// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // #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" ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // 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 ////////////////////////////////////////////////////////////////////////////// // FRAME_CONFIG // #ifndef FRAME_CONFIG # define FRAME_CONFIG QUAD_FRAME #endif #if FRAME_CONFIG == QUAD_FRAME # define FRAME_CONFIG_STRING "QUAD" #elif FRAME_CONFIG == TRI_FRAME # define FRAME_CONFIG_STRING "TRI" #elif FRAME_CONFIG == HEXA_FRAME # define FRAME_CONFIG_STRING "HEXA" #elif FRAME_CONFIG == Y6_FRAME # define FRAME_CONFIG_STRING "Y6" #elif FRAME_CONFIG == OCTA_FRAME # define FRAME_CONFIG_STRING "OCTA" #elif FRAME_CONFIG == OCTA_QUAD_FRAME # define FRAME_CONFIG_STRING "OCTA_QUAD" #elif FRAME_CONFIG == HELI_FRAME # define FRAME_CONFIG_STRING "HELI" #elif FRAME_CONFIG == SINGLE_FRAME # define FRAME_CONFIG_STRING "SINGLE" #elif FRAME_CONFIG == COAX_FRAME # define FRAME_CONFIG_STRING "COAX" #else # define FRAME_CONFIG_STRING "UNKNOWN" #endif ///////////////////////////////////////////////////////////////////////////////// // TradHeli defaults #if FRAME_CONFIG == HELI_FRAME # define RC_FAST_SPEED 125 # define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD # define THR_MIN_DEFAULT 0 # define AUTOTUNE_ENABLED DISABLED #endif ///////////////////////////////////////////////////////////////////////////////// // Y6 defaults #if FRAME_CONFIG == Y6_FRAME # define RATE_ROLL_P 0.1f # define RATE_ROLL_D 0.006f # define RATE_PITCH_P 0.1f # define RATE_PITCH_D 0.006f # define RATE_YAW_P 0.150f # define RATE_YAW_I 0.015f #endif ///////////////////////////////////////////////////////////////////////////////// // Tri defaults #if FRAME_CONFIG == TRI_FRAME # define RATE_YAW_FILT_HZ 100.0f #endif ////////////////////////////////////////////////////////////////////////////// // PWM control // default RC speed in Hz #ifndef RC_FAST_SPEED # define RC_FAST_SPEED 490 #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 #ifndef MAV_SYSTEM_ID # define MAV_SYSTEM_ID 1 #endif ////////////////////////////////////////////////////////////////////////////// // Battery monitoring // #ifndef FS_BATT_VOLTAGE_DEFAULT # define FS_BATT_VOLTAGE_DEFAULT 10.5f // 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 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat #endif #ifndef GNDEFFECT_COMPENSATION # define GNDEFFECT_COMPENSATION DISABLED #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 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL) #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_LAND // 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 ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Auto Tuning #ifndef AUTOTUNE_ENABLED # define AUTOTUNE_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Crop Sprayer #ifndef SPRAYER # define SPRAYER DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // Precision Landing with companion computer or IRLock sensor #ifndef PRECISION_LANDING # define PRECISION_LANDING ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // EPM cargo gripper #ifndef EPM_ENABLED # define EPM_ENABLED ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // Parachute release #ifndef PARACHUTE # define PARACHUTE ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // ADSB support #ifndef ADSB_ENABLED # define ADSB_ENABLED ENABLED #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 STABILIZE #endif #ifndef FLIGHT_MODE_2 # define FLIGHT_MODE_2 STABILIZE #endif #ifndef FLIGHT_MODE_3 # define FLIGHT_MODE_3 STABILIZE #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 ////////////////////////////////////////////////////////////////////////////// // Takeoff // #ifndef PILOT_TKOFF_ALT_DEFAULT # define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff #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 1000 // 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 # define RTL_CONE_SLOPE 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 beginning 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 #ifndef POSHOLD_BRAKE_RATE_DEFAULT # define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec #endif #ifndef POSHOLD_BRAKE_ANGLE_DEFAULT # define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees #endif ////////////////////////////////////////////////////////////////////////////// // Throttle control gains // #ifndef THR_MID_DEFAULT # define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position #endif #ifndef THR_MIN_DEFAULT # define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero #endif #define THR_MAX 1000 // maximum throttle input and output sent to the motors #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 1.0f #endif // Velocity (vertical) control gains #ifndef VEL_Z_P # define VEL_Z_P 5.0f #endif // Accel (vertical) control gains #ifndef ACCEL_Z_P # define ACCEL_Z_P 0.50f #endif #ifndef ACCEL_Z_I # define ACCEL_Z_I 1.00f #endif #ifndef ACCEL_Z_D # define ACCEL_Z_D 0.0f #endif #ifndef ACCEL_Z_IMAX # define ACCEL_Z_IMAX 800 #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 250 // maximum vertical velocity in cm/s #endif #ifndef PILOT_ACCEL_Z_DEFAULT # define PILOT_ACCEL_Z_DEFAULT 250 // 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 10 #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 ////////////////////////////////////////////////////////////////////////////// // Fence, Rally and Terrain defaults // // Enable/disable Fence #ifndef AC_FENCE #define AC_FENCE ENABLED #endif #ifndef AC_RALLY #define AC_RALLY ENABLED #endif #ifndef AC_TERRAIN #define AC_TERRAIN ENABLED #if !AC_RALLY #error Terrain relies on Rally which is disabled #endif #endif ////////////////////////////////////////////////////////////////////////////// // Developer Items // // use this to completely disable the CLI #ifndef CLI_ENABLED # define CLI_ENABLED ENABLED #endif //use this to completely disable FRSKY TELEM #ifndef FRSKY_TELEM_ENABLED # define FRSKY_TELEM_ENABLED ENABLED #endif