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7e81756ccd
ardupilot/ArduCopter/config.h
Jason Short 7e81756ccd Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
2011-10-02 11:36:23 -07:00

713 lines
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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
//////////////////////////////////////////////////////////////////////////////
// Acrobatics
//
#ifndef CH7_OPTION
# define CH7_OPTION CH7_SET_HOVER
#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
#ifndef PIEZO
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation
#endif
#ifndef PIEZO_LOW_VOLTAGE
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert
#endif
#ifndef PIEZO_ARMING
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm
#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
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
//#define OPTFLOW_ENABLED
#endif
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW DISABLED
#endif
#ifndef OPTFLOW_ORIENTATION
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_FOV
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#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
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
#endif
#ifndef ALT_HOLD_RP
# define ALT_HOLD_RP ROLL_PITCH_STABLE
#endif
#ifndef ALT_HOLD_THR
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
// AUTO Mode
#ifndef AUTO_YAW
# define AUTO_YAW YAW_AUTO
#endif
#ifndef AUTO_RP
# define AUTO_RP ROLL_PITCH_AUTO
#endif
#ifndef AUTO_THR
# define AUTO_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_AUTO
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
// LOITER Mode
#ifndef LOITER_YAW
# define LOITER_YAW YAW_HOLD
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_AUTO
#endif
#ifndef LOITER_THR
# define LOITER_THR THROTTLE_HOLD
#endif
// RTL Mode
#ifndef RTL_YAW
# define RTL_YAW YAW_AUTO
#endif
#ifndef RTL_RP
# define RTL_RP ROLL_PITCH_AUTO
#endif
#ifndef RTL_THR
# define RTL_THR THROTTLE_HOLD
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.6
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.001
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 1.5 // degrees
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.6
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.001
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 1.5 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate Control
//
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.145
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 15 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.145
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0 //0.18
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 15 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// YAW Control
//
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 7 // 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 8 // degrees * 100
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P .13 // 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 LOITER_P
# define LOITER_P 1.0 //
#endif
#ifndef LOITER_I
# define LOITER_I 0.01 //
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 12 // degrees°
#endif
#ifndef NAV_P
# define NAV_P 2.0 // for 4.5 ms error = 13.5 pitch
#endif
#ifndef NAV_I
# define NAV_I 0.10 // this feels really low, 4s to move 1 degree pitch...
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 16 // degrees
#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 450 // for 6m/s error = 13mph
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 350 //
#endif
#ifndef THR_HOLD_P
# define THR_HOLD_P 0.80 //
#endif
#ifndef THR_HOLD_I
# define THR_HOLD_I 0.00 // with 4m error, 12.5s windup
#endif
#ifndef THR_HOLD_IMAX
# define THR_HOLD_IMAX 00
#endif
#ifndef THROTTLE_P
# define THROTTLE_P 0.6 //
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300
#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
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
#ifndef LOG_ATTITUDE_MED
# define LOG_ATTITUDE_MED ENABLED
#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
// current
#ifndef LOG_CUR
# define LOG_CUR DISABLED
#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
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