// -*- 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 CONFIG_RELAY # define CONFIG_RELAY DISABLED #endif #ifndef MOUNT2 # define MOUNT2 DISABLED #endif #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 A_LED_PIN 37 # define B_LED_PIN 36 # define C_LED_PIN 35 # define LED_ON HIGH # define LED_OFF LOW # define SLIDE_SWITCH_PIN 40 # define PUSHBUTTON_PIN 41 # define USB_MUX_PIN -1 # define CONFIG_RELAY ENABLED # define BATTERY_PIN_1 0 # define CURRENT_PIN_1 1 # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 # define CONFIG_INS_TYPE CONFIG_INS_MPU6000 # define CONFIG_PUSHBUTTON DISABLED # define CONFIG_RELAY DISABLED # define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # define A_LED_PIN 27 # define B_LED_PIN 26 # define C_LED_PIN 25 # define LED_ON LOW # define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED # define USB_MUX_PIN 23 # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL # define CONFIG_INS_TYPE CONFIG_INS_SITL # define CONFIG_PUSHBUTTON DISABLED # define CONFIG_RELAY DISABLED # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # define A_LED_PIN 27 # define B_LED_PIN 26 # define C_LED_PIN 25 # define LED_ON LOW # define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED # define USB_MUX_PIN -1 # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 # define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 # define CONFIG_INS_TYPE CONFIG_INS_SITL # define CONFIG_PUSHBUTTON DISABLED # define CONFIG_RELAY DISABLED # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # define A_LED_PIN 27 # define B_LED_PIN 26 # define C_LED_PIN 25 # define LED_ON LOW # define LED_OFF HIGH # define SLIDE_SWITCH_PIN (-1) # define PUSHBUTTON_PIN (-1) # define CLI_SLIDER_ENABLED DISABLED # define USB_MUX_PIN -1 # define BATTERY_PIN_1 -1 # define CURRENT_PIN_1 -1 # define MAG_ORIENTATION ROTATION_NONE #endif ////////////////////////////////////////////////////////////////////////////// // IMU Selection // #ifndef CONFIG_INS_TYPE # define CONFIG_INS_TYPE CONFIG_INS_OILPAN #endif ////////////////////////////////////////////////////////////////////////////// // ADC Enable - used to eliminate for systems which don't have ADC. // #ifndef CONFIG_ADC # if CONFIG_INS_TYPE == CONFIG_INS_OILPAN # define CONFIG_ADC ENABLED # else # define CONFIG_ADC DISABLED # endif #endif #ifndef SONAR_TYPE # define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL, #endif ////////////////////////////////////////////////////////////////////////////// // Sonar // #ifndef CONFIG_SONAR_SOURCE # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC #endif #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED # warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED # warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN # undef CONFIG_SONAR_SOURCE # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN #endif #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC # ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL # define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7 # endif #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN # ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN # define CONFIG_SONAR_SOURCE_ANALOG_PIN 0 # endif #else # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar # undef SONAR_ENABLED # define SONAR_ENABLED DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // HIL_MODE OPTIONAL #ifndef HIL_MODE #define HIL_MODE HIL_MODE_DISABLED #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 ////////////////////////////////////////////////////////////////////////////// // 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 #endif #ifndef CURR_AMP_PER_VOLT # define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A 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 ENABLED #endif #ifndef MAG_ORIENTATION # define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD #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 DISABLED #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 #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 DISABLED #endif #ifndef LOG_CTUN # define LOG_CTUN ENABLED #endif #ifndef LOG_NTUN # define LOG_NTUN DISABLED #endif #ifndef LOG_MODE # define LOG_MODE ENABLED #endif #ifndef LOG_IMU # define LOG_IMU DISABLED #endif #ifndef LOG_CMD # define LOG_CMD ENABLED #endif #ifndef LOG_CURRENT # define LOG_CURRENT 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(IMU) | \ LOGBIT(CMD) | \ LOGBIT(CURRENT) ////////////////////////////////////////////////////////////////////////////// // 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