P              1.0f
#endif
#ifndef VEL_XY_I
# define VEL_XY_I              0.5f
#endif
#ifndef VEL_XY_IMAX
# define VEL_XY_IMAX           1000
#endif
#ifndef VEL_XY_FILT_HZ
# define VEL_XY_FILT_HZ        5.0f
#endif

//////////////////////////////////////////////////////////////////////////////
// PosHold parameter defaults
//
#ifndef POSHOLD_ENABLED
# define POSHOLD_ENABLED               ENABLED // PosHold flight mode enabled by default
#endif

//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//

#ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter
#endif

#ifndef ALT_HOLD_P
# define ALT_HOLD_P            3.0f
#endif

// Velocity (vertical) control gains
#ifndef VEL_Z_P
# define VEL_Z_P       8.0f
#endif

// Accel (vertical) control gains
#ifndef ACCEL_Z_P
# define ACCEL_Z_P     0.50f
#endif
#ifndef ACCEL_Z_I
# define ACCEL_Z_I     0.1f
#endif
#ifndef ACCEL_Z_D
# define ACCEL_Z_D     0.0f
#endif
#ifndef ACCEL_Z_IMAX
# define ACCEL_Z_IMAX  100
#endif
#ifndef ACCEL_Z_FILT_HZ
# define ACCEL_Z_FILT_HZ   20.0f
#endif

// default maximum vertical velocity and acceleration the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX    500     // maximum vertical velocity in cm/s
#endif
#ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 100 // 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  0
#endif

//////////////////////////////////////////////////////////////////////////////
// Dataflash 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

//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//

// Enable/disable AP_Limits
#ifndef AC_FENCE
#define AC_FENCE ENABLED
#endif

#ifndef AC_RALLY
#define AC_RALLY   DISABLED
#endif

#ifndef AC_TERRAIN
#define AC_TERRAIN DISABLED // Requires Rally enabled as well
#endif

//////////////////////////////////////////////////////////////////////////////
// Developer Items
//

// use this to completely disable the CLI
#ifndef CLI_ENABLED
#  define CLI_ENABLED           ENABLED
#endif

#ifndef XTRACK_P
#define XTRACK_P            1.0f
#define XTRACK_I            0.5f
#define XTRACK_D            0.0f
#define XTRACK_IMAX         1000
#define XTRACK_FILT_HZ  5.0f
#define XTRACK_DT 0.05f
#define HEAD_P          1.0f
#define HEAD_I          0.5f
#define HEAD_D          0.0f
#define HEAD_IMAX           1000
#define HEAD_FILT_HZ        5.0f
#define HEAD_DT         0.05f
#endif