mirror of https://github.com/ArduPilot/ardupilot
214 lines
5.9 KiB
C
214 lines
5.9 KiB
C
#pragma once
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#include "defines.h"
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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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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build ArduSub
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#endif
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// run at 400Hz on all systems
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# define MAIN_LOOP_RATE 400
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#ifndef SURFACE_DEPTH_DEFAULT
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# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
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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_SPEED_DEFAULT
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# define RC_SPEED_DEFAULT 200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Circle Nav parameters
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//
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#ifndef CIRCLE_NAV_ENABLED
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# define CIRCLE_NAV_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RCMAP
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//
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#ifndef RCMAP_ENABLED
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# define RCMAP_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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#ifndef RANGEFINDER_ENABLED
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# define RANGEFINDER_ENABLED ENABLED
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#endif
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#ifndef RANGEFINDER_HEALTH_MAX
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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#endif
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#ifndef RANGEFINDER_GAIN_DEFAULT
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# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder 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 rangefinder
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#endif
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#ifndef RANGEFINDER_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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#endif
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#ifndef RANGEFINDER_WPNAV_FILT_HZ
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# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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#endif
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define RANGEFINDER_TILT_CORRECTION ENABLED
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#endif
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// Avoidance (relies on Proximity and Fence)
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#ifndef AVOIDANCE_ENABLED
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# define AVOIDANCE_ENABLED DISABLED
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#endif
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#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Fence
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# define FENCE_ENABLED ENABLED
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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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#ifndef EKF_ORIGIN_MAX_DIST_M
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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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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// Flight mode definitions
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//
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// Acro Mode
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#ifndef ACRO_RP_P
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# define ACRO_RP_P 4.5f
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#endif
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#ifndef ACRO_YAW_P
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# define ACRO_YAW_P 3.375f
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#endif
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#ifndef ACRO_LEVEL_MAX_ANGLE
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# define ACRO_LEVEL_MAX_ANGLE 3000
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#endif
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#ifndef ACRO_BALANCE_ROLL
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#define ACRO_BALANCE_ROLL 1.0f
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#endif
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#ifndef ACRO_BALANCE_PITCH
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#define ACRO_BALANCE_PITCH 1.0f
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#endif
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#ifndef ACRO_EXPO_DEFAULT
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#define ACRO_EXPO_DEFAULT 0.3f
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#endif
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// AUTO Mode
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#ifndef WP_YAW_BEHAVIOR_DEFAULT
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_CORRECT_XTRACK
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#endif
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#ifndef AUTO_YAW_SLEW_RATE
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# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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#endif
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#ifndef YAW_LOOK_AHEAD_MIN_SPEED
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before vehicle is aimed at ground course
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stabilize Rate Control
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//
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#ifndef ROLL_PITCH_INPUT_MAX
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# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
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#endif
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#ifndef DEFAULT_ANGLE_MAX
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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#ifndef POS_XY_P
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# define POS_XY_P 1.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PosHold parameter defaults
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//
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#ifndef POSHOLD_ENABLED
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# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control gains
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//
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#ifndef THR_DZ_DEFAULT
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# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
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#endif
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// default maximum vertical velocity and acceleration the pilot may request
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#ifndef PILOT_VELZ_MAX
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# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
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#endif
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#ifndef PILOT_ACCEL_Z_DEFAULT
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# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
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#endif
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#ifndef AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Logging control
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//
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// Statistics
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#ifndef STATS_ENABLED
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# define STATS_ENABLED (AP_STATS_ENABLED ? ENABLED : DISABLED)
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#endif
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// Default logging bitmask
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#ifndef DEFAULT_LOG_BITMASK
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# define DEFAULT_LOG_BITMASK \
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MASK_LOG_ATTITUDE_MED | \
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MASK_LOG_GPS | \
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MASK_LOG_PM | \
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MASK_LOG_CTUN | \
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MASK_LOG_NTUN | \
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MASK_LOG_RCIN | \
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MASK_LOG_IMU | \
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MASK_LOG_CMD | \
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MASK_LOG_CURRENT | \
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MASK_LOG_RCOUT | \
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MASK_LOG_OPTFLOW | \
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MASK_LOG_COMPASS | \
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MASK_LOG_CAMERA | \
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MASK_LOG_MOTBATT
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#endif
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