mirror of https://github.com/ArduPilot/ardupilot
378 lines
9.9 KiB
C
378 lines
9.9 KiB
C
//
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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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#pragma once
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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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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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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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#ifdef CONFIG_APM_HARDWARE
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#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
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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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// FrSky telemetry support
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//
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#ifndef FRSKY_TELEM_ENABLED
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#define FRSKY_TELEM_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Optical flow sensor support
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//
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#ifndef OPTFLOW
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#if AP_AHRS_NAVEKF_AVAILABLE
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# define OPTFLOW ENABLED
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#else
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# define OPTFLOW DISABLED
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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#endif
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#ifndef FLAP_1_SPEED
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# define FLAP_1_SPEED 0
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#endif
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#ifndef FLAP_2_PERCENT
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# define FLAP_2_PERCENT 0
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#endif
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#ifndef FLAP_2_SPEED
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# define FLAP_2_SPEED 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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//
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#ifndef FLIGHT_MODE_CHANNEL
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# define FLIGHT_MODE_CHANNEL 8
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#endif
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#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)
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# error XXX
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# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
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# error XXX
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#endif
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#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 RTL
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#endif
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#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 RTL
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#endif
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#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 FLY_BY_WIRE_A
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 FLY_BY_WIRE_A
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#endif
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#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 MANUAL
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#endif
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#if !defined(FLIGHT_MODE_6)
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# define FLIGHT_MODE_6 MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AUTO_TRIM
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//
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#ifndef AUTO_TRIM
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# define AUTO_TRIM DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// STARTUP BEHAVIOUR
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// GROUND_START_DELAY
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//
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#ifndef GROUND_START_DELAY
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# define GROUND_START_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE ELEVON_MIXING
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//
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#ifndef ELEVON_MIXING
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# define ELEVON_MIXING DISABLED
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#endif
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#ifndef ELEVON_REVERSE
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# define ELEVON_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH1_REVERSE
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# define ELEVON_CH1_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH2_REVERSE
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# define ELEVON_CH2_REVERSE DISABLED
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#endif
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#ifndef DSPOILR_RUD_RATE_DEFAULT
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#define DSPOILR_RUD_RATE_DEFAULT 100
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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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// uses 1182 bytes of memory
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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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// uses 7726 bytes of memory on 2560 chips (all options are enabled)
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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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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_CRUISE
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//
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#ifndef AIRSPEED_CRUISE
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# define AIRSPEED_CRUISE 12 // 12 m/s
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#endif
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#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
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//////////////////////////////////////////////////////////////////////////////
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// MIN_GNDSPEED
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//
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#ifndef MIN_GNDSPEED
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# define MIN_GNDSPEED 0 // m/s (0 disables)
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#endif
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#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
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//////////////////////////////////////////////////////////////////////////////
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// FLY_BY_WIRE_B airspeed control
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//
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#ifndef AIRSPEED_FBW_MIN
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# define AIRSPEED_FBW_MIN 9
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#endif
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#ifndef AIRSPEED_FBW_MAX
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# define AIRSPEED_FBW_MAX 22
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#endif
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#ifndef ALT_HOLD_FBW
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# define ALT_HOLD_FBW 0
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#endif
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#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
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//////////////////////////////////////////////////////////////////////////////
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// Servo Mapping
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//
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#ifndef THROTTLE_MIN
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# define THROTTLE_MIN 0 // percent
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#endif
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#ifndef THROTTLE_CRUISE
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# define THROTTLE_CRUISE 45
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#endif
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#ifndef THROTTLE_MAX
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# define THROTTLE_MAX 100
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Autopilot control limits
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//
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#ifndef HEAD_MAX
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# define HEAD_MAX 45
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#endif
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#ifndef PITCH_MAX
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# define PITCH_MAX 20
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#endif
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#ifndef PITCH_MIN
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# define PITCH_MIN -25
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#endif
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#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
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#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
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#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
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#ifndef RUDDER_MIX
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# define RUDDER_MIX 0.5f
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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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// Dataflash logging control
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//
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#ifndef LOGGING_ENABLED
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# define LOGGING_ENABLED ENABLED
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#endif
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#define DEFAULT_LOG_BITMASK 0xffff
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//////////////////////////////////////////////////////////////////////////////
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// Navigation defaults
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//
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#ifndef WP_RADIUS_DEFAULT
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# define WP_RADIUS_DEFAULT 90
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#endif
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#ifndef LOITER_RADIUS_DEFAULT
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# define LOITER_RADIUS_DEFAULT 60
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#endif
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#ifndef ALT_HOLD_HOME
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# define ALT_HOLD_HOME 100
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#endif
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#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
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#ifndef USE_CURRENT_ALT
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# define USE_CURRENT_ALT FALSE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Developer Items
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//
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#ifndef SCALING_SPEED
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# define SCALING_SPEED 15.0
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#endif
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// use this to disable geo-fencing
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#ifndef GEOFENCE_ENABLED
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# define GEOFENCE_ENABLED ENABLED
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#endif
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// pwm value on FENCE_CHANNEL to use to enable fenced mode
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#ifndef FENCE_ENABLE_PWM
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# define FENCE_ENABLE_PWM 1750
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#endif
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// a digital pin to set high when the geo-fence triggers. Defaults
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// to -1, which means don't activate a pin
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#ifndef FENCE_TRIGGERED_PIN
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# define FENCE_TRIGGERED_PIN -1
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#endif
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// if RESET_SWITCH_CH is not zero, then this is the PWM value on
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// that channel where we reset the control mode to the current switch
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// position (to for example return to switched mode after failsafe or
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// fence breach)
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#ifndef RESET_SWITCH_CHAN_PWM
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# define RESET_SWITCH_CHAN_PWM 1750
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#endif
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#ifndef HIL_SUPPORT
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#if HAL_MINIMIZE_FEATURES
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# define HIL_SUPPORT DISABLED
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#else
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# define HIL_SUPPORT ENABLED
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#endif
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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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// Payload Gripper
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#ifndef GRIPPER_ENABLED
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#if HAL_MINIMIZE_FEATURES
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# define GRIPPER_ENABLED DISABLED
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#else
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# define GRIPPER_ENABLED ENABLED
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#endif
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#endif
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#ifndef STATS_ENABLED
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# define STATS_ENABLED ENABLED
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#endif
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#ifndef DEVO_TELEM_ENABLED
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#if HAL_MINIMIZE_FEATURES
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#define DEVO_TELEM_ENABLED DISABLED
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#else
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#define DEVO_TELEM_ENABLED ENABLED
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#endif
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#endif
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#ifndef OSD_ENABLED
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#define OSD_ENABLED DISABLED
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#endif
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#ifndef SOARING_ENABLED
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#if HAL_MINIMIZE_FEATURES
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#define SOARING_ENABLED DISABLED
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#else
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#define SOARING_ENABLED ENABLED
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#endif
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#endif
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#ifndef LANDING_GEAR_ENABLED
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#define LANDING_GEAR_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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