mirror of https://github.com/ArduPilot/ardupilot
713 lines
17 KiB
C
713 lines
17 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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//////////////////////////////////////////////////////////////////////////////
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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 QUAD_FRAME
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#endif
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#ifndef FRAME_ORIENTATION
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# define FRAME_ORIENTATION PLUS_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_PORT
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# define SONAR_PORT AP_RANGEFINDER_PITOT_TUBE
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_XL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Acrobatics
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//
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#ifndef CH7_OPTION
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# define CH7_OPTION CH7_SET_HOVER
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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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#ifndef PIEZO
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# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
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#endif
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#ifndef PIEZO_LOW_VOLTAGE
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# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
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#endif
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#ifndef PIEZO_ARMING
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# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
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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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// OPTICAL_FLOW
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#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
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//#define OPTFLOW_ENABLED
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#endif
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#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
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# define OPTFLOW DISABLED
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#endif
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#ifndef OPTFLOW_ORIENTATION
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# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
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#endif
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#ifndef OPTFLOW_FOV
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# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
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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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#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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#ifndef MINIMUM_THROTTLE
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# define MINIMUM_THROTTLE 130
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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 3
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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 TOP_BOTTOM_RATIO
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# define TOP_BOTTOM_RATIO 0.92
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Attitude Control
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//
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// Alt Hold Mode
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#ifndef ALT_HOLD_YAW
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# define ALT_HOLD_YAW YAW_HOLD
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#endif
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#ifndef ALT_HOLD_RP
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# define ALT_HOLD_RP ROLL_PITCH_STABLE
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#endif
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#ifndef ALT_HOLD_THR
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# define ALT_HOLD_THR THROTTLE_HOLD
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#endif
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// AUTO Mode
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#ifndef AUTO_YAW
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# define AUTO_YAW YAW_AUTO
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#endif
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#ifndef AUTO_RP
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# define AUTO_RP ROLL_PITCH_AUTO
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#endif
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#ifndef AUTO_THR
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# define AUTO_THR THROTTLE_AUTO
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#endif
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// CIRCLE Mode
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#ifndef CIRCLE_YAW
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# define CIRCLE_YAW YAW_AUTO
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#endif
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#ifndef CIRCLE_RP
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# define CIRCLE_RP ROLL_PITCH_AUTO
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#endif
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#ifndef CIRCLE_THR
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# define CIRCLE_THR THROTTLE_HOLD
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#endif
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// LOITER Mode
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#ifndef LOITER_YAW
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# define LOITER_YAW YAW_HOLD
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#endif
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#ifndef LOITER_RP
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# define LOITER_RP ROLL_PITCH_AUTO
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#endif
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#ifndef LOITER_THR
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# define LOITER_THR THROTTLE_HOLD
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#endif
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// RTL Mode
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#ifndef RTL_YAW
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# define RTL_YAW YAW_AUTO
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#endif
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#ifndef RTL_RP
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# define RTL_RP ROLL_PITCH_AUTO
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#endif
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#ifndef RTL_THR
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# define RTL_THR THROTTLE_HOLD
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Attitude Control
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//
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#ifndef STABILIZE_ROLL_P
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# define STABILIZE_ROLL_P 4.6
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#endif
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#ifndef STABILIZE_ROLL_I
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# define STABILIZE_ROLL_I 0.001
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#endif
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#ifndef STABILIZE_ROLL_IMAX
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# define STABILIZE_ROLL_IMAX 1.5 // degrees
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#endif
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#ifndef STABILIZE_PITCH_P
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# define STABILIZE_PITCH_P 4.6
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#endif
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#ifndef STABILIZE_PITCH_I
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# define STABILIZE_PITCH_I 0.001
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#endif
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#ifndef STABILIZE_PITCH_IMAX
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# define STABILIZE_PITCH_IMAX 1.5 // degrees
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rate Control
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//
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#ifndef RATE_ROLL_P
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# define RATE_ROLL_P 0.145
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#endif
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#ifndef RATE_ROLL_I
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# define RATE_ROLL_I 0.0
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#endif
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#ifndef RATE_ROLL_IMAX
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# define RATE_ROLL_IMAX 15 // degrees
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#endif
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#ifndef RATE_PITCH_P
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# define RATE_PITCH_P 0.145
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#endif
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#ifndef RATE_PITCH_I
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# define RATE_PITCH_I 0 //0.18
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#endif
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#ifndef RATE_PITCH_IMAX
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# define RATE_PITCH_IMAX 15 // degrees
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// YAW Control
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//
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#ifndef STABILIZE_YAW_P
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# define STABILIZE_YAW_P 7 // increase for more aggressive Yaw Hold, decrease if it's bouncy
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#endif
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#ifndef STABILIZE_YAW_I
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# define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance
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#endif
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#ifndef STABILIZE_YAW_IMAX
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# define STABILIZE_YAW_IMAX 8 // degrees * 100
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#endif
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#ifndef RATE_YAW_P
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# define RATE_YAW_P .13 // used to control response in turning
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#endif
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#ifndef RATE_YAW_I
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# define RATE_YAW_I 0.0
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#endif
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#ifndef RATE_YAW_IMAX
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# define RATE_YAW_IMAX 50
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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 22 // 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 LOITER_P
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# define LOITER_P 1.0 //
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#endif
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#ifndef LOITER_I
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# define LOITER_I 0.01 //
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#endif
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#ifndef LOITER_IMAX
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# define LOITER_IMAX 12 // degrees°
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#endif
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#ifndef NAV_P
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# define NAV_P 2.0 // for 4.5 ms error = 13.5 pitch
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#endif
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#ifndef NAV_I
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# define NAV_I 0.10 // this feels really low, 4s to move 1 degree pitch...
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#endif
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#ifndef NAV_IMAX
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# define NAV_IMAX 16 // degrees
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#endif
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#ifndef WAYPOINT_SPEED_MAX
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# define WAYPOINT_SPEED_MAX 450 // for 6m/s error = 13mph
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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_CRUISE
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# define THROTTLE_CRUISE 350 //
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#endif
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#ifndef THR_HOLD_P
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# define THR_HOLD_P 0.80 //
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#endif
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#ifndef THR_HOLD_I
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# define THR_HOLD_I 0.00 // with 4m error, 12.5s windup
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#endif
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#ifndef THR_HOLD_IMAX
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# define THR_HOLD_IMAX 00
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#endif
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#ifndef THROTTLE_P
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# define THROTTLE_P 0.6 //
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#endif
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#ifndef THROTTLE_I
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# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
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#endif
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#ifndef THROTTLE_IMAX
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# define THROTTLE_IMAX 300
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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_ENTRY_ANGLE
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# define XTRACK_ENTRY_ANGLE 30 // deg
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#endif
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#ifndef XTRACK_P
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# define XTRACK_P 2 // trying a lower val
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#endif
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#ifndef XTRACK_I
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# define XTRACK_I 0.00 //with 4m error, 12.5s windup
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#endif
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#ifndef XTRACK_D
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# define XTRACK_D 0.00 // upped with filter
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#endif
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#ifndef XTRACK_IMAX
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# define XTRACK_IMAX 10
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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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//////////////////////////////////////////////////////////////////////////////
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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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#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 ENABLED
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#endif
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#ifndef LOG_NTUN
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# define LOG_NTUN ENABLED
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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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// current
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#ifndef LOG_CUR
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# define LOG_CUR DISABLED
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|
#endif
|
|
// quad motor PWMs
|
|
#ifndef LOG_MOTORS
|
|
# define LOG_MOTORS DISABLED
|
|
#endif
|
|
// guess!
|
|
#ifndef LOG_OPTFLOW
|
|
# define LOG_OPTFLOW DISABLED
|
|
#endif
|
|
|
|
// calculate the default log_bitmask
|
|
#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0)
|
|
|
|
#define DEFAULT_LOG_BITMASK \
|
|
LOGBIT(ATTITUDE_FAST) | \
|
|
LOGBIT(ATTITUDE_MED) | \
|
|
LOGBIT(GPS) | \
|
|
LOGBIT(PM) | \
|
|
LOGBIT(CTUN) | \
|
|
LOGBIT(NTUN) | \
|
|
LOGBIT(MODE) | \
|
|
LOGBIT(RAW) | \
|
|
LOGBIT(CMD) | \
|
|
LOGBIT(CUR) | \
|
|
LOGBIT(MOTORS) | \
|
|
LOGBIT(OPTFLOW)
|
|
|
|
// if we are using fast, Disable Medium
|
|
//#if LOG_ATTITUDE_FAST == ENABLED
|
|
// #undef LOG_ATTITUDE_MED
|
|
// #define LOG_ATTITUDE_MED DISABLED
|
|
//#endif
|
|
|
|
#ifndef DEBUG_PORT
|
|
# define DEBUG_PORT 0
|
|
#endif
|
|
|
|
#if DEBUG_PORT == 0
|
|
# define SendDebug_P(a) Serial.print_P(PSTR(a))
|
|
# define SendDebugln_P(a) Serial.println_P(PSTR(a))
|
|
# define SendDebug Serial.print
|
|
# define SendDebugln Serial.println
|
|
#elif DEBUG_PORT == 1
|
|
# define SendDebug_P(a) Serial1.print_P(PSTR(a))
|
|
# define SendDebugln_P(a) Serial1.println_P(PSTR(a))
|
|
# define SendDebug Serial1.print
|
|
# define SendDebugln Serial1.println
|
|
#elif DEBUG_PORT == 2
|
|
# define SendDebug_P(a) Serial2.print_P(PSTR(a))
|
|
# define SendDebugln_P(a) Serial2.println_P(PSTR(a))
|
|
# define SendDebug Serial2.print
|
|
# define SendDebugln Serial2.println
|
|
#elif DEBUG_PORT == 3
|
|
# define SendDebug_P(a) Serial3.print_P(PSTR(a))
|
|
# define SendDebugln_P(a) Serial3.println_P(PSTR(a))
|
|
# define SendDebug Serial3.print
|
|
# define SendDebugln Serial3.println
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Navigation defaults
|
|
//
|
|
#ifndef WP_RADIUS_DEFAULT
|
|
# define WP_RADIUS_DEFAULT 3
|
|
#endif
|
|
|
|
#ifndef LOITER_RADIUS
|
|
# define LOITER_RADIUS 10
|
|
#endif
|
|
|
|
#ifndef ALT_HOLD_HOME
|
|
# define ALT_HOLD_HOME 10
|
|
#endif
|
|
|
|
#ifndef USE_CURRENT_ALT
|
|
# define USE_CURRENT_ALT FALSE
|
|
#endif
|
|
|
|
|
|
#ifndef AUTO_RESET_LOITER
|
|
# define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
|
|
#endif
|
|
#ifndef CUT_MOTORS
|
|
# define CUT_MOTORS 1 // do we cut the motors with no throttle?
|
|
#endif
|
|
|
|
#ifndef BROKEN_SLIDER
|
|
# define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
|
|
#endif
|
|
|
|
#ifndef MOTOR_LEDS
|
|
# define MOTOR_LEDS 1 // 0 = off, 1 = on
|
|
#endif
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// RC override
|
|
//
|
|
#ifndef ALLOW_RC_OVERRIDE
|
|
# define ALLOW_RC_OVERRIDE DISABLED
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
// delay to prevent Xbee bricking, in milliseconds
|
|
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
|
|
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
|
|
#endif
|