mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
01df18b292
It is fully configurable with the mission planner, there is no need to change the source code to adapt to your setup. It needs more testing, but the SIL is not working for me.
688 lines
17 KiB
C
688 lines
17 KiB
C
// -*- 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
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AIRSPEED_SENSOR
|
|
// AIRSPEED_RATIO
|
|
//
|
|
#ifndef AIRSPEED_SENSOR
|
|
# define AIRSPEED_SENSOR DISABLED
|
|
#endif
|
|
|
|
#ifndef AIRSPEED_RATIO
|
|
# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Sonar
|
|
//
|
|
|
|
#ifndef SONAR_ENABLED
|
|
# define SONAR_ENABLED DISABLED
|
|
#endif
|
|
|
|
#ifndef SONAR_PIN
|
|
# define SONAR_PIN AN4 // AN5, AP_RANGEFINDER_PITOT_TUBE
|
|
#endif
|
|
|
|
#ifndef SONAR_TYPE
|
|
# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
|
|
#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
|
|
#endif
|
|
|
|
#ifndef CURR_AMP_PER_VOLT
|
|
# define CURR_AMP_PER_VOLT 27.32
|
|
#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 255
|
|
#endif
|
|
#ifndef FLAP_2_PERCENT
|
|
# define FLAP_2_PERCENT 0
|
|
#endif
|
|
#ifndef FLAP_2_SPEED
|
|
# define FLAP_2_SPEED 255
|
|
#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_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_AIR_START
|
|
//
|
|
#ifndef ENABLE_AIR_START
|
|
# define ENABLE_AIR_START DISABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// ENABLE REVERSE_SWITCH
|
|
//
|
|
#ifndef REVERSE_SWITCH
|
|
# define REVERSE_SWITCH ENABLED
|
|
#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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MOUNT (ANTENNA OR CAMERA)
|
|
//
|
|
#ifndef MOUNT
|
|
# define MOUNT DISABLED
|
|
#endif
|
|
|
|
#if defined( __AVR_ATmega1280__ ) && CAMERA == ENABLED
|
|
// The small ATmega1280 chip does not have enough memory for camera support
|
|
// so disable CLI, this will allow camera 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
|
|
#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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// 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 parmaeters 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 0.0
|
|
#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 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 STANDARD_SPEED
|
|
# define STANDARD_SPEED 15.0
|
|
#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
|
|
|
|
// use this to disable the CLI slider switch
|
|
#ifndef CLI_SLIDER_ENABLED
|
|
# define CLI_SLIDER_ENABLED ENABLED
|
|
#endif
|
|
|
|
// delay to prevent Xbee bricking, in milliseconds
|
|
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
|
|
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
|
|
#endif
|