// // Example and reference ArduPilot Mega configuration file // ======================================================= // // This file contains documentation and examples for configuration options // supported by the ArduPilot Mega software. // // Most of these options are just that - optional. You should create // the APM_Config.h file and use this file as a reference for options // that you want to change. Don't copy this file directly; the options // described here and their default values may change over time. // // Each item is marked with a keyword describing when you should set it: // // REQUIRED // You must configure this in your APM_Config.h file. The // software will not compile if the option is not set. // // OPTIONAL // The option has a sensible default (which will be described // here), but you may wish to override it. // // EXPERIMENTAL // You should configure this option unless you are prepared // to deal with potential problems. It may relate to a feature // still in development, or which is not yet adequately tested. // // DEBUG // The option should only be set if you are debugging the // software, or if you are gathering information for a bug // report. // // NOTE: // Many of these settings are considered 'factory defaults', and the // live value is stored and managed in the ArduPilot Mega EEPROM. // Use the setup 'factoryreset' command after changing options in // your APM_Config.h file. // // Units // ----- // // Unless indicated otherwise, numeric quantities use the following units: // // Measurement | Unit // ------------+------------------------------------- // angle | degrees // distance | metres // speed | metres per second // servo angle | microseconds // voltage | volts // times | seconds // throttle | percent // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // GPS_PROTOCOL REQUIRED // // GPS configuration, must be one of: // // GPS_PROTOCOL_AUTO Auto detect GPS type (must be a supported GPS) // GPS_PROTOCOL_NONE No GPS attached // GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. // GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4 // GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9 // GPS_PROTOCOL_UBLOX UBLOX GPS // GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED // GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?) // //#define GPS_PROTOCOL GPS_PROTOCOL_AUTO // ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_SENSOR OPTIONAL // AIRSPEED_RATIO OPTIONAL // // Set AIRSPEED_SENSOR to ENABLED if you have an airspeed sensor attached. // Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed // sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s // // The default assumes that an airspeed sensor is connected. // //#define AIRSPEED_SENSOR ENABLED //#define AIRSPEED_RATIO 1.9936 // ////////////////////////////////////////////////////////////////////////////// // MAGNETOMETER OPTIONAL // // Set MAGNETOMETER to ENABLED if you have a magnetometer attached. // // The default assumes that a magnetometer is not connected. // //#define MAGNETOMETER DISABLED // ////////////////////////////////////////////////////////////////////////////// // HIL_PROTOCOL OPTIONAL // HIL_MODE OPTIONAL // HIL_PORT OPTIONAL // // Configuration for Hardware-in-the-loop simulation. In these modes, // APM is connected via one or more interfaces to simulation software // running on another system. // // HIL_PROTOCOL_XPLANE Configure for the X-plane HIL interface. // HIL_PROTOCOL_MAVLINK Configure for HIL over MAVLink. // // HIL_MODE_DISABLED Configure for standard flight. // HIL_MODE_SENSORS Simulator provides raw sensor values. // // Note that currently HIL_PROTOCOL_MAVLINK requires HIL_MODE_SENSORS. // //#define HIL_MODE HIL_MODE_DISABLED //#define HIL_PORT 0 //#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK // ////////////////////////////////////////////////////////////////////////////// // GCS_PROTOCOL OPTIONAL // GCS_PORT OPTIONAL // MAV_SYSTEM_ID OPTIONAL // // The GCS_PROTOCOL option determines which (if any) ground control station // protocol will be used. Must be one of: // // GCS_PROTOCOL_NONE No GCS output // GCS_PROTOCOL_MAVLINK QGroundControl protocol // // The GCS_PORT option determines which serial port will be used by the // GCS protocol. The usual values are 0 for the console/USB port, // or 3 for the telemetry port on the oilpan. Note that some protocols // will ignore this value and always use the console port. // // The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1. // If you will be flying multiple UAV's each should be assigned a different ID so // that ground stations can tell them apart. // //#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK //#define GCS_PORT 3 //#define MAV_SYSTEM_ID 1 // ////////////////////////////////////////////////////////////////////////////// // Serial port speeds. // // SERIAL0_BAUD OPTIONAL // // Baudrate for the console port. Default is 115200bps. // // SERIAL3_BAUD OPTIONAL // // Baudrate for the telemetry port. Default is 57600bps. // //#define SERIAL0_BAUD 115200 //#define SERIAL3_BAUD 57600 // ////////////////////////////////////////////////////////////////////////////// // Battery monitoring OPTIONAL // // See the manual for details on selecting divider resistors for battery // monitoring via the oilpan. // // BATTERY_EVENT OPTIONAL // // Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings. // The default is DISABLED. // // LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set. // // Value in volts at which ArduPilot Mega should consider the // battery to be "low". // // VOLT_DIV_RATIO OPTIONAL // // See the manual for details. The default value corresponds to the resistors // recommended by the manual. // // CURR_AMPS_PER_VOLT OPTIONAL // CURR_AMPS_OFFSET OPTIONAL // // The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM // for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset // // // HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set. // // Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of // battery capacity. // //#define BATTERY_EVENT DISABLED //#define LOW_VOLTAGE 9.6 //#define VOLT_DIV_RATIO 3.56 //#define CURR_AMPS_PER_VOLT 27.32 //#define CURR_AMPS_OFFSET 0.0 //#define HIGH_DISCHARGE 1760 ////////////////////////////////////////////////////////////////////////////// // INPUT_VOLTAGE OPTIONAL // // In order to have accurate pressure and battery voltage readings, this // value should be set to the voltage measured at the processor. // // See the manual for more details. The default value should be close if you are applying 5 volts to the servo rail. // //#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 // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // RADIO CONFIGURATION ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT_MODE OPTIONAL // FLIGHT_MODE_CHANNEL OPTIONAL // // Flight modes assigned to the control channel, and the input channel that // is read for the control mode. // // Use a servo tester, or the ArduPilotMega_demo test program to check your // switch settings. // // ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and // others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option // uses channel numbers 1-8 (and defaults to 8). // // If you only have a three-position switch or just want three modes, set your // switch to produce 1165, 1425, and 1815 microseconds and configure // FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. // // If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control // channel connected to input channel 8, the hardware failsafe mode will // activate for any control input over 1750ms. // // For more modes (up to six), set your switch(es) to produce any of 1165, // 1295, 1425, 1555, 1685, and 1815 microseconds. // // Flight mode | Switch Setting (ms) // ------------+--------------------- // 1 | 1165 // 2 | 1295 // 3 | 1425 // 4 | 1555 // 5 | 1685 // 6 | 1815 (FAILSAFE if using channel 8) // // The following standard flight modes are available: // // Name | Description // -----------------+-------------------------------------------- // | // MANUAL | Full manual control via the hardware multiplexer. // | // STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs. // | // FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle. // | // FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle. // | // RTL | Returns to the Home location and then LOITERs at a safe altitude. // | // AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter // | application or your Ground Control System to edit and upload // | waypoints and other commands. // | //air // // The following non-standard modes are EXPERIMENTAL: // // Name | Description // -----------------+-------------------------------------------- // | // LOITER | Flies in a circle around the current location. // | // CIRCLE | Flies in a stabilized 'dumb' circle. // | // // // If you are using channel 8 for mode switching then FLIGHT_MODE_5 and // FLIGHT_MODE_6 should be MANUAL. // // //#define FLIGHT_MODE_CHANNEL 8 // //#define FLIGHT_MODE_1 RTL //#define FLIGHT_MODE_2 RTL //#define FLIGHT_MODE_3 STABILIZE //#define FLIGHT_MODE_4 STABILIZE //#define FLIGHT_MODE_5 MANUAL //#define FLIGHT_MODE_6 MANUAL // ////////////////////////////////////////////////////////////////////////////// // For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed // then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed // then the flap position shall be flap_1_percent. If the speed setpoint is below flap_2_speed // then the flap position shall be flap_2_percent. Speed setpoint is the current value of // airspeed_cruise (if airspeed sensor enabled) or throttle_cruise (if no airspeed sensor) // FLAP_1_PERCENT OPTIONAL // FLAP_1_SPEED OPTIONAL // FLAP_2_PERCENT OPTIONAL // FLAP_2_SPEED OPTIONAL ////////////////////////////////////////////////////////////////////////////// // THROTTLE_FAILSAFE OPTIONAL // THROTTLE_FS_VALUE OPTIONAL // // The throttle failsafe allows you to configure a software failsafe activated // by a setting on the throttle input channel (channel 3). Enabling this failsafe // also enables "short failsafe" conditions (see below) based on loss of // rc override control from the GCS // // This can be used to achieve a failsafe override on loss of radio control // without having to sacrifice one of your FLIGHT_MODE settings, as the // throttle failsafe overrides the switch-selected mode. // // Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default // is for it to be enabled. // // If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value // below which the failsafe engages. The default is 975ms, which is a very low // throttle setting. Most transmitters will let you trim the manual throttle // position up so that you cannot engage the failsafe with a regular stick movement. // // Configure your receiver's failsafe setting for the throttle channel to the // absolute minimum, and use the ArduPilotMega_demo program to check that // you cannot reach that value with the throttle control. Leave a margin of // at least 50 microseconds between the lowest throttle setting and // THROTTLE_FS_VALUE. // //#define THROTTLE_FAILSAFE ENABLED //#define THROTTLE_FS_VALUE 950 // ////////////////////////////////////////////////////////////////////////////// // GCS_HEARTBEAT_FAILSAFE OPTIONAL // SHORT_FAILSAFE_ACTION OPTIONAL // LONG_FAILSAFE_ACTION OPTIONAL // There are two basic conditions which can trigger a failsafe. One is a loss of control signal. // Normally this means a loss of the radio control RC signal. However if rc override from the // GCS is in use then this can mean a loss of communication with the GCS. Such a failsafe will be // classified as either short (greater than 1.5 seconds but less than 20) or long (greater than 20). // Also, if GCS_HEARTBEAT_FAILSAFE is enabled and a heartbeat signal from the GCS has not been received // in the preceding 20 seconds then this will also trigger a "long" failsafe. // // The SHORT_FAILSAFE_ACTION and LONG_FAILSAFE_ACTION settings determines what APM will do when // a failsafe mode is entered while flying in AUTO or LOITER mode. This is important in order to avoid // accidental failsafe behaviour when flying waypoints that take the aircraft // out of radio range. // // If SHORT_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes, // the aircraft will head for home in RTL mode. If the failsafe condition is // resolved, it will return to AUTO or LOITER mode. // If LONG_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes, // the aircraft will head for home in RTL mode. If the failsafe condition is // resolved the aircraft will not be returned to AUTO or LOITER mode, but will continue home // If XX_FAILSAFE_ACTION is 0 and the applicable failsafe occurs while in AUTO or LOITER // mode the aircraft will continue in that mode ignoring the failsafe condition. // Note that for Manual, Stabilize, and Fly-By-Wire (A and B) modes the aircraft will always // enter a circling mode for short failsafe conditions and will be switched to RTL for long // failsafe conditions. RTL mode is unaffected by failsafe conditions. // // The default is to have GCS Heartbeat failsafes DISABLED // The default behaviour is to ignore failsafes in AUTO and LOITER modes. // //#define GCS_HEARTBEAT_FAILSAFE DISABLED //#define SHORT_FAILSAFE_ACTION 0 //#define LONG_FAILSAFE_ACTION 0 ////////////////////////////////////////////////////////////////////////////// // AUTO_TRIM OPTIONAL // // ArduPilot Mega can update its trim settings by looking at the // radio inputs when switching out of MANUAL mode. This allows you to // manually trim your aircraft before switching to an assisted mode, but it // also means that you should avoid switching out of MANUAL while you have // any control stick deflection. // // The default is to disable AUTO_TRIM. // //#define AUTO_TRIM DISABLED // ////////////////////////////////////////////////////////////////////////////// // THROTTLE_REVERSE OPTIONAL // // A few speed controls require the throttle servo signal be reversed. Setting // this to ENABLED will reverse the throttle output signal. Ensure that your // throttle needs to be reversed by using the hardware failsafe and the // ArduPilotMega_demo program before setting this option. // // The default is to not reverse the signal. // //#define THROTTLE_REVERSE DISABLED // ////////////////////////////////////////////////////////////////////////////// // ENABLE_STICK_MIXING OPTIONAL // // If this option is set to ENABLED, manual control inputs are are respected // while in the autopilot modes (AUTO, RTL, LOITER, CIRCLE etc.) // // The default is to enable stick mixing, allowing the pilot to take // emergency action without switching modes. // //#define ENABLE_STICK_MIXING ENABLED // ////////////////////////////////////////////////////////////////////////////// // THROTTLE_OUT DEBUG // // When debugging, it can be useful to disable the throttle output. Set // this option to DISABLED to disable throttle output signals. // // The default is to not disable throttle output. // //#define THROTTLE_OUT ENABLED // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // STARTUP BEHAVIOUR ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // GROUND_START_DELAY OPTIONAL // // If configured, inserts a delay between power-up and the beginning of INS // calibration during a ground start. // // Use this setting to give you time to position the aircraft horizontally // for the INS calibration. // // The default is to begin INS calibration immediately at startup. // //#define GROUND_START_DELAY 0 // ////////////////////////////////////////////////////////////////////////////// // ENABLE_AIR_START OPTIONAL // // If air start is disabled then you will get a ground start (including INS // calibration) every time the AP is powered up. This means that if you get // a power glitch or reboot for some reason in the air, you will probably // crash, but it prevents a lot of problems on the ground like unintentional // motor start-ups, etc. // // If air start is enabled then you will get an air start at power up and a // ground start will be performed if the speed is near zero when we get gps // lock. // // The default is to disable air start. // //#define ENABLE_AIR_START 0 // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT AND NAVIGATION CONTROL ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Altitude measurement and control. // // ALT_EST_GAIN OPTIONAL // // The gain of the altitude estimation function; a lower number results // in slower error correction and smoother output. The default is a // reasonable starting point. // //#define ALT_EST_GAIN 0.01 // // ALTITUDE_MIX OPTIONAL // // Configures the blend between GPS and pressure altitude. // 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc. // // The default is to use only pressure altitude. // //#define ALTITUDE_MIX 1 // ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_CRUISE OPTIONAL // // The speed in metres per second to maintain during cruise. The default // is 10m/s, which is a conservative value suitable for relatively small, // light aircraft. // //#define AIRSPEED_CRUISE 12 // ////////////////////////////////////////////////////////////////////////////// // MIN_GNDSPEED OPTIONAL // // The minimum ground speed in metres per second to maintain during // cruise. A value of 0 will disable any attempt to maintain a minimum // speed over ground. // #define MIN_GNDSPEED 0 // ////////////////////////////////////////////////////////////////////////////// // FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO) // // AIRSPEED_FBW_MIN OPTIONAL // AIRSPEED_FBW_MAX OPTIONAL // // Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. // The defaults are 6 and 30 metres per second. // // AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set. // In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle // stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control. // //#define AIRSPEED_FBW_MIN 6 //#define AIRSPEED_FBW_MAX 22 // ////////////////////////////////////////////////////////////////////////////// // Servo mapping // // THROTTLE_MIN OPTIONAL // // The minimum throttle setting to which the autopilot will reduce the // throttle while descending. The default is zero, which is // suitable for aircraft with a steady power-off glide. Increase this // value if your aircraft needs throttle to maintain a stable descent in // level flight. // // THROTTLE_CRUISE OPTIONAL // // The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. // The default is 45%, which is reasonable for a modestly powered aircraft. // // THROTTLE_MAX OPTIONAL // // The maximum throttle setting the autopilot will apply. The default is 75%. // Reduce this value if your aircraft is overpowered, or has complex flight // characteristics at high throttle settings. // //#define THROTTLE_MIN 0 // percent //#define THROTTLE_CRUISE 45 //#define THROTTLE_MAX 75 ////////////////////////////////////////////////////////////////////////////// // Autopilot control limits // // HEAD_MAX OPTIONAL // // The maximum commanded bank angle in either direction. // The default is 45 degrees. Decrease this value if your aircraft is not // stable or has difficulty maintaining altitude in a steep bank. // // PITCH_MAX OPTIONAL // // The maximum commanded pitch up angle. // The default is 15 degrees. Care should be taken not to set this value too // large, as the aircraft may stall. // // PITCH_MIN // // The maximum commanded pitch down angle. Note that this value must be // negative. The default is -25 degrees. Care should be taken not to set // this value too large as it may result in overspeeding the aircraft. // // PITCH_TARGET // // The target pitch for cruise flight. When the APM measures this pitch // value, the pitch error will be calculated to be 0 for the pitch PID // control loop. // //#define HEAD_MAX 45 //#define PITCH_MAX 15 //#define PITCH_MIN -25 //#define PITCH_TARGET 0 ////////////////////////////////////////////////////////////////////////////// // Attitude control gains // // Tuning values for the attitude control PID loops. // // The P term is the primary tuning value. This determines how the control // deflection varies in proportion to the required correction. // // The I term is used to help control surfaces settle. This value should // normally be kept low. // // The D term is used to control overshoot. Avoid using or adjusting this // term if you are not familiar with tuning PID loops. It should normally // be zero for most aircraft. // // Note: When tuning these values, start with changes of no more than 25% at // a time. // // SERVO_ROLL_P OPTIONAL // SERVO_ROLL_I OPTIONAL // SERVO_ROLL_D OPTIONAL // // P, I and D terms for roll control. Defaults are 0.4, 0, 0. // // SERVO_ROLL_INT_MAX OPTIONAL // // Maximum control offset due to the integral. This prevents the control // output from being overdriven due to a persistent offset (e.g. crosstracking). // Default is 5 degrees. // // ROLL_SLEW_LIMIT EXPERIMENTAL // // Limits the slew rate of the roll control in degrees per second. If zero, // slew rate is not limited. Default is to not limit the roll control slew rate. // (This feature is currently not implemented.) // // SERVO_PITCH_P OPTIONAL // SERVO_PITCH_I OPTIONAL // SERVO_PITCH_D OPTIONAL // // P, I and D terms for the pitch control. Defaults are 0.6, 0, 0. // // SERVO_PITCH_INT_MAX OPTIONAL // // Maximum control offset due to the integral. This prevents the control // output from being overdriven due to a persistent offset (e.g. native flight // AoA). // Default is 5 degrees. // // PITCH_COMP OPTIONAL // // Adds pitch input to compensate for the loss of lift due to roll control. // Default is 0.20 (20% of roll control also applied to pitch control). // // SERVO_YAW_P OPTIONAL // SERVO_YAW_I OPTIONAL // SERVO_YAW_D OPTIONAL // // P, I and D terms for the YAW control. Defaults are 0., 0., 0. // Note units of this control loop are unusual. PID input is in m/s**2. // // SERVO_YAW_INT_MAX OPTIONAL // // Maximum control offset due to the integral. This prevents the control // output from being overdriven due to a persistent offset (e.g. crosstracking). // Default is 0. // // RUDDER_MIX OPTIONAL // // Roll to yaw mixing. This allows for co-ordinated turns. // Default is 0.50 (50% of roll control also applied to yaw control.) // //#define SERVO_ROLL_P 0.4 //#define SERVO_ROLL_I 0.0 //#define SERVO_ROLL_D 0.0 //#define SERVO_ROLL_INT_MAX 5 //#define ROLL_SLEW_LIMIT 0 //#define SERVO_PITCH_P 0.6 //#define SERVO_PITCH_I 0.0 //#define SERVO_PITCH_D 0.0 //#define SERVO_PITCH_INT_MAX 5 //#define PITCH_COMP 0.2 //#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5 //#define SERVO_YAW_I 0.0 //#define SERVO_YAW_D 0.0 //#define SERVO_YAW_INT_MAX 5 //#define RUDDER_MIX 0.5 // ////////////////////////////////////////////////////////////////////////////// // Navigation control gains // // Tuning values for the navigation control PID loops. // // The P term is the primary tuning value. This determines how the control // deflection varies in proportion to the required correction. // // The I term is used to control drift. // // The D term is used to control overshoot. Avoid adjusting this term if // you are not familiar with tuning PID loops. // // Note: When tuning these values, start with changes of no more than 25% at // a time. // // NAV_ROLL_P OPTIONAL // NAV_ROLL_I OPTIONAL // NAV_ROLL_D OPTIONAL // // P, I and D terms for navigation control over roll, normally used for // controlling the aircraft's course. The P term controls how aggressively // the aircraft will bank to change or hold course. // Defaults are 0.7, 0.0, 0.02. // // NAV_ROLL_INT_MAX OPTIONAL // // Maximum control offset due to the integral. This prevents the control // output from being overdriven due to a persistent offset (e.g. crosstracking). // Default is 5 degrees. // // NAV_PITCH_ASP_P OPTIONAL // NAV_PITCH_ASP_I OPTIONAL // NAV_PITCH_ASP_D OPTIONAL // // P, I and D terms for pitch adjustments made to maintain airspeed. // Defaults are 0.65, 0, 0. // // NAV_PITCH_ASP_INT_MAX OPTIONAL // // Maximum pitch offset due to the integral. This limits the control // output from being overdriven due to a persistent offset (eg. inability // to maintain the programmed airspeed). // Default is 5 degrees. // // NAV_PITCH_ALT_P OPTIONAL // NAV_PITCH_ALT_I OPTIONAL // NAV_PITCH_ALT_D OPTIONAL // // P, I and D terms for pitch adjustments made to maintain altitude. // Defaults are 0.65, 0, 0. // // NAV_PITCH_ALT_INT_MAX OPTIONAL // // Maximum pitch offset due to the integral. This limits the control // output from being overdriven due to a persistent offset (eg. inability // to maintain the programmed altitude). // Default is 5 meters. // //#define NAV_ROLL_P 0.7 //#define NAV_ROLL_I 0.01 //#define NAV_ROLL_D 0.02 //#define NAV_ROLL_INT_MAX 5 //#define NAV_PITCH_ASP_P 0.65 //#define NAV_PITCH_ASP_I 0.0 //#define NAV_PITCH_ASP_D 0.0 //#define NAV_PITCH_ASP_INT_MAX 5 //#define NAV_PITCH_ALT_P 0.65 //#define NAV_PITCH_ALT_I 0.0 //#define NAV_PITCH_ALT_D 0.0 //#define NAV_PITCH_ALT_INT_MAX 5 // ////////////////////////////////////////////////////////////////////////////// // Energy/Altitude control gains // // The Energy/altitude control system uses throttle input to control aircraft // altitude. // // The P term is the primary tuning value. This determines how the throttle // setting varies in proportion to the required correction. // // The I term is used to compensate for small offsets. // // The D term is used to control overshoot. Avoid adjusting this term if // you are not familiar with tuning PID loops. // // Note units of this control loop are unusual. PID input is in m**2/s**2. // // THROTTLE_TE_P OPTIONAL // THROTTLE_TE_I OPTIONAL // THROTTLE_TE_D OPTIONAL // // P, I and D terms for throttle adjustments made to control altitude. // Defaults are 0.5, 0, 0. // // THROTTLE_TE_INT_MAX OPTIONAL // // Maximum throttle input due to the integral term. This limits the // throttle from being overdriven due to a persistent offset (e.g. // inability to maintain the programmed altitude). // Default is 20%. // // THROTTLE_SLEW_LIMIT OPTIONAL // // Limits the slew rate of the throttle, in percent per second. Helps // avoid sudden throttle changes, which can destabilise the aircraft. // A setting of zero disables the feature. Range 1 to 100. // Default is zero (disabled). // // P_TO_T OPTIONAL // // Pitch to throttle feed-forward gain. Default is 0. // // T_TO_P OPTIONAL // // Throttle to pitch feed-forward gain. Default is 0. // //#define THROTTLE_TE_P 0.50 //#define THROTTLE_TE_I 0.0 //#define THROTTLE_TE_D 0.0 //#define THROTTLE_TE_INT_MAX 20 //#define THROTTLE_SLEW_LIMIT 0 //#define P_TO_T 0 //#define T_TO_P 0 // ////////////////////////////////////////////////////////////////////////////// // Crosstrack compensation // // XTRACK_GAIN OPTIONAL // // Crosstrack compensation in degrees per metre off track. // Default value is 1.0 degrees per metre. Values lower than 0.001 will // disable crosstrack compensation. // // XTRACK_ENTRY_ANGLE OPTIONAL // // Maximum angle used to correct for track following. // Default value is 30 degrees. // //#define XTRACK_GAIN 1 // deg/m //#define XTRACK_ENTRY_ANGLE 30 // deg // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // DEBUGGING ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Dataflash logging control // // Each of these logging options may be set to ENABLED to enable, or DISABLED // to disable the logging of the respective data. // // LOG_ATTITUDE_FAST DEBUG // // Logs basic attitude info to the dataflash at 50Hz (uses more space). // Defaults to DISABLED. // // LOG_ATTITUDE_MED OPTIONAL // // Logs basic attitude info to the dataflash at 10Hz (uses less space than // LOG_ATTITUDE_FAST). Defaults to ENABLED. // // LOG_GPS OPTIONAL // // Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED. // // LOG_PM OPTIONAL // // Logs INS performance monitoring info every 20 seconds. // Defaults to DISABLED. // // LOG_CTUN OPTIONAL // // Logs control loop tuning info at 10 Hz. This information is useful for tuning // servo control loop gain values. Defaults to DISABLED. // // LOG_NTUN OPTIONAL // // Logs navigation tuning info at 10 Hz. This information is useful for tuning // navigation control loop gain values. Defaults to DISABLED. // // LOG_ MODE OPTIONAL // // Logs changes to the flight mode upon occurrence. Defaults to ENABLED. // // LOG_RAW DEBUG // // Logs raw accelerometer and gyro data at 50 Hz (uses more space). // Defaults to DISABLED. // // LOG_CMD OPTIONAL // // Logs new commands when they process. // Defaults to ENABLED. // //#define LOG_ATTITUDE_FAST DISABLED //#define LOG_ATTITUDE_MED ENABLED //#define LOG_GPS ENABLED //#define LOG_PM ENABLED //#define LOG_CTUN DISABLED //#define LOG_NTUN DISABLED //#define LOG_MODE ENABLED //#define LOG_RAW DISABLED //#define LOG_CMD ENABLED //#define LOG_CUR DISABLED // ////////////////////////////////////////////////////////////////////////////// // Navigation defaults // // WP_RADIUS_DEFAULT OPTIONAL // // When the user performs a factory reset on the APM, set the waypoint radius // (the radius from a target waypoint within which the APM will consider // itself to have arrived at the waypoint) to this value in meters. This is // mainly intended to allow users to start using the APM without running the // WaypointWriter first. // // LOITER_RADIUS_DEFAULT OPTIONAL // // When the user performs a factory reset on the APM, set the loiter radius // (the distance the APM will attempt to maintain from a waypoint while // loitering) to this value in meters. This is mainly intended to allow // users to start using the APM without running the WaypointWriter first. // // USE_CURRENT_ALT OPTIONAL // ALT_HOLD_HOME OPTIONAL // // When the user performs a factory reset on the APM, set the flag for weather // the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. // Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow // users to start using the APM without running the WaypointWriter first. // //#define WP_RADIUS_DEFAULT 30 //#define LOITER_RADIUS_DEFAULT 60 //#define USE_CURRENT_ALT FALSE //#define ALT_HOLD_HOME 100 // ////////////////////////////////////////////////////////////////////////////// // Debugging interface // // DEBUG_PORT OPTIONAL // // The APM will periodically send messages reporting what it is doing; this // variable determines to which serial port they will be sent. Port 0 is the // USB serial port on the shield, port 3 is the telemetry port. // //#define DEBUG_PORT 0 // // // Do not remove - this is to discourage users from copying this file // and using it as-is rather than editing their own. // #error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.