mirror of https://github.com/ArduPilot/ardupilot
690 lines
19 KiB
C
690 lines
19 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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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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/// 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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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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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 depreated! use CONFIG_HAL_BOARD instead.
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// APM HARDWARE
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//
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#if defined( __AVR_ATmega1280__ )
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// default choices for a 1280. We can't fit everything in, so we
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// make some popular choices by default
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#define LOGGING_ENABLED DISABLED
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#ifndef GEOFENCE_ENABLED
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# define GEOFENCE_ENABLED DISABLED
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#endif
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#ifndef CLI_ENABLED
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# define CLI_ENABLED DISABLED
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#endif
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#ifndef MOUNT2
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# define MOUNT2 DISABLED
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#endif
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#ifndef MOUNT
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# define MOUNT DISABLED
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#endif
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#ifndef CAMERA
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# define CAMERA DISABLED
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#endif
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#endif
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// use this to enable telemetry on UART2. This is used
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// when you have setup the solder bridge on an APM2 to enable UART2
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#ifndef TELEMETRY_UART2
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# define TELEMETRY_UART2 DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// main board differences
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//
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
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# define BATTERY_CURR_PIN 1 // Battery current on A1
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
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# define BATTERY_CURR_PIN 2 // Battery current on A2
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
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# endif
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
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# define BATTERY_CURR_PIN 2 // Battery current on A2
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# define CONFIG_INS_TYPE CONFIG_INS_STUB
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# define CONFIG_BARO AP_BARO_HIL
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# define CONFIG_COMPASS AP_COMPASS_HIL
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define BATTERY_VOLT_PIN -1
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# define BATTERY_CURR_PIN -1
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# define CONFIG_INS_TYPE CONFIG_INS_PX4
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# define CONFIG_BARO AP_BARO_PX4
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# define CONFIG_COMPASS AP_COMPASS_PX4
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# define SERIAL0_BAUD 115200
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#endif
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#ifndef CONFIG_BARO
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# error "CONFIG_BARO not set"
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#endif
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#ifndef CONFIG_COMPASS
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# error "CONFIG_COMPASS not set"
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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 GPS_PROTOCOL
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#define GPS_PROTOCOL GPS_PROTOCOL_HIL
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#undef CONFIG_BARO
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#define CONFIG_BARO AP_BARO_HIL
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#undef CONFIG_INS_TYPE
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#define CONFIG_INS_TYPE CONFIG_INS_STUB
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS AP_COMPASS_HIL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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// Note that this test must follow the HIL_PROTOCOL block as the HIL
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// setup may override the GPS configuration.
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//
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#ifndef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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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 SERIAL3_BAUD
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# define SERIAL3_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 VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56 // This is the proper value for an on-board APM1 voltage divider with a 3.9kOhm resistor
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//# define VOLT_DIV_RATIO 15.70 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define VOLT_DIV_RATIO 4.127 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define CURR_AMP_PER_VOLT 13.66 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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//////////////////////////////////////////////////////////////////////////////
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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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// Radio channel limits
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//
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// Note that these are not called out in APM_Config.h.reference.
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//
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#ifndef CH5_MIN
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# define CH5_MIN 1000
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#endif
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#ifndef CH5_MAX
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# define CH5_MAX 2000
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#endif
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#ifndef CH6_MIN
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# define CH6_MIN 1000
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#endif
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#ifndef CH6_MAX
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# define CH6_MAX 2000
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#endif
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#ifndef CH7_MIN
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# define CH7_MIN 1000
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#endif
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#ifndef CH7_MAX
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# define CH7_MAX 2000
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#endif
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#ifndef CH8_MIN
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# define CH8_MIN 1000
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#endif
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#ifndef CH8_MAX
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# define CH8_MAX 2000
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#endif
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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#endif
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#ifndef FLAP_1_SPEED
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# define FLAP_1_SPEED 0
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#endif
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#ifndef FLAP_2_PERCENT
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# define FLAP_2_PERCENT 0
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#endif
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#ifndef FLAP_2_SPEED
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# define FLAP_2_SPEED 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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//
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#ifndef FLIGHT_MODE_CHANNEL
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# define FLIGHT_MODE_CHANNEL 8
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#endif
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#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)
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# error XXX
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# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
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# error XXX
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#endif
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#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 RTL
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#endif
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#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 RTL
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#endif
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#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 FLY_BY_WIRE_A
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 FLY_BY_WIRE_A
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#endif
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#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 MANUAL
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#endif
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#if !defined(FLIGHT_MODE_6)
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# define FLIGHT_MODE_6 MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_FAILSAFE
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// THROTTLE_FS_VALUE
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// SHORT_FAILSAFE_ACTION
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// LONG_FAILSAFE_ACTION
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// GCS_HEARTBEAT_FAILSAFE
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//
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE ENABLED
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#endif
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#ifndef THROTTLE_FS_VALUE
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# define THROTTLE_FS_VALUE 950
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#endif
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#ifndef SHORT_FAILSAFE_ACTION
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# define SHORT_FAILSAFE_ACTION 0
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#endif
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#ifndef LONG_FAILSAFE_ACTION
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# define LONG_FAILSAFE_ACTION 0
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#endif
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#ifndef GCS_HEARTBEAT_FAILSAFE
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# define GCS_HEARTBEAT_FAILSAFE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AUTO_TRIM
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//
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#ifndef AUTO_TRIM
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# define AUTO_TRIM DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_OUT
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//
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#ifndef THROTTE_OUT
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# define THROTTLE_OUT ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// STARTUP BEHAVIOUR
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// GROUND_START_DELAY
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//
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#ifndef GROUND_START_DELAY
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# define GROUND_START_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE ELEVON_MIXING
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//
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#ifndef ELEVON_MIXING
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# define ELEVON_MIXING DISABLED
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#endif
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#ifndef ELEVON_REVERSE
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# define ELEVON_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH1_REVERSE
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# define ELEVON_CH1_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH2_REVERSE
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# define ELEVON_CH2_REVERSE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA TRIGGER AND CONTROL
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//
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// uses 1182 bytes of memory
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#ifndef CAMERA
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# define CAMERA ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MOUNT (ANTENNA OR CAMERA)
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//
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// uses 4174 bytes of memory on 1280 chips (MNT_JSTICK_SPD_OPTION, MNT_RETRACT_OPTION, MNT_STABILIZE_OPTION and MNT_MOUNT2_OPTION disabled)
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// uses 7726 bytes of memory on 2560 chips (all options are enabled)
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#ifndef MOUNT
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# define MOUNT ENABLED
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#endif
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// second mount, can for example be used to keep an antenna pointed at the home position
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#ifndef MOUNT2
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# define MOUNT2 DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Altitude measurement and control.
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//
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#ifndef ALT_EST_GAIN
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# define ALT_EST_GAIN 0.01
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#endif
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#ifndef ALTITUDE_MIX
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# define ALTITUDE_MIX 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_CRUISE
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//
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#ifndef AIRSPEED_CRUISE
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# define AIRSPEED_CRUISE 12 // 12 m/s
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#endif
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#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
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//////////////////////////////////////////////////////////////////////////////
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// MIN_GNDSPEED
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//
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#ifndef MIN_GNDSPEED
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# define MIN_GNDSPEED 0 // m/s (0 disables)
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#endif
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#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
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//////////////////////////////////////////////////////////////////////////////
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// FLY_BY_WIRE_B airspeed control
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//
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#ifndef AIRSPEED_FBW_MIN
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# define AIRSPEED_FBW_MIN 9
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#endif
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#ifndef AIRSPEED_FBW_MAX
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# define AIRSPEED_FBW_MAX 22
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#endif
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#ifndef ALT_HOLD_FBW
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# define ALT_HOLD_FBW 0
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#endif
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#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
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/* The following parameters have no corresponding control implementation
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* #ifndef THROTTLE_ALT_P
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# define THROTTLE_ALT_P 0.32
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##endif
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##ifndef THROTTLE_ALT_I
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# define THROTTLE_ALT_I 0.0
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##endif
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##ifndef THROTTLE_ALT_D
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# define THROTTLE_ALT_D 0.0
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##endif
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##ifndef THROTTLE_ALT_INT_MAX
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# define THROTTLE_ALT_INT_MAX 20
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##endif
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##define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
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*/
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//////////////////////////////////////////////////////////////////////////////
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// Servo Mapping
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//
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#ifndef THROTTLE_MIN
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# define THROTTLE_MIN 0 // percent
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#endif
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#ifndef THROTTLE_CRUISE
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# define THROTTLE_CRUISE 45
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#endif
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#ifndef THROTTLE_MAX
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# define THROTTLE_MAX 75
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Autopilot control limits
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//
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#ifndef HEAD_MAX
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# define HEAD_MAX 45
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#endif
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#ifndef PITCH_MAX
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# define PITCH_MAX 15
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#endif
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#ifndef PITCH_MIN
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# define PITCH_MIN -25
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#endif
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#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
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#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
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#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
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//////////////////////////////////////////////////////////////////////////////
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// Attitude control gains
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//
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#ifndef SERVO_ROLL_P
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# define SERVO_ROLL_P 0.4
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#endif
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#ifndef SERVO_ROLL_I
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# define SERVO_ROLL_I 0.0
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#endif
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#ifndef SERVO_ROLL_D
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# define SERVO_ROLL_D 0.0
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#endif
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#ifndef SERVO_ROLL_INT_MAX
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# define SERVO_ROLL_INT_MAX 5
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#endif
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#define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100
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#ifndef SERVO_PITCH_P
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# define SERVO_PITCH_P 0.6
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#endif
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#ifndef SERVO_PITCH_I
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# define SERVO_PITCH_I 0.0
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#endif
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#ifndef SERVO_PITCH_D
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# define SERVO_PITCH_D 0.0
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#endif
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#ifndef SERVO_PITCH_INT_MAX
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# define SERVO_PITCH_INT_MAX 5
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#endif
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#define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100
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#ifndef PITCH_COMP
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# define PITCH_COMP 0.2
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#endif
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#ifndef SERVO_YAW_P
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# define SERVO_YAW_P 0.0
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#endif
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#ifndef SERVO_YAW_I
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# define SERVO_YAW_I 0.0
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#endif
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#ifndef SERVO_YAW_D
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# define SERVO_YAW_D 0.0
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#endif
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#ifndef SERVO_YAW_INT_MAX
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# define SERVO_YAW_INT_MAX 0
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#endif
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#ifndef RUDDER_MIX
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# define RUDDER_MIX 0.5
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation control gains
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//
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#ifndef NAV_ROLL_P
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# define NAV_ROLL_P 0.7
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#endif
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#ifndef NAV_ROLL_I
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# define NAV_ROLL_I 0.02
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#endif
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#ifndef NAV_ROLL_D
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# define NAV_ROLL_D 0.1
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#endif
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#ifndef NAV_ROLL_INT_MAX
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# define NAV_ROLL_INT_MAX 5
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#endif
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#define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100
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#ifndef NAV_PITCH_ASP_P
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# define NAV_PITCH_ASP_P 0.65
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#endif
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#ifndef NAV_PITCH_ASP_I
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# define NAV_PITCH_ASP_I 0.1
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#endif
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#ifndef NAV_PITCH_ASP_D
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# define NAV_PITCH_ASP_D 0.0
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#endif
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#ifndef NAV_PITCH_ASP_INT_MAX
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# define NAV_PITCH_ASP_INT_MAX 5
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#endif
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#define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100
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#ifndef NAV_PITCH_ALT_P
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# define NAV_PITCH_ALT_P 0.65
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#endif
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#ifndef NAV_PITCH_ALT_I
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# define NAV_PITCH_ALT_I 0.1
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#endif
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#ifndef NAV_PITCH_ALT_D
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# define NAV_PITCH_ALT_D 0.0
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#endif
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#ifndef NAV_PITCH_ALT_INT_MAX
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# define NAV_PITCH_ALT_INT_MAX 5
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#endif
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#define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100
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|
|
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//////////////////////////////////////////////////////////////////////////////
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// Energy/Altitude control gains
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//
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#ifndef THROTTLE_TE_P
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# define THROTTLE_TE_P 0.50
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#endif
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#ifndef THROTTLE_TE_I
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|
# define THROTTLE_TE_I 0.0
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|
#endif
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|
#ifndef THROTTLE_TE_D
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|
# define THROTTLE_TE_D 0.0
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|
#endif
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|
#ifndef THROTTLE_TE_INT_MAX
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|
# define THROTTLE_TE_INT_MAX 20
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|
#endif
|
|
#ifndef PITCH_TARGET
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|
# define PITCH_TARGET 0
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|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Crosstrack compensation
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|
//
|
|
#ifndef XTRACK_GAIN
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|
# 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
|
|
|
|
#define DEFAULT_LOG_BITMASK \
|
|
MASK_LOG_ATTITUDE_MED | \
|
|
MASK_LOG_GPS | \
|
|
MASK_LOG_PM | \
|
|
MASK_LOG_NTUN | \
|
|
MASK_LOG_CTUN | \
|
|
MASK_LOG_MODE | \
|
|
MASK_LOG_CMD | \
|
|
MASK_LOG_COMPASS | \
|
|
MASK_LOG_CURRENT | \
|
|
MASK_LOG_TECS | \
|
|
MASK_LOG_CAMERA
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// 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 SCALING_SPEED
|
|
# define SCALING_SPEED 15.0
|
|
#endif
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
// use this to disable geo-fencing
|
|
#ifndef GEOFENCE_ENABLED
|
|
# define GEOFENCE_ENABLED ENABLED
|
|
#endif
|
|
|
|
// pwm value on FENCE_CHANNEL to use to enable fenced mode
|
|
#ifndef FENCE_ENABLE_PWM
|
|
# define FENCE_ENABLE_PWM 1750
|
|
#endif
|
|
|
|
// a digital pin to set high when the geo-fence triggers. Defaults
|
|
// to -1, which means don't activate a pin
|
|
#ifndef FENCE_TRIGGERED_PIN
|
|
# define FENCE_TRIGGERED_PIN -1
|
|
#endif
|
|
|
|
// 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
|
|
|
|
// OBC Failsafe enable
|
|
#ifndef OBC_FAILSAFE
|
|
# define OBC_FAILSAFE DISABLED
|
|
#endif
|
|
|
|
#ifndef SERIAL_BUFSIZE
|
|
# define SERIAL_BUFSIZE 512
|
|
#endif
|
|
|
|
#ifndef SERIAL2_BUFSIZE
|
|
# define SERIAL2_BUFSIZE 256
|
|
#endif
|
|
|