// -*- 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. /// // Just so that it's completely clear... #define ENABLED 1 #define DISABLED 0 ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // HARDWARE CONFIGURATION AND CONNECTIONS ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // APM HARDWARE // #ifndef CONFIG_APM_HARDWARE # define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 #endif ////////////////////////////////////////////////////////////////////////////// // APM2 HARDWARE DEFAULTS // #if CONFIG_APM_HARDWARE == APM_HARDWARE_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 MAGNETOMETER ENABLED #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 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 #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 # 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 #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 A0 # endif #else # warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar # undef SONAR_ENABLED # define SONAR_ENABLED DISABLED #endif #ifndef CONFIG_SONAR # define CONFIG_SONAR ENABLED #endif #ifndef SONAR_TRIGGER # define SONAR_TRIGGER 60 // trigger distance in cm #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_DO_NOTHING #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 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 ////////////////////////////////////////////////////////////////////////////// // 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 LEARNING #endif #if !defined(FLIGHT_MODE_2) # define FLIGHT_MODE_2 LEARNING #endif #if !defined(FLIGHT_MODE_3) # define FLIGHT_MODE_3 LEARNING #endif #if !defined(FLIGHT_MODE_4) # define FLIGHT_MODE_4 LEARNING #endif #if !defined(FLIGHT_MODE_5) # define FLIGHT_MODE_5 LEARNING #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 ////////////////////////////////////////////////////////////////////////////// // MANUAL_LEVEL // #ifndef MANUAL_LEVEL # define MANUAL_LEVEL DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // THROTTLE_REVERSE // #ifndef THROTTLE_REVERSE # define THROTTLE_REVERSE DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // ENABLE_STICK_MIXING // #ifndef ENABLE_STICK_MIXING # define ENABLE_STICK_MIXING ENABLED #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 ////////////////////////////////////////////////////////////////////////////// // ENABLE REVERSE_SWITCH // #ifndef REVERSE_SWITCH # define REVERSE_SWITCH ENABLED #endif ////////////////////////////////////////////////////////////////////////////// // MOUNT (ANTENNA OR CAMERA) // #ifndef MOUNT # define MOUNT DISABLED #endif ////////////////////////////////////////////////////////////////////////////// // AIRSPEED_CRUISE // #ifndef AIRSPEED_CRUISE # define AIRSPEED_CRUISE 3 // 12 m/s #endif #define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100 #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 ////////////////////////////////////////////////////////////////////////////// // MIN_GNDSPEED // #ifndef MIN_GNDSPEED # define MIN_GNDSPEED 0 // m/s (0 disables) #endif #define MIN_GNDSPEED_CM MIN_GNDSPEED*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 0.0 #endif #ifndef NAV_ROLL_D # define NAV_ROLL_D 0.02 #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 0.0 #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 0.0 #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 20 // 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 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_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 ////////////////////////////////////////////////////////////////////////////// // 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 #ifndef TRACE # define TRACE DISABLED #endif // use this to completely disable the CLI #ifndef CLI_ENABLED # define CLI_ENABLED ENABLED #endif // use this to disable the CLI slider switch #ifndef CLI_SLIDER_ENABLED # define CLI_SLIDER_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