mirror of https://github.com/ArduPilot/ardupilot
637 lines
19 KiB
C
637 lines
19 KiB
C
#pragma once
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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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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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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 ArduCopter
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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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#define MAGNETOMETER ENABLED
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// run at 400Hz on all systems
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# define MAIN_LOOP_RATE 400
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# define MAIN_LOOP_SECONDS 0.0025f
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# define MAIN_LOOP_MICROS 2500
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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 DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Channel 6 Tuning
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//
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#ifndef CH6_TUNE_ENABLED
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# define CH6_TUNE_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Aux Switches
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//
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#ifndef AUXSW_ENABLED
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# define AUXSW_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RPM
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//
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#ifndef RPM_ENABLED
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# define RPM_ENABLED DISABLED
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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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// Experimental transect modes
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//
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#ifndef TRANSECT_ENABLED
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# define TRANSECT_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 Proximity and Fence
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# define PROXIMITY_ENABLED ENABLED
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# define FENCE_ENABLED ENABLED
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#endif
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// Proximity sensor
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//
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#ifndef PROXIMITY_ENABLED
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# define PROXIMITY_ENABLED DISABLED
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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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// Battery monitoring
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//
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#ifndef FS_BATT_VOLTAGE_DEFAULT
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# define FS_BATT_VOLTAGE_DEFAULT 0 // default battery voltage below which failsafe will be triggered
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#endif
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#ifndef FS_BATT_MAH_DEFAULT
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// prearm GPS hdop check
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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#ifndef FS_GCS_TIMEOUT_MS
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# define FS_GCS_TIMEOUT_MS 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
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#endif
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#ifndef PREARM_DISPLAY_PERIOD
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# define PREARM_DISPLAY_PERIOD 30
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#endif
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
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#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
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#define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
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#endif
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
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#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
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#define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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#ifndef FS_EKF_ACTION_DEFAULT
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_DISABLED // EKF failsafe triggers land by default
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#endif
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#ifndef FS_EKF_THRESHOLD_DEFAULT
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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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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// MAGNETOMETER
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#ifndef MAGNETOMETER
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# define MAGNETOMETER ENABLED
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#endif
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
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#ifndef COMPASS_MAGFIELD_EXPECTED
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#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
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#endif
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
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#endif
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#else // SITL, etc
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 500
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// gripper
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#ifndef GRIPPER_ENABLED
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# define GRIPPER_ENABLED DISABLED
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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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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 MANUAL
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 ALT_HOLD
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing
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//
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#ifndef LAND_SPEED
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
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#endif
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#ifndef LAND_START_ALT
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# define LAND_START_ALT -25 // altitude in cm where land controller switches to slow rate of descent
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#endif
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#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
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# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
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#endif
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#ifndef LAND_REPOSITION_DEFAULT
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
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#endif
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#ifndef LAND_WITH_DELAY_MS
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# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
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#endif
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#ifndef LAND_CANCEL_TRIGGER_THR
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# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing Detector
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//
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#ifndef LAND_DETECTOR_TRIGGER_SEC
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# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
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#endif
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
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# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
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#endif
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#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
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# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
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#endif
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#ifndef LAND_DETECTOR_ACCEL_MAX
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# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
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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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#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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#ifndef MOUNT
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# define MOUNT 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 4.5f
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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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// RTL Mode
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#ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
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#endif
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#ifndef RTL_ALT
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# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
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#endif
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#ifndef RTL_ALT_MIN
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# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
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#endif
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#ifndef RTL_CLIMB_MIN_DEFAULT
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# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
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#endif
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#ifndef RTL_ABS_MIN_CLIMB
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# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
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#endif
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#ifndef RTL_CONE_SLOPE_DEFAULT
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# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
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#endif
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#ifndef RTL_MIN_CONE_SLOPE
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# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
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#endif
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#ifndef RTL_LOITER_TIME
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# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
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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_LOOK_AT_NEXT_WP_EXCEPT_RTL
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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 copter is aimed at ground course
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#endif
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// Super Simple mode
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#ifndef SUPER_SIMPLE_RADIUS
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# define SUPER_SIMPLE_RADIUS 1000
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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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#ifndef ANGLE_RATE_MAX
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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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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// Stop mode defaults
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//
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#ifndef BRAKE_MODE_SPEED_Z
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# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
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#endif
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#ifndef BRAKE_MODE_DECEL_RATE
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# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Velocity (horizontal) gains
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//
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#ifndef VEL_XY_P
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# define VEL_XY_P 1.0f
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#endif
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#ifndef VEL_XY_I
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# define VEL_XY_I 0.5f
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#endif
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#ifndef VEL_XY_IMAX
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# define VEL_XY_IMAX 1000
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#endif
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#ifndef VEL_XY_FILT_HZ
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# define VEL_XY_FILT_HZ 5.0f
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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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#ifndef ALT_HOLD_P
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# define ALT_HOLD_P 3.0f
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#endif
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// Velocity (vertical) control gains
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#ifndef VEL_Z_P
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# define VEL_Z_P 8.0f
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|
#endif
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|
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// Accel (vertical) control gains
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|
#ifndef ACCEL_Z_P
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# define ACCEL_Z_P 0.50f
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|
#endif
|
|
#ifndef ACCEL_Z_I
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# define ACCEL_Z_I 0.1f
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|
#endif
|
|
#ifndef ACCEL_Z_D
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|
# define ACCEL_Z_D 0.0f
|
|
#endif
|
|
#ifndef ACCEL_Z_IMAX
|
|
# define ACCEL_Z_IMAX 100
|
|
#endif
|
|
#ifndef ACCEL_Z_FILT_HZ
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|
# define ACCEL_Z_FILT_HZ 20.0f
|
|
#endif
|
|
|
|
// default maximum vertical velocity and acceleration the pilot may request
|
|
#ifndef PILOT_VELZ_MAX
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|
# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
|
|
#endif
|
|
#ifndef PILOT_ACCEL_Z_DEFAULT
|
|
# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
|
|
#endif
|
|
|
|
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
|
|
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
|
|
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
|
|
#endif
|
|
// the acceleration used to define the distance-velocity curve
|
|
#ifndef ALT_HOLD_ACCEL_MAX
|
|
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
|
|
#endif
|
|
|
|
#ifndef AUTO_DISARMING_DELAY
|
|
# define AUTO_DISARMING_DELAY 0
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
#ifndef LOGGING_ENABLED
|
|
# define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
// Default logging bitmask
|
|
#ifndef DEFAULT_LOG_BITMASK
|
|
# define DEFAULT_LOG_BITMASK \
|
|
MASK_LOG_ATTITUDE_MED | \
|
|
MASK_LOG_GPS | \
|
|
MASK_LOG_PM | \
|
|
MASK_LOG_CTUN | \
|
|
MASK_LOG_NTUN | \
|
|
MASK_LOG_RCIN | \
|
|
MASK_LOG_IMU | \
|
|
MASK_LOG_CMD | \
|
|
MASK_LOG_CURRENT | \
|
|
MASK_LOG_RCOUT | \
|
|
MASK_LOG_OPTFLOW | \
|
|
MASK_LOG_COMPASS | \
|
|
MASK_LOG_CAMERA | \
|
|
MASK_LOG_MOTBATT
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AP_Limits Defaults
|
|
//
|
|
|
|
// Enable/disable AP_Limits
|
|
#ifndef AC_FENCE
|
|
#define AC_FENCE ENABLED
|
|
#endif
|
|
|
|
#ifndef AC_RALLY
|
|
#define AC_RALLY DISABLED
|
|
#endif
|
|
|
|
#ifndef AC_TERRAIN
|
|
#define AC_TERRAIN DISABLED // Requires Rally enabled as well
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
#ifndef XTRACK_P
|
|
#define XTRACK_P 1.0f
|
|
#define XTRACK_I 0.5f
|
|
#define XTRACK_D 0.0f
|
|
#define XTRACK_IMAX 1000
|
|
#define XTRACK_FILT_HZ 5.0f
|
|
#define XTRACK_DT 0.05f
|
|
#define HEAD_P 1.0f
|
|
#define HEAD_I 0.5f
|
|
#define HEAD_D 0.0f
|
|
#define HEAD_IMAX 1000
|
|
#define HEAD_FILT_HZ 5.0f
|
|
#define HEAD_DT 0.05f
|
|
#endif
|