mirror of https://github.com/ArduPilot/ardupilot
173 lines
4.5 KiB
C
173 lines
4.5 KiB
C
//
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// 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
|
|
//
|
|
#pragma once
|
|
|
|
#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.
|
|
///
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// sensor types
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// HIL_MODE OPTIONAL
|
|
|
|
#ifndef HIL_MODE
|
|
#define HIL_MODE HIL_MODE_DISABLED
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#define BATTERY_PIN_1 1
|
|
#define CURRENT_PIN_1 2
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
#define BATTERY_PIN_1 -1
|
|
#define CURRENT_PIN_1 -1
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#define BATTERY_PIN_1 -1
|
|
#define CURRENT_PIN_1 -1
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
#define BATTERY_PIN_1 -1
|
|
#define CURRENT_PIN_1 -1
|
|
#endif
|
|
|
|
#ifndef MAV_SYSTEM_ID
|
|
#define MAV_SYSTEM_ID 1
|
|
#endif
|
|
|
|
#ifndef ARM_DELAY_MS
|
|
#define ARM_DELAY_MS 2000
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// FrSky telemetry support
|
|
//
|
|
|
|
#ifndef FRSKY_TELEM_ENABLED
|
|
#define FRSKY_TELEM_ENABLED ENABLED
|
|
#endif
|
|
|
|
|
|
#ifndef CH7_OPTION
|
|
#define CH7_OPTION CH7_SAVE_WP
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MAGNETOMETER
|
|
#ifndef MAGNETOMETER
|
|
#define MAGNETOMETER ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MODE
|
|
// MODE_CHANNEL
|
|
//
|
|
#ifndef MODE_CHANNEL
|
|
#define MODE_CHANNEL 8
|
|
#endif
|
|
#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
|
|
#error XXX
|
|
#error XXX You must set MODE_CHANNEL to 5, 6, 7 or 8
|
|
#error XXX
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// STARTUP BEHAVIOUR
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// GROUND_START_DELAY
|
|
//
|
|
#ifndef GROUND_START_DELAY
|
|
#define GROUND_START_DELAY 0
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MOUNT (ANTENNA OR CAMERA)
|
|
//
|
|
#ifndef MOUNT
|
|
#define MOUNT ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// CAMERA control
|
|
//
|
|
#ifndef CAMERA
|
|
#define CAMERA ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// NAVL1
|
|
//
|
|
#ifndef NAVL1
|
|
#define NAVL1_PERIOD 8
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// CRUISE_SPEED default
|
|
//
|
|
#ifndef CRUISE_SPEED
|
|
#define CRUISE_SPEED 2 // in m/s
|
|
#endif
|
|
|
|
#ifndef TURN_GAIN
|
|
#define TURN_GAIN 5
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
#ifndef LOGGING_ENABLED
|
|
#define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
#define DEFAULT_LOG_BITMASK 0xffff
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
// 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 ADVANCED_FAILSAFE
|
|
#define ADVANCED_FAILSAFE DISABLED
|
|
#endif
|
|
|
|
#ifndef STATS_ENABLED
|
|
# define STATS_ENABLED ENABLED
|
|
#endif
|