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ardupilot/ArduCopterMega/config.h
jasonshort ed5c7d01b1 New PIDs - I rewrote the control laws from scratch to add a PI Rate function. The end result should fly nearly identically to the current version. The nice detail is that we can use NG PID values for easy transition! 
Before: ->  After
Stabilize P –> Stabilize P (Use NG values, or 8.3 x the older AC2 value)
Stabilize I –> Stabilize I (Stays same value)
Stabilize D –> Rate P (Stays same value)
–> Rate I (new)
 
Added a new value – an I term for rate. The old stabilization routines did not use this term. Please refer to the config.h file to read more about the new PIDs.
Added framework for using DCM corrected Accelerometer rates. Code is commented out for now.
Added set home at Arming.
Crosstrack is now a full PID loop, rather than just a P gain for more control. 
Throttle now slews when switching out of Alt hold or Auto modes for less jarring transitions
Sonar and Baro PIDs are now combined into a throttle PID Yaw control is completely re-written.
Added Octa_Quad support - Max



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2836 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-11 00:47:08 +00:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
# define FRAME_CONFIG QUAD_FRAME
#endif
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION PLUS_FRAME
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef SONAR_PORT
# define SONAR_PORT AP_RANGEFINDER_PITOT_TUBE
#endif
#ifndef SONAR_TYPE
# define SONAR_TYPE MAX_SONAR_XL
#endif
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_SENSOR
// AIRSPEED_RATIO
//
#ifndef AIRSPEED_SENSOR
# define AIRSPEED_SENSOR DISABLED
#endif
#ifndef AIRSPEED_RATIO
# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_PROTOCOL OPTIONAL
// HIL_MODE OPTIONAL
// HIL_PORT OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#ifndef HIL_PROTOCOL
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
#endif
#ifndef HIL_PORT
#define HIL_PORT 0
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#endif
// If we are in XPlane, diasble the mag
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
// check xplane settings
#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
// MAGNETOMETER not supported by XPLANE
# undef MAGNETOMETER
# define MAGNETOMETER DISABLED
# if HIL_MODE != HIL_MODE_ATTITUDE
# error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE
# endif
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
// Note that this test must follow the HIL_PROTOCOL block as the HIL
// setup may override the GPS configuration.
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
//////////////////////////////////////////////////////////////////////////////
// GCS_PROTOCOL
// GCS_PORT
//
#ifndef GCS_PROTOCOL
# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#endif
//Chris: Commenting out assignment of GCS to port 3 because it kills MAVLink on Port 0
#ifndef GCS_PORT
# define GCS_PORT 3
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef BATTERY_EVENT
# define BATTERY_EVENT DISABLED
#endif
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 9.6
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.56
#endif
#ifndef CURR_AMP_PER_VOLT
# define CURR_AMP_PER_VOLT 27.32
#endif
#ifndef CURR_AMPS_OFFSET
# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
# define HIGH_DISCHARGE 1760
#endif
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
# define INPUT_VOLTAGE 5.0
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER DISABLED
#endif
#ifndef MAG_ORIENTATION
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
#ifndef MAG_PROTOCOL
# define MAG_PROTOCOL MAG_PROTOCOL_5843 // Default Setting
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 STABILIZE
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 STABILIZE
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 STABILIZE
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_FAILSAFE
// THROTTLE_FS_VALUE
// THROTTLE_FAILSAFE_ACTION
//
#ifndef THROTTLE_FAILSAFE
# define THROTTLE_FAILSAFE DISABLED
#endif
#ifndef THROTTE_FS_VALUE
# define THROTTLE_FS_VALUE 975
#endif
#ifndef THROTTLE_FAILSAFE_ACTION
# define THROTTLE_FAILSAFE_ACTION 2
#endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 3
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Y6 Support
#ifndef TOP_BOTTOM_RATIO
# define TOP_BOTTOM_RATIO 0.92
#endif
//////////////////////////////////////////////////////////////////////////////
// Roll Control
//
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.025
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX .5 // degrees
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P .12
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Pitch Control
//
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.025
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX .5 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.12
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// YAW Control
//
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance
#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 15 // degrees * 100
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P .15 // used to control response in turning
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.0
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 50
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// how much to we pitch towards the target
#ifndef PITCH_MAX
# define PITCH_MAX 22 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
#ifndef NAV_LOITER_P
# define NAV_LOITER_P 1.3 //
#endif
#ifndef NAV_LOITER_I
# define NAV_LOITER_I 0.01 //
#endif
#ifndef NAV_LOITER_D
# define NAV_LOITER_D 0.4 //
#endif
#ifndef NAV_LOITER_IMAX
# define NAV_LOITER_IMAX 10 // degrees°
#endif
#ifndef NAV_WP_P
# define NAV_WP_P 3.0 // for 4.5 ms error = 13.5 pitch
#endif
#ifndef NAV_WP_I
# define NAV_WP_I 0.5 // this is a fast ramp up
#endif
#ifndef NAV_WP_D
# define NAV_WP_D .3 //
#endif
#ifndef NAV_WP_IMAX
# define NAV_WP_IMAX 40 // degrees
#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 600 // for 6m/s error = 13mph
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_P
# define THROTTLE_P 0.4 // trying a lower val
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.01 //with 4m error, 12.5s windup
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.35 // upped with filter
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 30
#endif
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef XTRACK_ENTRY_ANGLE
# define XTRACK_ENTRY_ANGLE 30 // deg
#endif
#ifndef XTRACK_P
# define XTRACK_P 2 // trying a lower val
#endif
#ifndef XTRACK_I
# define XTRACK_I 0.00 //with 4m error, 12.5s windup
#endif
#ifndef XTRACK_D
# define XTRACK_D 0.00 // upped with filter
#endif
#ifndef XTRACK_IMAX
# define XTRACK_IMAX 10
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUG_LEVEL
//
#ifndef DEBUG_LEVEL
# define DEBUG_LEVEL SEVERITY_LOW
#endif
#ifndef CHANNEL_6_TUNING
# define CHANNEL_6_TUNING CH6_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
#ifndef LOG_ATTITUDE_MED
# define LOG_ATTITUDE_MED DISABLED
#endif
#ifndef LOG_GPS
# define LOG_GPS ENABLED
#endif
#ifndef LOG_PM
# define LOG_PM ENABLED
#endif
#ifndef LOG_CTUN
# define LOG_CTUN ENABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN ENABLED
#endif
#ifndef LOG_MODE
# define LOG_MODE ENABLED
#endif
#ifndef LOG_RAW
# define LOG_RAW DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
#ifndef LOG_CURRENT
# define LOG_CURRENT DISABLED
#endif
// 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_DEFAULT
# define LOITER_RADIUS_DEFAULT 10
#endif
#ifndef ALT_HOLD_HOME
# define ALT_HOLD_HOME 8
#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 CAMERA_STABILIZER
# define CAMERA_STABILIZER 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
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