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ardupilot/APMrover2/config.h

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// -*- 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
//
#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.
///
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
//////////////////////////////////////////////////////////////////////////////
// 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_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
//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
//
#ifndef FRSKY_TELEM_ENABLED
#define FRSKY_TELEM_ENABLED ENABLED
#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
#define DEFAULT_LOG_BITMASK 0xffff
//////////////////////////////////////////////////////////////////////////////
// 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
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