mirror of https://github.com/ArduPilot/ardupilot
551 lines
14 KiB
C
551 lines
14 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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// 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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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG QUADP_FRAME
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef SONAR_PIN
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# define SONAR_PIN AP_RANGEFINDER_PITOT_TUBE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_SENSOR
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// AIRSPEED_RATIO
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//
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#ifndef AIRSPEED_SENSOR
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# define AIRSPEED_SENSOR DISABLED
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#endif
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#ifndef AIRSPEED_RATIO
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# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_PROTOCOL OPTIONAL
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// HIL_MODE OPTIONAL
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// HIL_PORT 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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#ifndef HIL_PROTOCOL
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#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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#endif
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#ifndef HIL_PORT
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#define HIL_PORT 0
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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_NONE
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#endif
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// If we are in XPlane, diasble the mag
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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// check xplane settings
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#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
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// MAGNETOMETER not supported by XPLANE
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# undef MAGNETOMETER
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# define MAGNETOMETER DISABLED
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# if HIL_MODE != HIL_MODE_ATTITUDE
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# error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE
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# endif
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#endif
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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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//////////////////////////////////////////////////////////////////////////////
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// GCS_PROTOCOL
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// GCS_PORT
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//
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#ifndef GCS_PROTOCOL
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# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#endif
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//Chris: Commenting out assignment of GCS to port 3 because it kills MAVLink on Port 0
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#ifndef GCS_PORT
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# define GCS_PORT 3
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#endif
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Serial port speeds.
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//
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#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 115200
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#endif
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#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 57600
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef 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
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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
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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 5.0
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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 DISABLED
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#endif
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#ifndef MAG_ORIENTATION
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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//
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#ifndef FLIGHT_MODE_CHANNEL
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# define FLIGHT_MODE_CHANNEL CH_5
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#endif
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#if (FLIGHT_MODE_CHANNEL != CH_5) && (FLIGHT_MODE_CHANNEL != CH_6) && (FLIGHT_MODE_CHANNEL != CH_7) && (FLIGHT_MODE_CHANNEL != CH_8)
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# error XXX
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# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
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# error XXX
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#endif
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#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#if !defined(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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// THROTTLE_FS_VALUE
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// THROTTLE_FAILSAFE_ACTION
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//
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE DISABLED
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#endif
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#ifndef THROTTE_FS_VALUE
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# define THROTTLE_FS_VALUE 975
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#endif
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#ifndef THROTTLE_FAILSAFE_ACTION
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# define THROTTLE_FAILSAFE_ACTION 2
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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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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Y6 Support
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#ifndef Y6_MOTOR_SCALER
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# define Y6_MOTOR_SCALER 0.92
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ACRO Rate Control
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#ifndef ACRO_RATE_ROLL_P
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# define ACRO_RATE_ROLL_P .190
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#endif
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#ifndef ACRO_RATE_ROLL_I
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# define ACRO_RATE_ROLL_I 0.0
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#endif
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#ifndef ACRO_RATE_ROLL_D
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# define ACRO_RATE_ROLL_D 0.0
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#endif
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#ifndef ACRO_RATE_ROLL_IMAX
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# define ACRO_RATE_ROLL_IMAX 20
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#endif
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#ifndef ACRO_RATE_PITCH_P
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# define ACRO_RATE_PITCH_P .190
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#endif
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#ifndef ACRO_RATE_PITCH_I
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# define ACRO_RATE_PITCH_I 0.0
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#endif
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#ifndef ACRO_RATE_PITCH_D
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# define ACRO_RATE_PITCH_D 0.0
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#endif
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#ifndef ACRO_RATE_PITCH_IMAX
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# define ACRO_RATE_PITCH_IMAX 20
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#endif
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#ifndef ACRO_RATE_YAW_P
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# define ACRO_RATE_YAW_P .13 // used to control response in turning
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#endif
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#ifndef ACRO_RATE_YAW_I
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# define ACRO_RATE_YAW_I 0.0
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#endif
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#ifndef ACRO_RATE_YAW_D
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# define ACRO_RATE_YAW_D 0.00 //
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#endif
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#ifndef ACRO_RATE_YAW_IMAX
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# define ACRO_RATE_YAW_IMAX 0
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#endif
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#ifndef ACRO_RATE_TRIGGER
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# define ACRO_RATE_TRIGGER 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// STABILZE Angle Control
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//
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#ifndef STABILIZE_ROLL_P
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# define STABILIZE_ROLL_P 0.54 // .48 = 4.0 NG, .54 = 4.5 NG
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#endif
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#ifndef STABILIZE_ROLL_I
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# define STABILIZE_ROLL_I 0.025 //
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#endif
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#ifndef STABILIZE_ROLL_D
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# define STABILIZE_ROLL_D 0.12
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#endif
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#ifndef STABILIZE_ROLL_IMAX
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# define STABILIZE_ROLL_IMAX .5 // degrees * 100
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#endif
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#ifndef STABILIZE_PITCH_P
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# define STABILIZE_PITCH_P 0.48
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#endif
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#ifndef STABILIZE_PITCH_I
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# define STABILIZE_PITCH_I 0.025
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#endif
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#ifndef STABILIZE_PITCH_D
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# define STABILIZE_PITCH_D 0.12
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#endif
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#ifndef STABILIZE_PITCH_IMAX
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# define STABILIZE_PITCH_IMAX .5 // degrees * 100
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// YAW Control
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//
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#ifndef YAW_P
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# define YAW_P 0.4 // increase for more aggressive Yaw Hold, decrease if it's bouncy
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#endif
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#ifndef YAW_I
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# define YAW_I 0.1 // increased to .1 to try and get over user's steady state error caused by poor balance
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#endif
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#ifndef YAW_D
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# define YAW_D 0.13 // Trying a lower value to prevent odd behavior
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#endif
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#ifndef YAW_IMAX
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# define YAW_IMAX 0 // Always 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Autopilot control limits
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//
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// how much to we pitch towards the target
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#ifndef PITCH_MAX
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# define PITCH_MAX 45 // degrees
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation control gains
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//
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#ifndef NAV_LOITER_P
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# define NAV_LOITER_P 2.5 // upped to be a bit more aggressive
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#endif
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#ifndef NAV_LOITER_I
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# define NAV_LOITER_I 0.15 // upped a bit to deal with wind faster
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#endif
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#ifndef NAV_LOITER_D
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# define NAV_LOITER_D 0.00
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#endif
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#ifndef NAV_LOITER_IMAX
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# define NAV_LOITER_IMAX 20 // 20°
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#endif
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#ifndef NAV_WP_P
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# define NAV_WP_P 4.0
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#endif
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#ifndef NAV_WP_I
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# define NAV_WP_I 0.15 // leave 0
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#endif
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#ifndef NAV_WP_D
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# define NAV_WP_D 10 // not sure about at all
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#endif
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#ifndef NAV_WP_IMAX
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# define NAV_WP_IMAX 20 // 20 degrees
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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 THROTTLE_BARO_P
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# define THROTTLE_BARO_P 0.3
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#endif
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#ifndef THROTTLE_BARO_I
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# define THROTTLE_BARO_I 0.1
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#endif
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#ifndef THROTTLE_BARO_D
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# define THROTTLE_BARO_D 0.03
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#endif
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#ifndef THROTTLE_BARO_IMAX
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# define THROTTLE_BARO_IMAX 50
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#endif
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#ifndef THROTTLE_SONAR_P
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# define THROTTLE_SONAR_P 0.8 // upped from .5
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#endif
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#ifndef THROTTLE_SONAR_I
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# define THROTTLE_SONAR_I 0.1
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#endif
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#ifndef THROTTLE_SONAR_D
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# define THROTTLE_SONAR_D 0.05
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#endif
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#ifndef THROTTLE_SONAR_IMAX
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# define THROTTLE_SONAR_IMAX 60
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#endif
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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 5 // deg/m
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#endif
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#ifndef XTRACK_ENTRY_ANGLE
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# define XTRACK_ENTRY_ANGLE 40 // deg
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// DEBUGGING
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// DEBUG_LEVEL
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//
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#ifndef DEBUG_LEVEL
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# define DEBUG_LEVEL SEVERITY_LOW
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#endif
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#ifndef CHANNEL_6_TUNING
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# define CHANNEL_6_TUNING CH6_NONE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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#ifndef LOG_ATTITUDE_FAST
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# define LOG_ATTITUDE_FAST DISABLED
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#endif
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#ifndef LOG_ATTITUDE_MED
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# define LOG_ATTITUDE_MED ENABLED
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#endif
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#ifndef LOG_GPS
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# define LOG_GPS ENABLED
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#endif
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#ifndef LOG_PM
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# define LOG_PM ENABLED
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#endif
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#ifndef LOG_CTUN
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# define LOG_CTUN DISABLED
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#endif
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#ifndef LOG_NTUN
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# define LOG_NTUN DISABLED
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#endif
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#ifndef LOG_MODE
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# define LOG_MODE ENABLED
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#endif
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#ifndef LOG_RAW
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# define LOG_RAW DISABLED
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#endif
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#ifndef LOG_CMD
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# define LOG_CMD ENABLED
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#endif
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#ifndef LOG_CURRENT
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# define LOG_CURRENT DISABLED
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#endif
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#ifndef DEBUG_PORT
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# define DEBUG_PORT 0
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#endif
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#if DEBUG_PORT == 0
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# define SendDebug_P(a) Serial.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial.println_P(PSTR(a))
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# define SendDebug Serial.print
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# define SendDebugln Serial.println
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#elif DEBUG_PORT == 1
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# define SendDebug_P(a) Serial1.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial1.println_P(PSTR(a))
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# define SendDebug Serial1.print
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# define SendDebugln Serial1.println
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#elif DEBUG_PORT == 2
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# define SendDebug_P(a) Serial2.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial2.println_P(PSTR(a))
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# define SendDebug Serial2.print
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# define SendDebugln Serial2.println
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#elif DEBUG_PORT == 3
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# define SendDebug_P(a) Serial3.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial3.println_P(PSTR(a))
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# define SendDebug Serial3.print
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# define SendDebugln Serial3.println
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation defaults
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//
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#ifndef WP_RADIUS_DEFAULT
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# define WP_RADIUS_DEFAULT 3
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#endif
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#ifndef LOITER_RADIUS_DEFAULT
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# define LOITER_RADIUS_DEFAULT 10
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#endif
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#ifndef ALT_HOLD_HOME
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# define ALT_HOLD_HOME 8
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#endif
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#ifndef USE_CURRENT_ALT
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# define USE_CURRENT_ALT FALSE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RC override
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//
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#ifndef ALLOW_RC_OVERRIDE
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# define ALLOW_RC_OVERRIDE DISABLED
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#endif
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