mirror of https://github.com/ArduPilot/ardupilot
833 lines
25 KiB
C
833 lines
25 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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#ifndef __ARDUCOPTER_CONFIG_H__
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#define __ARDUCOPTER_CONFIG_H__
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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//
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// DO NOT EDIT this file to adjust your configuration. Create your own
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// APM_Config.h and use APM_Config.h.example as a reference.
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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///
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// Default and automatic configuration details.
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//
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// Notes for maintainers:
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//
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// - Try to keep this file organised in the same order as APM_Config.h.example
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//
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#include "defines.h"
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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#ifdef USE_CMAKE_APM_CONFIG
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
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#else
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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#ifdef CONFIG_APM_HARDWARE
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#error CONFIG_APM_HARDWARE option is deprecated! use CONFIG_HAL_BOARD instead
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#endif
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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build ArduCopter
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#endif
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#ifdef __AVR_ATmega1280__
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#error ATmega1280 is not supported
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// sensor types
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#define CONFIG_BARO HAL_BARO_DEFAULT
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#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef CONFIG_BARO
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#define CONFIG_BARO HAL_BARO_HIL
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS HAL_COMPASS_HIL
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#endif
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#define MAGNETOMETER ENABLED
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// disable some features for APM1/APM2
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
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# define PARACHUTE DISABLED
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# define AC_RALLY DISABLED
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# define EPM_ENABLED DISABLED
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# define CLI_ENABLED DISABLED
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# define FRSKY_TELEM_ENABLED DISABLED
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# define NAV_GUIDED DISABLED
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#endif
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// low power CPUs (APM1, APM2 and SITL)
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# define MAIN_LOOP_RATE 100
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# define MAIN_LOOP_SECONDS 0.01
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# define MAIN_LOOP_MICROS 10000
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#else
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// high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
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# define MAIN_LOOP_RATE 400
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# define MAIN_LOOP_SECONDS 0.0025
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# define MAIN_LOOP_MICROS 2500
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG QUAD_FRAME
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#endif
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#if FRAME_CONFIG == QUAD_FRAME
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# define FRAME_CONFIG_STRING "QUAD"
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#elif FRAME_CONFIG == TRI_FRAME
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# define FRAME_CONFIG_STRING "TRI"
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#elif FRAME_CONFIG == HEXA_FRAME
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# define FRAME_CONFIG_STRING "HEXA"
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#elif FRAME_CONFIG == Y6_FRAME
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# define FRAME_CONFIG_STRING "Y6"
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#elif FRAME_CONFIG == OCTA_FRAME
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# define FRAME_CONFIG_STRING "OCTA"
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#elif FRAME_CONFIG == OCTA_QUAD_FRAME
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# define FRAME_CONFIG_STRING "OCTA_QUAD"
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#elif FRAME_CONFIG == HELI_FRAME
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# define FRAME_CONFIG_STRING "HELI"
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#elif FRAME_CONFIG == SINGLE_FRAME
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# define FRAME_CONFIG_STRING "SINGLE"
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#elif FRAME_CONFIG == COAX_FRAME
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# define FRAME_CONFIG_STRING "COAX"
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#else
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# define FRAME_CONFIG_STRING "UNKNOWN"
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// TradHeli defaults
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#if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
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# define RATE_ROLL_D 0
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# define RATE_PITCH_D 0
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# define MPU6K_FILTER 10
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# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
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# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
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# define THR_MIN_DEFAULT 0
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# define AUTOTUNE_ENABLED DISABLED
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// Y6 defaults
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#if FRAME_CONFIG == Y6_FRAME
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# define RATE_ROLL_P 0.1f
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# define RATE_ROLL_D 0.006f
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# define RATE_PITCH_P 0.1f
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# define RATE_PITCH_D 0.006f
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# define RATE_YAW_P 0.150f
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# define RATE_YAW_I 0.015f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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# if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// default RC speed in Hz
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#ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
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#endif
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////////////////////////////////////////////////////////
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// LED and IO Pins
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//
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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# define LED_ON LOW
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# define LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Barometer
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//
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#ifndef CONFIG_BARO
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# define CONFIG_BARO AP_BARO_BMP085
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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#endif
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#ifndef SONAR_ALT_HEALTH_MAX
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# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
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#endif
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#ifndef SONAR_RELIABLE_DISTANCE_PCT
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# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
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#endif
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#ifndef SONAR_GAIN_DEFAULT
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# define SONAR_GAIN_DEFAULT 0.8 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
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#endif
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#ifndef THR_SURFACE_TRACKING_VELZ_MAX
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# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
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#endif
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#ifndef SONAR_TIMEOUT_MS
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# define SONAR_TIMEOUT_MS 1000 // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Channel 7 and 8 default options
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//
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#ifndef CH7_OPTION
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# define CH7_OPTION AUX_SWITCH_DO_NOTHING
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#endif
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#ifndef CH8_OPTION
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# define CH8_OPTION AUX_SWITCH_DO_NOTHING
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef CONFIG_SONAR
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#define CONFIG_SONAR DISABLED
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#endif
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Serial port speeds.
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//
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#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 115200
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#endif
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#ifndef SERIAL1_BAUD
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# define SERIAL1_BAUD 57600
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#endif
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#ifndef SERIAL2_BAUD
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# define SERIAL2_BAUD 57600
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef FS_BATT_VOLTAGE_DEFAULT
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# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
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#endif
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#ifndef FS_BATT_MAH_DEFAULT
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// GPS failsafe
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#ifndef FAILSAFE_GPS_TIMEOUT_MS
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# define FAILSAFE_GPS_TIMEOUT_MS 5000 // gps failsafe triggers after 5 seconds with no GPS
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#endif
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 200 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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#ifndef FS_GCS_TIMEOUT_MS
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# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 2000 // RC Radio failsafe triggers after 2 seconds while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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#endif
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// possible values for FS_GCS parameter
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#define FS_GCS_DISABLED 0
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#define FS_GCS_ENABLED_ALWAYS_RTL 1
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#define FS_GCS_ENABLED_CONTINUE_MISSION 2
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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// pre-arm check max velocity
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#ifndef PREARM_MAX_VELOCITY_CMS
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# define PREARM_MAX_VELOCITY_CMS 50.0f // vehicle must be travelling under 50cm/s before arming
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#endif
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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
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#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
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#define PREARM_MAX_ACCEL_VECTOR_DIFF 1.0f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 1m/s/s
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#endif
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
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#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
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#define PREARM_MAX_GYRO_VECTOR_DIFF 0.35f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.35 rad/sec (=20deg/sec)
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF & DCM Checker
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#ifndef EKFCHECK_THRESHOLD_DEFAULT
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# define EKFCHECK_THRESHOLD_DEFAULT 0.8f // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
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#endif
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#ifndef DCMCHECK_THRESHOLD_DEFAULT
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# define DCMCHECK_THRESHOLD_DEFAULT 0.8f // DCM checker's default yaw error threshold above which we will abandon horizontal position hold. The units are sin(angle) so 0.8 = about 60degrees of error
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MAGNETOMETER
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#ifndef MAGNETOMETER
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# define MAGNETOMETER ENABLED
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#endif
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#ifndef COMPASS_MAGFIELD_EXPECTED
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# define COMPASS_MAGFIELD_EXPECTED 330 // pre arm will fail if mag field > 544 or < 115
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#endif
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#else // PX4, SITL
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#ifndef COMPASS_MAGFIELD_EXPECTED
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#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
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#endif
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#endif
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
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#endif
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#else // APM1, APM2, SITL, FLYMAPLE, etc
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 500
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#endif
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#endif
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// arming check's maximum acceptable vector difference between internal and external compass after vectors are normalized to field length of 1.0
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#ifndef COMPASS_ACCEPTABLE_VECTOR_DIFF
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#define COMPASS_ACCEPTABLE_VECTOR_DIFF 0.75 // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define OPTFLOW ENABLED
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#else
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# define OPTFLOW DISABLED
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#endif
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#endif
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// optical flow based loiter PI values
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#ifndef OPTFLOW_ROLL_P
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#define OPTFLOW_ROLL_P 2.5f
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#endif
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#ifndef OPTFLOW_ROLL_I
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#define OPTFLOW_ROLL_I 0.5f
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#endif
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#ifndef OPTFLOW_ROLL_D
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#define OPTFLOW_ROLL_D 0.12f
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#endif
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#ifndef OPTFLOW_PITCH_P
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#define OPTFLOW_PITCH_P 2.5f
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#endif
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#ifndef OPTFLOW_PITCH_I
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#define OPTFLOW_PITCH_I 0.5f
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#endif
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#ifndef OPTFLOW_PITCH_D
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#define OPTFLOW_PITCH_D 0.12f
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#endif
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#ifndef OPTFLOW_IMAX
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#define OPTFLOW_IMAX 100
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Crop Sprayer
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#ifndef SPRAYER
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# define SPRAYER DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EPM cargo gripper
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#ifndef EPM_ENABLED
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# define EPM_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Parachute release
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#ifndef PARACHUTE
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# define PARACHUTE ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Nav-Guided - allows external nav computer to control vehicle
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#ifndef NAV_GUIDED
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# define NAV_GUIDED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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#ifndef LAND_SPEED
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
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#endif
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#ifndef LAND_START_ALT
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# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
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#endif
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#ifndef LAND_DETECTOR_TRIGGER
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# define LAND_DETECTOR_TRIGGER 50 // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
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#endif
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER
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# define LAND_DETECTOR_MAYBE_TRIGGER 10 // number of 50hz iterations with near zero climb rate and low throttle that means we might be landed (used to reset horizontal position targets to prevent tipping over)
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#endif
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#ifndef LAND_DETECTOR_CLIMBRATE_MAX
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# define LAND_DETECTOR_CLIMBRATE_MAX 30 // vehicle climb rate must be between -30 and +30 cm/s
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#endif
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#ifndef LAND_DETECTOR_BARO_CLIMBRATE_MAX
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# define LAND_DETECTOR_BARO_CLIMBRATE_MAX 150 // barometer climb rate must be between -150cm/s ~ +150cm/s
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#endif
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#ifndef LAND_DETECTOR_ROTATION_MAX
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# define LAND_DETECTOR_ROTATION_MAX 0.50f // vehicle rotation must be below 0.5 rad/sec (=30deg/sec for) vehicle to consider itself landed
|
|
#endif
|
|
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
|
|
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
|
|
#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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// CAMERA TRIGGER AND CONTROL
|
|
//
|
|
#ifndef CAMERA
|
|
# define CAMERA ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MOUNT (ANTENNA OR CAMERA)
|
|
//
|
|
#ifndef MOUNT
|
|
# define MOUNT ENABLED
|
|
#endif
|
|
|
|
#ifndef MOUNT2
|
|
# define MOUNT2 DISABLED
|
|
#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
|
|
|
|
// Stabilize (angle controller) gains
|
|
#ifndef STABILIZE_ROLL_P
|
|
# define STABILIZE_ROLL_P 4.5f
|
|
#endif
|
|
|
|
#ifndef STABILIZE_PITCH_P
|
|
# define STABILIZE_PITCH_P 4.5f
|
|
#endif
|
|
|
|
#ifndef STABILIZE_YAW_P
|
|
# define STABILIZE_YAW_P 4.5f
|
|
#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_LOITER_TIME
|
|
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining 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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Rate controller gains
|
|
//
|
|
|
|
#ifndef RATE_ROLL_P
|
|
# define RATE_ROLL_P 0.150f
|
|
#endif
|
|
#ifndef RATE_ROLL_I
|
|
# define RATE_ROLL_I 0.100f
|
|
#endif
|
|
#ifndef RATE_ROLL_D
|
|
# define RATE_ROLL_D 0.004f
|
|
#endif
|
|
#ifndef RATE_ROLL_IMAX
|
|
# define RATE_ROLL_IMAX 1000
|
|
#endif
|
|
|
|
#ifndef RATE_PITCH_P
|
|
# define RATE_PITCH_P 0.150f
|
|
#endif
|
|
#ifndef RATE_PITCH_I
|
|
# define RATE_PITCH_I 0.100f
|
|
#endif
|
|
#ifndef RATE_PITCH_D
|
|
# define RATE_PITCH_D 0.004f
|
|
#endif
|
|
#ifndef RATE_PITCH_IMAX
|
|
# define RATE_PITCH_IMAX 1000
|
|
#endif
|
|
|
|
#ifndef RATE_YAW_P
|
|
# define RATE_YAW_P 0.200f
|
|
#endif
|
|
#ifndef RATE_YAW_I
|
|
# define RATE_YAW_I 0.020f
|
|
#endif
|
|
#ifndef RATE_YAW_D
|
|
# define RATE_YAW_D 0.000f
|
|
#endif
|
|
#ifndef RATE_YAW_IMAX
|
|
# define RATE_YAW_IMAX 1000
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Loiter position control gains
|
|
//
|
|
#ifndef LOITER_POS_P
|
|
# define LOITER_POS_P 1.0f
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Loiter rate control gains
|
|
//
|
|
#ifndef LOITER_RATE_P
|
|
# define LOITER_RATE_P 1.0f
|
|
#endif
|
|
#ifndef LOITER_RATE_I
|
|
# define LOITER_RATE_I 0.5f
|
|
#endif
|
|
#ifndef LOITER_RATE_D
|
|
# define LOITER_RATE_D 0.0f
|
|
#endif
|
|
#ifndef LOITER_RATE_IMAX
|
|
# define LOITER_RATE_IMAX 1000 // maximum acceleration from I term build-up in cm/s/s
|
|
#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 THROTTLE_CRUISE
|
|
# define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
|
|
#endif
|
|
|
|
#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
|
|
#ifndef THR_MAX_DEFAULT
|
|
# define THR_MAX_DEFAULT 1000 // maximum throttle sent to the motors
|
|
#endif
|
|
|
|
#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
|
|
|
|
// RATE control
|
|
#ifndef THROTTLE_RATE_P
|
|
# define THROTTLE_RATE_P 5.0f
|
|
#endif
|
|
|
|
// Throttle Accel control
|
|
#ifndef THROTTLE_ACCEL_P
|
|
# define THROTTLE_ACCEL_P 0.50f
|
|
#endif
|
|
#ifndef THROTTLE_ACCEL_I
|
|
# define THROTTLE_ACCEL_I 1.00f
|
|
#endif
|
|
#ifndef THROTTLE_ACCEL_D
|
|
# define THROTTLE_ACCEL_D 0.0f
|
|
#endif
|
|
#ifndef THROTTLE_ACCEL_IMAX
|
|
# define THROTTLE_ACCEL_IMAX 800
|
|
#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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
#ifndef LOGGING_ENABLED
|
|
# define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
// APM1 & APM2 default logging
|
|
# 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_CMD | \
|
|
MASK_LOG_CURRENT
|
|
#else
|
|
// PX4, Pixhawk, FlyMaple default logging
|
|
# 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_COMPASS | \
|
|
MASK_LOG_CAMERA
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AP_Limits Defaults
|
|
//
|
|
|
|
// Enable/disable AP_Limits
|
|
#ifndef AC_FENCE
|
|
#define AC_FENCE ENABLED
|
|
#endif
|
|
|
|
#ifndef AC_RALLY
|
|
#define AC_RALLY ENABLED
|
|
#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
|
|
|
|
/*
|
|
build a firmware version string.
|
|
GIT_VERSION comes from Makefile builds
|
|
*/
|
|
#ifndef GIT_VERSION
|
|
#define FIRMWARE_STRING THISFIRMWARE
|
|
#else
|
|
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
|
|
#endif
|
|
|
|
#endif // __ARDUCOPTER_CONFIG_H__
|