mirror of https://github.com/ArduPilot/ardupilot
381 lines
9.5 KiB
C
381 lines
9.5 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
//
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
|
|
//
|
|
// DO NOT EDIT this file to adjust your configuration. Create your own
|
|
// APM_Config.h and use APM_Config.h.example as a reference.
|
|
//
|
|
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
|
|
///
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// Default and automatic configuration details.
|
|
//
|
|
// Notes for maintainers:
|
|
//
|
|
// - Try to keep this file organised in the same order as APM_Config.h.example
|
|
//
|
|
|
|
#include "defines.h"
|
|
|
|
///
|
|
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
|
|
/// change in your local copy of APM_Config.h.
|
|
///
|
|
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
|
|
///
|
|
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
|
|
/// change in your local copy of APM_Config.h.
|
|
///
|
|
|
|
#if defined( __AVR_ATmega1280__ )
|
|
// default choices for a 1280. We can't fit everything in, so we
|
|
// make some popular choices by default
|
|
#define LOGGING_ENABLED DISABLED
|
|
#ifndef MOUNT
|
|
# define MOUNT DISABLED
|
|
#endif
|
|
#ifndef CAMERA
|
|
# define CAMERA DISABLED
|
|
#endif
|
|
#endif
|
|
|
|
// Just so that it's completely clear...
|
|
#define ENABLED 1
|
|
#define DISABLED 0
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// sensor types
|
|
|
|
#define CONFIG_BARO HAL_BARO_DEFAULT
|
|
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
|
|
|
|
#ifdef HAL_SERIAL0_BAUD_DEFAULT
|
|
# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// HIL_MODE OPTIONAL
|
|
|
|
#ifndef HIL_MODE
|
|
#define HIL_MODE HIL_MODE_DISABLED
|
|
#endif
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
|
|
#undef CONFIG_BARO
|
|
#define CONFIG_BARO HAL_BARO_HIL
|
|
#undef CONFIG_COMPASS
|
|
#define CONFIG_COMPASS HAL_COMPASS_HIL
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
# define BATTERY_PIN_1 0
|
|
# define CURRENT_PIN_1 1
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
# define BATTERY_PIN_1 1
|
|
# define CURRENT_PIN_1 2
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_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_FLYMAPLE
|
|
# define BATTERY_PIN_1 20
|
|
# define CURRENT_PIN_1 19
|
|
#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
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// HIL_MODE OPTIONAL
|
|
|
|
#ifndef HIL_MODE
|
|
#define HIL_MODE HIL_MODE_DISABLED
|
|
#endif
|
|
|
|
#ifndef MAV_SYSTEM_ID
|
|
# define MAV_SYSTEM_ID 1
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Serial port speeds.
|
|
//
|
|
#ifndef SERIAL0_BAUD
|
|
# define SERIAL0_BAUD 115200
|
|
#endif
|
|
#ifndef SERIAL1_BAUD
|
|
# define SERIAL1_BAUD 57600
|
|
#endif
|
|
#ifndef SERIAL2_BAUD
|
|
# define SERIAL2_BAUD 57600
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// FrSky telemetry support
|
|
//
|
|
|
|
#ifndef FRSKY_TELEM_ENABLED
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
# define FRSKY_TELEM_ENABLED DISABLED
|
|
#else
|
|
# define FRSKY_TELEM_ENABLED ENABLED
|
|
#endif
|
|
#endif
|
|
|
|
|
|
#ifndef CH7_OPTION
|
|
# define CH7_OPTION CH7_SAVE_WP
|
|
#endif
|
|
|
|
#ifndef TUNING_OPTION
|
|
# define TUNING_OPTION TUN_NONE
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// INPUT_VOLTAGE
|
|
//
|
|
#ifndef INPUT_VOLTAGE
|
|
# define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MAGNETOMETER
|
|
#ifndef MAGNETOMETER
|
|
# define MAGNETOMETER 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
|
|
|
|
#if !defined(MODE_1)
|
|
# define MODE_1 LEARNING
|
|
#endif
|
|
#if !defined(MODE_2)
|
|
# define MODE_2 LEARNING
|
|
#endif
|
|
#if !defined(MODE_3)
|
|
# define MODE_3 LEARNING
|
|
#endif
|
|
#if !defined(MODE_4)
|
|
# define MODE_4 LEARNING
|
|
#endif
|
|
#if !defined(MODE_5)
|
|
# define MODE_5 LEARNING
|
|
#endif
|
|
#if !defined(MODE_6)
|
|
# define MODE_6 MANUAL
|
|
#endif
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// failsafe defaults
|
|
#ifndef THROTTLE_FAILSAFE
|
|
# define THROTTLE_FAILSAFE ENABLED
|
|
#endif
|
|
#ifndef THROTTLE_FS_VALUE
|
|
# define THROTTLE_FS_VALUE 950
|
|
#endif
|
|
#ifndef LONG_FAILSAFE_ACTION
|
|
# define LONG_FAILSAFE_ACTION 0
|
|
#endif
|
|
#ifndef GCS_HEARTBEAT_FAILSAFE
|
|
# define GCS_HEARTBEAT_FAILSAFE DISABLED
|
|
#endif
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// THROTTLE_OUT
|
|
//
|
|
#ifndef THROTTE_OUT
|
|
# define THROTTLE_OUT ENABLED
|
|
#endif
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// STARTUP BEHAVIOUR
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// GROUND_START_DELAY
|
|
//
|
|
#ifndef GROUND_START_DELAY
|
|
# define GROUND_START_DELAY 0
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// MOUNT (ANTENNA OR CAMERA)
|
|
//
|
|
#ifndef MOUNT
|
|
# define MOUNT ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// CAMERA control
|
|
//
|
|
#ifndef CAMERA
|
|
# define CAMERA ENABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AIRSPEED_CRUISE
|
|
//
|
|
#ifndef SPEED_CRUISE
|
|
# define SPEED_CRUISE 3 // 3 m/s
|
|
#endif
|
|
|
|
#ifndef GSBOOST
|
|
# define GSBOOST 0
|
|
#endif
|
|
#ifndef GSBOOST
|
|
# define GSBOOST 0
|
|
#endif
|
|
#ifndef NUDGE_OFFSET
|
|
# define NUDGE_OFFSET 0
|
|
#endif
|
|
|
|
#ifndef E_GLIDER
|
|
# define E_GLIDER ENABLED
|
|
#endif
|
|
|
|
#ifndef TURN_GAIN
|
|
# define TURN_GAIN 5
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Servo Mapping
|
|
//
|
|
#ifndef THROTTLE_MIN
|
|
# define THROTTLE_MIN 0 // percent
|
|
#endif
|
|
#ifndef THROTTLE_CRUISE
|
|
# define THROTTLE_CRUISE 45
|
|
#endif
|
|
#ifndef THROTTLE_MAX
|
|
# define THROTTLE_MAX 100
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Attitude control gains
|
|
//
|
|
#ifndef SERVO_STEER_P
|
|
# define SERVO_STEER_P 0.4
|
|
#endif
|
|
#ifndef SERVO_STEER_I
|
|
# define SERVO_STEER_I 0.0
|
|
#endif
|
|
#ifndef SERVO_STEER_D
|
|
# define SERVO_STEER_D 0.0
|
|
#endif
|
|
#ifndef SERVO_STEER_INT_MAX
|
|
# define SERVO_STEER_INT_MAX 5
|
|
#endif
|
|
#define SERVO_STEER_INT_MAX_CENTIDEGREE SERVO_STEER_INT_MAX*100
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Crosstrack compensation
|
|
//
|
|
#ifndef XTRACK_GAIN
|
|
# define XTRACK_GAIN 1 // deg/m
|
|
#endif
|
|
#ifndef XTRACK_ENTRY_ANGLE
|
|
# define XTRACK_ENTRY_ANGLE 50 // deg
|
|
#endif
|
|
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
|
|
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
#ifndef LOGGING_ENABLED
|
|
# define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
#define DEFAULT_LOG_BITMASK \
|
|
MASK_LOG_ATTITUDE_MED | \
|
|
MASK_LOG_GPS | \
|
|
MASK_LOG_PM | \
|
|
MASK_LOG_CTUN | \
|
|
MASK_LOG_NTUN | \
|
|
MASK_LOG_MODE | \
|
|
MASK_LOG_CMD | \
|
|
MASK_LOG_SONAR | \
|
|
MASK_LOG_COMPASS | \
|
|
MASK_LOG_CURRENT | \
|
|
MASK_LOG_STEERING | \
|
|
MASK_LOG_CAMERA
|
|
#else
|
|
// other systems have plenty of space for full logs
|
|
#define DEFAULT_LOG_BITMASK 0xffff
|
|
#endif
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
#ifndef STANDARD_SPEED
|
|
# define STANDARD_SPEED 3.0
|
|
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
|
|
#endif
|
|
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
|
|
|
|
// use this to enable servos in HIL mode
|
|
#ifndef HIL_SERVOS
|
|
# define HIL_SERVOS DISABLED
|
|
#endif
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
// 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 BOOSTER
|
|
# define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
|
|
#endif
|
|
|
|
#ifndef SONAR_ENABLED
|
|
# define SONAR_ENABLED DISABLED
|
|
#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
|