mirror of https://github.com/ArduPilot/ardupilot
202 lines
6.6 KiB
CMake
202 lines
6.6 KiB
CMake
#
|
|
# This files is used by cmake to present options to the
|
|
# user in the cmake-gui, it can also be used directly to
|
|
# set options in the cmake command line.
|
|
#
|
|
# This file generates APM_Config_cmake.h
|
|
# which overrides the APM_Config.h file. When disributing
|
|
# to the Arduino IDE user. APM_Confg_cmake.h could be copied to
|
|
# APM_Config.h, but this is not necessary. The
|
|
# advantage would be that the Arduino user would have
|
|
# a more up-to-date/ complete list of options and the developers
|
|
# using cmake have a nice gui/ command-line interface.
|
|
#
|
|
|
|
apm_option("APM_PROGRAMMING_PORT" TYPE STRING
|
|
DESCRIPTION "Programming upload port?"
|
|
DEFAULT "/dev/ttyACM0")
|
|
|
|
apm_option("CONFIG_APM_HARDWARE" TYPE STRING
|
|
DESCRIPTION "APM Hardware?"
|
|
OPTIONS "APM_HARDWARE_APM2" "APM_HARDWARE_APM1"
|
|
DEFAULT "APM_HARDWARE_APM2")
|
|
|
|
apm_option("APM2_BETA_HARDWARE" TYPE BOOL DEFINE_ONLY
|
|
DESCRIPTION "Is this an APM 2.0 Beta board?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("APM_PROCESSOR" TYPE STRING
|
|
DESCRIPTION "ArduPilotMega processor (2560 for APM2 and later APM1)?"
|
|
DEFAULT "mega2560"
|
|
OPTIONS "mega" "mega2560")
|
|
|
|
#apm_option("CLI_SLIDER_ENABLED" TYPE BOOL
|
|
#DESCRIPTION "Enable command line interface switch?"
|
|
#DEFAULT OFF)
|
|
|
|
apm_option("LOGGING_ENABLED" TYPE BOOL
|
|
DESCRIPTION "Enable logging?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("GPS_PROTOCOL" TYPE STRING
|
|
DESCRIPTION "GPS protocol?"
|
|
DEFAULT "GPS_PROTOCOL_AUTO"
|
|
OPTIONS
|
|
"GPS_PROTOOCL_NONE"
|
|
"GPS_PROTOCOL_AUTO"
|
|
"GPS_PROTOCOL_NONE"
|
|
"GPS_PROTOCOL_IMU"
|
|
"GPS_PROTOCOL_MTK"
|
|
"GPS_PROTOCOL_MTK16"
|
|
"GPS_PROTOCOL_UBLOX"
|
|
"GPS_PROTOCOL_SIRF"
|
|
"GPS_PROTOCOL_NMEA")
|
|
|
|
apm_option("AIRSPEED_SENSOR" TYPE BOOL
|
|
DESCRIPTION "Enable airspeed sensor?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("PITOT_ENABLED" TYPE BOOL
|
|
DESCRIPTION "Enable pitot static system?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("SONAR_ENABLED" TYPE BOOL
|
|
DESCRIPTION "Enable sonar?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("AIRSPEED_RATIO" TYPE STRING ADVANCED
|
|
DESCRIPTION "Airspeed ratio?"
|
|
DEFAULT "1.9936")
|
|
|
|
#apm_option("MAGNETOMETER" TYPE BOOL
|
|
#DESCRIPTION "Enable airspeed sensor?"
|
|
#DEFAULT OFF)
|
|
|
|
#apm_option("MAG_ORIENTATION" TYPE STRING ADVANCED
|
|
#DESCRIPTION "Magnetometer orientation?"
|
|
#DEFAULT "AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
|
|
#OPTIONS
|
|
#"AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD"
|
|
#"AP_COMPASS_COMPONENTS_DOWN_PINS_BACK"
|
|
#"AP_COMPASS_COMPONENTS_UP_PINS_FORWARD"
|
|
#"AP_COMPASS_COMPONENTS_UP_PINS_BACK")
|
|
|
|
apm_option("HIL_MODE" TYPE STRING
|
|
DESCRIPTION "Hardware-in-the-loop- mode?"
|
|
DEFAULT "HIL_MODE_DISABLED"
|
|
OPTIONS
|
|
"HIL_MODE_DISABLED"
|
|
"HIL_MODE_ATTITUDE"
|
|
"HIL_MODE_SENSORS")
|
|
|
|
apm_option("MAV_SYSTEM_ID" TYPE STRING ADVANCED
|
|
DESCRIPTION "MAVLink System ID?"
|
|
DEFAULT "1")
|
|
|
|
apm_option("SERIAL0_BAUD" TYPE STRING ADVANCED
|
|
DESCRIPTION "Serial 0 baudrate?"
|
|
DEFAULT "115200"
|
|
OPTIONS "57600" "115200")
|
|
|
|
apm_option("SERIAL3_BAUD" TYPE STRING ADVANCED
|
|
DESCRIPTION "Serial 3 baudrate?"
|
|
DEFAULT "57600"
|
|
OPTIONS "57600" "115200")
|
|
|
|
apm_option("BATTERY_EVENT" TYPE BOOL ADVANCED
|
|
DESCRIPTION "Enable low voltage/ high discharge warnings?"
|
|
DEFAULT OFF)
|
|
|
|
apm_option("LOW_VOLTAGE" TYPE STRING ADVANCED
|
|
DESCRIPTION "Voltage to consider low (volts)?"
|
|
DEFAULT "9.6")
|
|
|
|
apm_option("VOLT_DIV_RATIO" TYPE STRING ADVANCED
|
|
DESCRIPTION "Voltage division ratio?"
|
|
DEFAULT "3.56")
|
|
|
|
apm_option("CUR_AMPS_PER_VOLT" TYPE STRING ADVANCED
|
|
DESCRIPTION "Current amps/volt?"
|
|
DEFAULT "27.32")
|
|
|
|
apm_option("CUR_AMPS_OFFSET" TYPE STRING ADVANCED
|
|
DESCRIPTION "Current amps offset?"
|
|
DEFAULT "0.0")
|
|
|
|
apm_option("HIGH_DISCHARGE" TYPE STRING ADVANCED
|
|
DESCRIPTION "What to consider high discharge rate (milliamps)?"
|
|
DEFAULT "1760")
|
|
|
|
apm_option("INPUT_VOLTAGE" TYPE STRING ADVANCED
|
|
DESCRIPTION "Voltage measured at the process (V)? (affects ADC measurements)"
|
|
DEFAULT "4.68")
|
|
|
|
set(RADIO_CHANNELS "1" "2" "3" "4" "5" "6" "7" "8")
|
|
apm_option("FLIGHT_MODE_CHANNEL" TYPE STRING ADVANCED
|
|
DESCRIPTION "The radio channel to control the flight mode."
|
|
DEFAULT "8"
|
|
OPTIONS ${RADIO_CHANNELS})
|
|
|
|
set(FLIGHT_MODES
|
|
MANUAL STABILIZE
|
|
FLY_BY_WIRE_A
|
|
FLY_BY_WIRE_B
|
|
RTL
|
|
AUTO
|
|
LOITER CIRCLE)
|
|
|
|
set(FLIGHT_MODES_RADIO_PWM 1165 1295 1425 1555 1685 1815)
|
|
|
|
set(FLIGHT_MODES_DEFAULT
|
|
RTL
|
|
RTL
|
|
STABILIZE
|
|
STABILIZE
|
|
MANUAL
|
|
MANUAL)
|
|
|
|
foreach(MODE 1 2 3 4 5 6)
|
|
math(EXPR INDEX "${MODE} -1")
|
|
list(GET FLIGHT_MODES_RADIO_PWM ${INDEX} RADIO_PWM)
|
|
list(GET FLIGHT_MODES_DEFAULT ${INDEX} FLIGHT_MODE_DEFAULT)
|
|
apm_option("FLIGHT_MODE_${MODE}" TYPE STRING ADVANCED
|
|
DESCRIPTION "Flight mode ${MODE} (pwm ${RADIO_PWM} ms)?"
|
|
DEFAULT "${FLIGHT_MODE_DEFAULT}"
|
|
OPTIONS ${FLIGHT_MODES})
|
|
endforeach()
|
|
|
|
#set(FLAP_1_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
|
|
#set(FLAP_1_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
|
|
|
|
#set(FLAP_2_SPEED "0" CACHE STRING "Speed below which flaps are deployed (m/s)?")
|
|
#set(FLAP_2_PERCENT "0" CACHE STRING "Flap deployment percentage (%)?")
|
|
|
|
#set(THROTTLE_FAILSAFE "ENABLED" CACHE STRING "Enable throttle shuttoff when radio below failsafe value?")
|
|
#set_property(CACHE THROTTLE_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
#set(THROTTLE_FS_VALUE "950" CACHE STRING "Radio value at which to disable throttle (ms).")
|
|
|
|
#set(GCS_HEARTBEAT_FAILSAFE "DISABLED" CACHE STRING "Enable failsafe when ground station communication lost?")
|
|
#set_property(CACHE GCS_HEARTBEAT_FAILSAFE PROPERTY STRINGS ENABLED DISABLED)
|
|
#set(SHORT_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL, then return to AUTO/LOITER")
|
|
#set(LONG_FAILSAFE_ACTION "0" CACHE STRING "Failsafe mode RTL")
|
|
|
|
#set(AUTO_TRIM "DISABLED" CACHE STRING "Update trim with manual radio input when leaving MANUAL mode?")
|
|
#set_property(CACHE AUTO_TRIM PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
#set(THROTTLE_REVERSE "DISABLED" CACHE STRING "Reverse throttle output signal?")
|
|
#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
#set(ENABLE_STICK_MIXING "DISABLED" CACHE STRING "Enable manual input in autopilot modes?")
|
|
#set_property(CACHE THROTTLE_REVERSE PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
#set(THROTTLE_OUT "ENABLED" CACHE STRING "Disabled throttle output? (useful for debugging)?")
|
|
#set_property(CACHE THROTTLE_OUT PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
#set(GROUND_START_DELAY "0" CACHE STRING "Delay between power-up and IMU calibration (s)?")
|
|
|
|
#set(ENABLE_AIR_START "DISABLED" CACHE STRING "Enable in-air restart?")
|
|
#set_property(CACHE ENABLE_AIR_START PROPERTY STRINGS ENABLED DISABLED)
|
|
|
|
|