mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
352e103f1a
Having the version macro in the config.h and consequently in the main vehicle header means that whenever the version changes we need to compiler the whole vehicle again. This would not be so bad if we weren't also appending the git hash in the version. In this case, whenever we commit to the repository we would need to recompile everything. Move to a separate header that is include only by its users. Then instead of compiling everything we will compile just a few files.
674 lines
21 KiB
C
674 lines
21 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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#pragma once
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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//
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// DO NOT EDIT this file to adjust your configuration. Create your own
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// APM_Config.h and use APM_Config.h.example as a reference.
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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///
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// Default and automatic configuration details.
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//
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// Notes for maintainers:
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//
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// - Try to keep this file organised in the same order as APM_Config.h.example
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//
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#include "defines.h"
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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#include "APM_Config.h"
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build ArduCopter
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef CONFIG_SONAR
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#define CONFIG_SONAR DISABLED
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#endif
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#define MAGNETOMETER ENABLED
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// run at 400Hz on all systems
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# define MAIN_LOOP_RATE 400
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# define MAIN_LOOP_SECONDS 0.0025f
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# define MAIN_LOOP_MICROS 2500
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//////////////////////////////////////////////////////////////////////////////
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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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#if FRAME_CONFIG == QUAD_FRAME
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# define FRAME_CONFIG_STRING "QUAD"
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#elif FRAME_CONFIG == TRI_FRAME
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# define FRAME_CONFIG_STRING "TRI"
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#elif FRAME_CONFIG == HEXA_FRAME
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# define FRAME_CONFIG_STRING "HEXA"
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#elif FRAME_CONFIG == Y6_FRAME
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# define FRAME_CONFIG_STRING "Y6"
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#elif FRAME_CONFIG == OCTA_FRAME
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# define FRAME_CONFIG_STRING "OCTA"
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#elif FRAME_CONFIG == OCTA_QUAD_FRAME
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# define FRAME_CONFIG_STRING "OCTA_QUAD"
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#elif FRAME_CONFIG == HELI_FRAME
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# define FRAME_CONFIG_STRING "HELI"
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#elif FRAME_CONFIG == SINGLE_FRAME
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# define FRAME_CONFIG_STRING "SINGLE"
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#elif FRAME_CONFIG == COAX_FRAME
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# define FRAME_CONFIG_STRING "COAX"
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#else
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# define FRAME_CONFIG_STRING "UNKNOWN"
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// TradHeli defaults
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#if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
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# define THR_MIN_DEFAULT 0
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# define AUTOTUNE_ENABLED DISABLED
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// Y6 defaults
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#if FRAME_CONFIG == Y6_FRAME
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# define RATE_ROLL_P 0.1f
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# define RATE_ROLL_D 0.006f
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# define RATE_PITCH_P 0.1f
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# define RATE_PITCH_D 0.006f
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# define RATE_YAW_P 0.150f
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# define RATE_YAW_I 0.015f
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// Tri defaults
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#if FRAME_CONFIG == TRI_FRAME
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# define RATE_YAW_FILT_HZ 100.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// default RC speed in Hz
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#ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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#endif
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#ifndef SONAR_ALT_HEALTH_MAX
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# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
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#endif
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#ifndef SONAR_RELIABLE_DISTANCE_PCT
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# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
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#endif
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#ifndef SONAR_GAIN_DEFAULT
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# define SONAR_GAIN_DEFAULT 0.8f // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
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#endif
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#ifndef THR_SURFACE_TRACKING_VELZ_MAX
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# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
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#endif
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#ifndef SONAR_TIMEOUT_MS
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# define SONAR_TIMEOUT_MS 1000 // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
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#endif
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#ifndef SONAR_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define SONAR_TILT_CORRECTION DISABLED
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#endif
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef FS_BATT_VOLTAGE_DEFAULT
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# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
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#endif
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#ifndef FS_BATT_MAH_DEFAULT
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// prearm GPS hdop check
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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#ifndef FS_GCS_TIMEOUT_MS
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# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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#ifndef GNDEFFECT_COMPENSATION
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# define GNDEFFECT_COMPENSATION DISABLED
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL)
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#endif
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#ifndef PREARM_DISPLAY_PERIOD
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# define PREARM_DISPLAY_PERIOD 30
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#endif
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
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#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
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#define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
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#endif
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
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#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
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#define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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#ifndef FS_EKF_ACTION_DEFAULT
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
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#endif
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#ifndef FS_EKF_THRESHOLD_DEFAULT
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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#endif
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#ifndef EKF_ORIGIN_MAX_DIST_M
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MAGNETOMETER
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#ifndef MAGNETOMETER
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# define MAGNETOMETER ENABLED
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#endif
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
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#ifndef COMPASS_MAGFIELD_EXPECTED
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#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
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#endif
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
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#endif
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#else // SITL, FLYMAPLE, etc
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#ifndef COMPASS_OFFSETS_MAX
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# define COMPASS_OFFSETS_MAX 500
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Crop Sprayer
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#ifndef SPRAYER
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# define SPRAYER DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Precision Landing with companion computer or IRLock sensor
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#ifndef PRECISION_LANDING
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# define PRECISION_LANDING ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EPM cargo gripper
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#ifndef EPM_ENABLED
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# define EPM_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Parachute release
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#ifndef PARACHUTE
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# define PARACHUTE ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADSB support
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#ifndef ADSB_ENABLED
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# define ADSB_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Nav-Guided - allows external nav computer to control vehicle
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#ifndef NAV_GUIDED
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# define NAV_GUIDED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Takeoff
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//
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#ifndef PILOT_TKOFF_ALT_DEFAULT
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# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing
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//
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#ifndef LAND_SPEED
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
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#endif
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#ifndef LAND_START_ALT
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# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
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#endif
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#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
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# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
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#endif
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#ifndef LAND_REPOSITION_DEFAULT
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
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#endif
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#ifndef LAND_WITH_DELAY_MS
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# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
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#endif
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#ifndef LAND_CANCEL_TRIGGER_THR
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# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing Detector
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//
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#ifndef LAND_DETECTOR_TRIGGER_SEC
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# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
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#endif
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
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# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
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#endif
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#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
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# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
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#endif
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#ifndef LAND_DETECTOR_ACCEL_MAX
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# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA TRIGGER AND CONTROL
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//
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#ifndef CAMERA
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# define CAMERA ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MOUNT (ANTENNA OR CAMERA)
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//
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#ifndef MOUNT
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# define MOUNT ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Flight mode definitions
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//
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// Acro Mode
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#ifndef ACRO_RP_P
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# define ACRO_RP_P 4.5f
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#endif
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#ifndef ACRO_YAW_P
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# define ACRO_YAW_P 4.5f
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#endif
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#ifndef ACRO_LEVEL_MAX_ANGLE
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# define ACRO_LEVEL_MAX_ANGLE 3000
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#endif
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#ifndef ACRO_BALANCE_ROLL
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#define ACRO_BALANCE_ROLL 1.0f
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#endif
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#ifndef ACRO_BALANCE_PITCH
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#define ACRO_BALANCE_PITCH 1.0f
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#endif
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#ifndef ACRO_EXPO_DEFAULT
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#define ACRO_EXPO_DEFAULT 0.3f
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#endif
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// RTL Mode
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#ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
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#endif
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#ifndef RTL_ALT
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# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
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#endif
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#ifndef RTL_ALT_MIN
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# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
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#endif
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#ifndef RTL_CLIMB_MIN_DEFAULT
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# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
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#endif
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#ifndef RTL_ABS_MIN_CLIMB
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# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
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#endif
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#ifndef RTL_CONE_SLOPE
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# define RTL_CONE_SLOPE 3.0f // slope of RTL cone (height / distance). 0 = No cone
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#endif
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#ifndef RTL_MIN_CONE_SLOPE
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# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
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#endif
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#ifndef RTL_LOITER_TIME
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# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
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#endif
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// AUTO Mode
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#ifndef WP_YAW_BEHAVIOR_DEFAULT
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
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#endif
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#ifndef AUTO_YAW_SLEW_RATE
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# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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#endif
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#ifndef YAW_LOOK_AHEAD_MIN_SPEED
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
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#endif
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// Super Simple mode
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#ifndef SUPER_SIMPLE_RADIUS
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# define SUPER_SIMPLE_RADIUS 1000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stabilize Rate Control
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//
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#ifndef ROLL_PITCH_INPUT_MAX
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# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
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#endif
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#ifndef DEFAULT_ANGLE_MAX
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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#endif
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#ifndef ANGLE_RATE_MAX
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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#ifndef POS_XY_P
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# define POS_XY_P 1.0f
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#endif
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|
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|
//////////////////////////////////////////////////////////////////////////////
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|
// Stop mode defaults
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|
//
|
|
#ifndef BRAKE_MODE_SPEED_Z
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|
# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
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|
#endif
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|
#ifndef BRAKE_MODE_DECEL_RATE
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|
# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
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|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
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|
// Velocity (horizontal) gains
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|
//
|
|
#ifndef VEL_XY_P
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|
# define VEL_XY_P 1.0f
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|
#endif
|
|
#ifndef VEL_XY_I
|
|
# define VEL_XY_I 0.5f
|
|
#endif
|
|
#ifndef VEL_XY_IMAX
|
|
# define VEL_XY_IMAX 1000
|
|
#endif
|
|
#ifndef VEL_XY_FILT_HZ
|
|
# define VEL_XY_FILT_HZ 5.0f
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// PosHold parameter defaults
|
|
//
|
|
#ifndef POSHOLD_ENABLED
|
|
# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
|
|
#endif
|
|
#ifndef POSHOLD_BRAKE_RATE_DEFAULT
|
|
# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
|
|
#endif
|
|
#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
|
|
# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Throttle control gains
|
|
//
|
|
#ifndef THR_MID_DEFAULT
|
|
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
|
|
#endif
|
|
|
|
#ifndef THR_MIN_DEFAULT
|
|
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero
|
|
#endif
|
|
#define THR_MAX 1000 // maximum throttle input and output sent to the motors
|
|
|
|
#ifndef THR_DZ_DEFAULT
|
|
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
|
|
#endif
|
|
|
|
#ifndef ALT_HOLD_P
|
|
# define ALT_HOLD_P 1.0f
|
|
#endif
|
|
|
|
// Velocity (vertical) control gains
|
|
#ifndef VEL_Z_P
|
|
# define VEL_Z_P 5.0f
|
|
#endif
|
|
|
|
// Accel (vertical) control gains
|
|
#ifndef ACCEL_Z_P
|
|
# define ACCEL_Z_P 0.50f
|
|
#endif
|
|
#ifndef ACCEL_Z_I
|
|
# define ACCEL_Z_I 1.00f
|
|
#endif
|
|
#ifndef ACCEL_Z_D
|
|
# define ACCEL_Z_D 0.0f
|
|
#endif
|
|
#ifndef ACCEL_Z_IMAX
|
|
# define ACCEL_Z_IMAX 800
|
|
#endif
|
|
#ifndef ACCEL_Z_FILT_HZ
|
|
# define ACCEL_Z_FILT_HZ 20.0f
|
|
#endif
|
|
|
|
// default maximum vertical velocity and acceleration the pilot may request
|
|
#ifndef PILOT_VELZ_MAX
|
|
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
|
|
#endif
|
|
#ifndef PILOT_ACCEL_Z_DEFAULT
|
|
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
|
|
#endif
|
|
|
|
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
|
|
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
|
|
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
|
|
#endif
|
|
// the acceleration used to define the distance-velocity curve
|
|
#ifndef ALT_HOLD_ACCEL_MAX
|
|
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
|
|
#endif
|
|
|
|
#ifndef AUTO_DISARMING_DELAY
|
|
# define AUTO_DISARMING_DELAY 10
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
#ifndef LOGGING_ENABLED
|
|
# define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
// Default logging bitmask
|
|
#ifndef DEFAULT_LOG_BITMASK
|
|
# define DEFAULT_LOG_BITMASK \
|
|
MASK_LOG_ATTITUDE_MED | \
|
|
MASK_LOG_GPS | \
|
|
MASK_LOG_PM | \
|
|
MASK_LOG_CTUN | \
|
|
MASK_LOG_NTUN | \
|
|
MASK_LOG_RCIN | \
|
|
MASK_LOG_IMU | \
|
|
MASK_LOG_CMD | \
|
|
MASK_LOG_CURRENT | \
|
|
MASK_LOG_RCOUT | \
|
|
MASK_LOG_OPTFLOW | \
|
|
MASK_LOG_COMPASS | \
|
|
MASK_LOG_CAMERA | \
|
|
MASK_LOG_MOTBATT
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Fence, Rally and Terrain defaults
|
|
//
|
|
|
|
// Enable/disable Fence
|
|
#ifndef AC_FENCE
|
|
#define AC_FENCE ENABLED
|
|
#endif
|
|
|
|
#ifndef AC_RALLY
|
|
#define AC_RALLY ENABLED
|
|
#endif
|
|
|
|
#ifndef AC_TERRAIN
|
|
#define AC_TERRAIN ENABLED
|
|
#if !AC_RALLY
|
|
#error Terrain relies on Rally which is disabled
|
|
#endif
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
//use this to completely disable FRSKY TELEM
|
|
#ifndef FRSKY_TELEM_ENABLED
|
|
# define FRSKY_TELEM_ENABLED ENABLED
|
|
#endif
|