mirror of https://github.com/ArduPilot/ardupilot
472 lines
12 KiB
C
472 lines
12 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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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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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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#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 CONFIG_RELAY
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# define CONFIG_RELAY 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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// 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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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// LED and IO Pins
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//
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define SLIDE_SWITCH_PIN 40
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# define PUSHBUTTON_PIN 41
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# define USB_MUX_PIN -1
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# define CONFIG_RELAY ENABLED
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN 23
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define CONFIG_INS_TYPE CONFIG_INS_STUB
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# define CONFIG_COMPASS AP_COMPASS_HIL
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN -1
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define CONFIG_INS_TYPE CONFIG_INS_PX4
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# define CONFIG_COMPASS AP_COMPASS_PX4
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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# define USB_MUX_PIN -1
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# define BATTERY_PIN_1 -1
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# define CURRENT_PIN_1 -1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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#ifndef CONFIG_INS_TYPE
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# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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# if CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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# endif
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
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# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
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# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
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# undef CONFIG_SONAR_SOURCE
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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#endif
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
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# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
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# endif
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
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# endif
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#else
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
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# undef SONAR_ENABLED
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# define SONAR_ENABLED DISABLED
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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_INS_TYPE
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#define CONFIG_INS_TYPE CONFIG_INS_STUB
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#undef CONFIG_ADC
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#define CONFIG_ADC DISABLED
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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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#ifndef CH7_OPTION
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# define CH7_OPTION CH7_SAVE_WP
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#endif
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#ifndef TUNING_OPTION
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# define TUNING_OPTION TUN_NONE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef BATTERY_EVENT
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# define BATTERY_EVENT DISABLED
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#endif
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#ifndef LOW_VOLTAGE
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# define LOW_VOLTAGE 9.6
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#endif
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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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#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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#endif
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#ifndef CURR_AMPS_OFFSET
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# define CURR_AMPS_OFFSET 0.0
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#endif
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#ifndef HIGH_DISCHARGE
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# define HIGH_DISCHARGE 1760
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// INPUT_VOLTAGE
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//
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#ifndef INPUT_VOLTAGE
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# 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
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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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//////////////////////////////////////////////////////////////////////////////
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// MODE
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// MODE_CHANNEL
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//
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#ifndef MODE_CHANNEL
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# define MODE_CHANNEL 8
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#endif
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#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
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# error XXX
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# error XXX You must set 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(MODE_1)
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# define MODE_1 LEARNING
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#endif
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#if !defined(MODE_2)
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# define MODE_2 LEARNING
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#endif
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#if !defined(MODE_3)
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# define MODE_3 LEARNING
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#endif
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#if !defined(MODE_4)
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# define MODE_4 LEARNING
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#endif
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#if !defined(MODE_5)
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# define MODE_5 LEARNING
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#endif
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#if !defined(MODE_6)
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# define MODE_6 MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// failsafe defaults
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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 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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// 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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// MOUNT (ANTENNA OR CAMERA)
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//
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#ifndef MOUNT
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# define MOUNT DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_CRUISE
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//
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#ifndef SPEED_CRUISE
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# define SPEED_CRUISE 3 // 3 m/s
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#endif
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#ifndef GSBOOST
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# define GSBOOST 0
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#endif
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#ifndef GSBOOST
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# define GSBOOST 0
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#endif
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#ifndef NUDGE_OFFSET
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# define NUDGE_OFFSET 0
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#endif
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#ifndef E_GLIDER
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# define E_GLIDER ENABLED
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#endif
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#ifndef TURN_GAIN
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# define TURN_GAIN 5
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#endif
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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 100
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Attitude control gains
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//
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#ifndef SERVO_STEER_P
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# define SERVO_STEER_P 0.4
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#endif
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#ifndef SERVO_STEER_I
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# define SERVO_STEER_I 0.0
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#endif
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#ifndef SERVO_STEER_D
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# define SERVO_STEER_D 0.0
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#endif
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#ifndef SERVO_STEER_INT_MAX
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# define SERVO_STEER_INT_MAX 5
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#endif
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#define SERVO_STEER_INT_MAX_CENTIDEGREE SERVO_STEER_INT_MAX*100
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//////////////////////////////////////////////////////////////////////////////
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// Crosstrack compensation
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//
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#ifndef XTRACK_GAIN
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# define XTRACK_GAIN 1 // deg/m
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#endif
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#ifndef XTRACK_ENTRY_ANGLE
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# define XTRACK_ENTRY_ANGLE 50 // deg
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#endif
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# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
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# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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#ifndef LOGGING_ENABLED
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# define LOGGING_ENABLED ENABLED
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#endif
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#define DEFAULT_LOG_BITMASK \
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MASK_LOG_ATTITUDE_MED | \
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MASK_LOG_GPS | \
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MASK_LOG_PM | \
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MASK_LOG_NTUN | \
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MASK_LOG_MODE | \
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MASK_LOG_CMD | \
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MASK_LOG_SONAR | \
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MASK_LOG_COMPASS | \
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MASK_LOG_CURRENT
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//////////////////////////////////////////////////////////////////////////////
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// Developer Items
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//
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#ifndef STANDARD_SPEED
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# define STANDARD_SPEED 3.0
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#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
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#endif
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#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
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// use this to enable servos in HIL mode
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#ifndef HIL_SERVOS
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# define HIL_SERVOS DISABLED
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#endif
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// use this to completely disable the CLI
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#ifndef CLI_ENABLED
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# define CLI_ENABLED ENABLED
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#endif
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// if RESET_SWITCH_CH is not zero, then this is the PWM value on
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// that channel where we reset the control mode to the current switch
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// position (to for example return to switched mode after failsafe or
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// fence breach)
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#ifndef RESET_SWITCH_CHAN_PWM
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# define RESET_SWITCH_CHAN_PWM 1750
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#endif
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#ifndef BOOSTER
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# define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
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#endif
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#ifndef SONAR_ENABLED
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# define SONAR_ENABLED DISABLED
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#endif
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