// -*- 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. /// #ifdef USE_CMAKE_APM_CONFIG #include "APM_Config_cmake.h" // <== Prefer cmake config if it exists #else #include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER. #endif /// /// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that /// change in your local copy of APM_Config.h. /// // Just so that it's completely clear... #define ENABLED 1 #define DISABLED 0 // this avoids a very common config error #define ENABLE ENABLED #define DISABLE DISABLED ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // APM HARDWARE // #ifndef CONFIG_APM_HARDWARE # define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 #endif #if defined( __AVR_ATmega1280__ ) #define LOGGING_ENABLED DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // APM2 HARDWARE DEFAULTS // #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 # define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000 # define CONFIG_RELAY DISABLED # define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN # define MAGNETOMETER ENABLED # ifdef APM2_BETA_HARDWARE # define CONFIG_BARO AP_BARO_BMP085 # else // APM2 Production Hardware (default) # define CONFIG_BARO AP_BARO_MS5611 # endif #endif // use this to enable telemetry on UART2. This is used // when you have setup the solder bridge on an APM2 to enable UART2 #ifndef TELEMETRY_UART2 # define TELEMETRY_UART2 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 USB_MUX_PIN -1 # define CONFIG_RELAY ENABLED # define BATTERY_PIN_1 0 # define CURRENT_PIN_1 1 #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 #if TELEMETRY_UART2 == ENABLED # define USB_MUX_PIN -1 #else # define USB_MUX_PIN 23 #endif # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 #endif // pin for receiver RSSI #ifndef RECEIVER_RSSI_PIN # define RECEIVER_RSSI_PIN -1 #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 ////////////////////////////////////////////////////////////////////////////// // Barometer // #ifndef CONFIG_BARO # define CONFIG_BARO AP_BARO_BMP085 #endif #ifndef CONFIG_PITOT_SOURCE # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC #endif #if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC # ifndef CONFIG_PITOT_SOURCE_ADC_CHANNEL # define CONFIG_PITOT_SOURCE_ADC_CHANNEL 7 # endif #elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN # ifndef CONFIG_PITOT_SOURCE_ANALOG_PIN # define CONFIG_PITOT_SOURCE_ANALOG_PIN 0 # endif #else # warning Invalid value for CONFIG_PITOT_SOURCE #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 #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 ////////////////////////////////////////////////////////////////////////////// // 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 // This is the proper value for an on-board APM1 voltage divider with a 3.9kOhm resistor //# define VOLT_DIV_RATIO 15.70 // This is the proper value for the AttoPilot 50V/90A sensor //# define VOLT_DIV_RATIO 4.127 // This is the proper value for the AttoPilot 13.6V/45A sensor #endif #ifndef CURR_AMP_PER_VOLT # define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A sensor //# define CURR_AMP_PER_VOLT 13.66 // This is the proper value for the AttoPilot 13.6V/45A sensor #endif #ifndef CURR_AMPS_OFFSET # define CURR_AMPS_OFFSET 0.0 #endif #ifndef HIGH_DISCHARGE # define HIGH_DISCHARGE 1760 #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 DISABLED #endif #ifndef MAG_ORIENTATION # define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // RADIO CONFIGURATION ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Radio channel limits // // Note that these are not called out in APM_Config.h.reference. // #ifndef CH5_MIN # define CH5_MIN 1000 #endif #ifndef CH5_MAX # define CH5_MAX 2000 #endif #ifndef CH6_MIN # define CH6_MIN 1000 #endif #ifndef CH6_MAX # define CH6_MAX 2000 #endif #ifndef CH7_MIN # define CH7_MIN 1000 #endif #ifndef CH7_MAX # define CH7_MAX 2000 #endif #ifndef CH8_MIN # define CH8_MIN 1000 #endif #ifndef CH8_MAX # define CH8_MAX 2000 #endif #ifndef FLAP_1_PERCENT # define FLAP_1_PERCENT 0 #endif #ifndef FLAP_1_SPEED # define FLAP_1_SPEED 0 #endif #ifndef FLAP_2_PERCENT # define FLAP_2_PERCENT 0 #endif #ifndef FLAP_2_SPEED # define FLAP_2_SPEED 0 #endif ////////////////////////////////////////////////////////////////////////////// // FLIGHT_MODE // FLIGHT_MODE_CHANNEL // #ifndef FLIGHT_MODE_CHANNEL # define FLIGHT_MODE_CHANNEL 8 #endif #if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8) # error XXX # error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8 # error XXX #endif #if !defined(FLIGHT_MODE_1) # define FLIGHT_MODE_1 RTL #endif #if !defined(FLIGHT_MODE_2) # define FLIGHT_MODE_2 RTL #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 MANUAL #endif #if !defined(FLIGHT_MODE_6) # define FLIGHT_MODE_6 MANUAL #endif ////////////////////////////////////////////////////////////////////////////// // THROTTLE_FAILSAFE // THROTTLE_FS_VALUE // SHORT_FAILSAFE_ACTION // LONG_FAILSAFE_ACTION // GCS_HEARTBEAT_FAILSAFE // #ifndef THROTTLE_FAILSAFE # define THROTTLE_FAILSAFE ENABLED #endif #ifndef THROTTLE_FS_VALUE # define THROTTLE_FS_VALUE 950 #endif #ifndef SHORT_FAILSAFE_ACTION # define SHORT_FAILSAFE_ACTION 0 #endif #ifndef LONG_FAILSAFE_ACTION # define LONG_FAILSAFE_ACTION 0 #endif #ifndef GCS_HEARTBEAT_FAILSAFE # define GCS_HEARTBEAT_FAILSAFE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // AUTO_TRIM // #ifndef AUTO_TRIM # define AUTO_TRIM DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // THROTTLE_OUT // #ifndef THROTTE_OUT # define THROTTLE_OUT ENABLED #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // STARTUP BEHAVIOUR ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Level with each startup = 0, level with MP/CLI only = 1 // #ifndef MANUAL_LEVEL # define MANUAL_LEVEL 0 #endif ////////////////////////////////////////////////////////////////////////////// // GROUND_START_DELAY // #ifndef GROUND_START_DELAY # define GROUND_START_DELAY 0 #endif ////////////////////////////////////////////////////////////////////////////// // ENABLE_AIR_START // #ifndef ENABLE_AIR_START # define ENABLE_AIR_START DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // ENABLE ELEVON_MIXING // #ifndef ELEVON_MIXING # define ELEVON_MIXING DISABLED #endif #ifndef ELEVON_REVERSE # define ELEVON_REVERSE DISABLED #endif #ifndef ELEVON_CH1_REVERSE # define ELEVON_CH1_REVERSE DISABLED #endif #ifndef ELEVON_CH2_REVERSE # define ELEVON_CH2_REVERSE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // CAMERA TRIGGER AND CONTROL // // uses 1182 bytes of memory #ifndef CAMERA # define CAMERA ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // MOUNT (ANTENNA OR CAMERA) // // uses 4174 bytes of memory on 1280 chips (MNT_JSTICK_SPD_OPTION, MNT_RETRACT_OPTION, MNT_STABILIZE_OPTION and MNT_MOUNT2_OPTION disabled) // uses 7726 bytes of memory on 2560 chips (all options are enabled) #ifndef MOUNT # define MOUNT ENABLED #endif // second mount, can for example be used to keep an antenna pointed at the home position #ifndef MOUNT2 # define MOUNT2 DISABLED #endif #if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED) // The small ATmega1280 chip does not have enough memory for mount support // so disable CLI, this will allow mount support and other improvements to fit. // This should almost have no side effects, because the APM planner can now do a complete board setup. # define CLI_ENABLED DISABLED // The small ATmega1280 chip does not have enough memory for mount support // so disable AUTO GPS support, this will allow mount support and other improvements to fit. // This should almost have no side effects, because the most users use MTK anyways. // If the user defined a GPS protocol, than we will NOT overwrite it # if GPS_PROTOCOL == GPS_PROTOCOL_AUTO # undef GPS_PROTOCOL # define GPS_PROTOCOL GPS_PROTOCOL_MTK # endif # undef CAMERA # define CAMERA DISABLED #endif ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // FLIGHT AND NAVIGATION CONTROL ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Altitude measurement and control. // #ifndef ALT_EST_GAIN # define ALT_EST_GAIN 0.01 #endif #ifndef ALTITUDE_MIX # define ALTITUDE_MIX 1 #endif ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_CRUISE // #ifndef AIRSPEED_CRUISE # define AIRSPEED_CRUISE 12 // 12 m/s #endif #define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100 ////////////////////////////////////////////////////////////////////////////// // MIN_GNDSPEED // #ifndef MIN_GNDSPEED # define MIN_GNDSPEED 0 // m/s (0 disables) #endif #define MIN_GNDSPEED_CM MIN_GNDSPEED*100 ////////////////////////////////////////////////////////////////////////////// // FLY_BY_WIRE_B airspeed control // #ifndef AIRSPEED_FBW_MIN # define AIRSPEED_FBW_MIN 6 #endif #ifndef AIRSPEED_FBW_MAX # define AIRSPEED_FBW_MAX 22 #endif #ifndef ALT_HOLD_FBW # define ALT_HOLD_FBW 0 #endif #define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100 /* The following parameters have no corresponding control implementation * #ifndef THROTTLE_ALT_P # define THROTTLE_ALT_P 0.32 ##endif ##ifndef THROTTLE_ALT_I # define THROTTLE_ALT_I 0.0 ##endif ##ifndef THROTTLE_ALT_D # define THROTTLE_ALT_D 0.0 ##endif ##ifndef THROTTLE_ALT_INT_MAX # define THROTTLE_ALT_INT_MAX 20 ##endif ##define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100 */ ////////////////////////////////////////////////////////////////////////////// // 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 75 #endif ////////////////////////////////////////////////////////////////////////////// // Autopilot control limits // #ifndef HEAD_MAX # define HEAD_MAX 45 #endif #ifndef PITCH_MAX # define PITCH_MAX 15 #endif #ifndef PITCH_MIN # define PITCH_MIN -25 #endif #define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100 #define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100 #define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100 ////////////////////////////////////////////////////////////////////////////// // Attitude control gains // #ifndef SERVO_ROLL_P # define SERVO_ROLL_P 0.4 #endif #ifndef SERVO_ROLL_I # define SERVO_ROLL_I 0.0 #endif #ifndef SERVO_ROLL_D # define SERVO_ROLL_D 0.0 #endif #ifndef SERVO_ROLL_INT_MAX # define SERVO_ROLL_INT_MAX 5 #endif #define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100 #ifndef ROLL_SLEW_LIMIT # define ROLL_SLEW_LIMIT 0 #endif #ifndef SERVO_PITCH_P # define SERVO_PITCH_P 0.6 #endif #ifndef SERVO_PITCH_I # define SERVO_PITCH_I 0.0 #endif #ifndef SERVO_PITCH_D # define SERVO_PITCH_D 0.0 #endif #ifndef SERVO_PITCH_INT_MAX # define SERVO_PITCH_INT_MAX 5 #endif #define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100 #ifndef PITCH_COMP # define PITCH_COMP 0.2 #endif #ifndef SERVO_YAW_P # define SERVO_YAW_P 0.0 #endif #ifndef SERVO_YAW_I # define SERVO_YAW_I 0.0 #endif #ifndef SERVO_YAW_D # define SERVO_YAW_D 0.0 #endif #ifndef SERVO_YAW_INT_MAX # define SERVO_YAW_INT_MAX 0 #endif #ifndef RUDDER_MIX # define RUDDER_MIX 0.5 #endif ////////////////////////////////////////////////////////////////////////////// // Navigation control gains // #ifndef NAV_ROLL_P # define NAV_ROLL_P 0.7 #endif #ifndef NAV_ROLL_I # define NAV_ROLL_I 0.02 #endif #ifndef NAV_ROLL_D # define NAV_ROLL_D 0.1 #endif #ifndef NAV_ROLL_INT_MAX # define NAV_ROLL_INT_MAX 5 #endif #define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100 #ifndef NAV_PITCH_ASP_P # define NAV_PITCH_ASP_P 0.65 #endif #ifndef NAV_PITCH_ASP_I # define NAV_PITCH_ASP_I 0.1 #endif #ifndef NAV_PITCH_ASP_D # define NAV_PITCH_ASP_D 0.0 #endif #ifndef NAV_PITCH_ASP_INT_MAX # define NAV_PITCH_ASP_INT_MAX 5 #endif #define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100 #ifndef NAV_PITCH_ALT_P # define NAV_PITCH_ALT_P 0.65 #endif #ifndef NAV_PITCH_ALT_I # define NAV_PITCH_ALT_I 0.1 #endif #ifndef NAV_PITCH_ALT_D # define NAV_PITCH_ALT_D 0.0 #endif #ifndef NAV_PITCH_ALT_INT_MAX # define NAV_PITCH_ALT_INT_MAX 5 #endif #define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100 ////////////////////////////////////////////////////////////////////////////// // Energy/Altitude control gains // #ifndef THROTTLE_TE_P # define THROTTLE_TE_P 0.50 #endif #ifndef THROTTLE_TE_I # define THROTTLE_TE_I 0.0 #endif #ifndef THROTTLE_TE_D # define THROTTLE_TE_D 0.0 #endif #ifndef THROTTLE_TE_INT_MAX # define THROTTLE_TE_INT_MAX 20 #endif #ifndef THROTTLE_SLEW_LIMIT # define THROTTLE_SLEW_LIMIT 0 #endif #ifndef P_TO_T # define P_TO_T 0 #endif #ifndef T_TO_P # define T_TO_P 0 #endif #ifndef PITCH_TARGET # define PITCH_TARGET 0 #endif ////////////////////////////////////////////////////////////////////////////// // Crosstrack compensation // #ifndef XTRACK_GAIN # define XTRACK_GAIN 1 // deg/m #endif #ifndef XTRACK_ENTRY_ANGLE # define XTRACK_ENTRY_ANGLE 30 // deg #endif # define XTRACK_GAIN_SCALED XTRACK_GAIN*100 # define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100 ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // DEBUGGING ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // Dataflash logging control // #ifndef LOGGING_ENABLED # 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 DISABLED #endif #ifndef LOG_NTUN # define LOG_NTUN DISABLED #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 #ifndef LOG_CUR # define LOG_CUR 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) ////////////////////////////////////////////////////////////////////////////// // Navigation defaults // #ifndef WP_RADIUS_DEFAULT # define WP_RADIUS_DEFAULT 30 #endif #ifndef LOITER_RADIUS_DEFAULT # define LOITER_RADIUS_DEFAULT 60 #endif #ifndef ALT_HOLD_HOME # define ALT_HOLD_HOME 100 #endif #define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100 #ifndef USE_CURRENT_ALT # define USE_CURRENT_ALT FALSE #endif #ifndef INVERTED_FLIGHT_PWM # define INVERTED_FLIGHT_PWM 1750 #endif ////////////////////////////////////////////////////////////////////////////// // Developer Items // #ifndef SCALING_SPEED # define SCALING_SPEED 15.0 #endif // 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 // use this to disable geo-fencing #ifndef GEOFENCE_ENABLED # define GEOFENCE_ENABLED ENABLED #endif // pwm value on FENCE_CHANNEL to use to enable fenced mode #ifndef FENCE_ENABLE_PWM # define FENCE_ENABLE_PWM 1750 #endif // a digital pin to set high when the geo-fence triggers. Defaults // to -1, which means don't activate a pin #ifndef FENCE_TRIGGERED_PIN # define FENCE_TRIGGERED_PIN -1 #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 // OBC Failsafe enable #ifndef OBC_FAILSAFE # define OBC_FAILSAFE DISABLED #endif // new APM_Control controller library by Jon Challinger #ifndef APM_CONTROL # define APM_CONTROL DISABLED #endif #ifndef SERIAL_BUFSIZE # define SERIAL_BUFSIZE 256 #endif #if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN # define NUM_IMU_SAMPLES_FOR_200HZ 5 # define NUM_IMU_SAMPLES_FOR_100HZ 10 # define NUM_IMU_SAMPLES_FOR_50HZ 20 #endif #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000 # define NUM_IMU_SAMPLES_FOR_200HZ 1 # define NUM_IMU_SAMPLES_FOR_100HZ 2 # define NUM_IMU_SAMPLES_FOR_50HZ 4 #endif