mirror of https://github.com/ArduPilot/ardupilot
427 lines
12 KiB
C
427 lines
12 KiB
C
#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" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build ArduSub
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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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#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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#ifndef SURFACE_DEPTH_DEFAULT
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# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
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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_SPEED_DEFAULT
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# define RC_SPEED_DEFAULT 200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Circle Nav parameters
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//
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#ifndef CIRCLE_NAV_ENABLED
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# define CIRCLE_NAV_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RPM
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//
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#ifndef RPM_ENABLED
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# define RPM_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RCMAP
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//
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#ifndef RCMAP_ENABLED
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# define RCMAP_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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#ifndef RANGEFINDER_ENABLED
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# define RANGEFINDER_ENABLED ENABLED
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#endif
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#ifndef RANGEFINDER_HEALTH_MAX
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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#endif
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#ifndef RANGEFINDER_GAIN_DEFAULT
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# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder 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 rangefinder
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#endif
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#ifndef RANGEFINDER_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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#endif
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#ifndef RANGEFINDER_WPNAV_FILT_HZ
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# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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#endif
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define RANGEFINDER_TILT_CORRECTION ENABLED
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#endif
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// Avoidance (relies on Proximity and Fence)
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#ifndef AVOIDANCE_ENABLED
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# define AVOIDANCE_ENABLED DISABLED
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#endif
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#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Proximity and Fence
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# define PROXIMITY_ENABLED ENABLED
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# define FENCE_ENABLED ENABLED
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#endif
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// Proximity sensor
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//
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#ifndef PROXIMITY_ENABLED
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# define PROXIMITY_ENABLED 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 0 // 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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// 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 2500 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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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 1000 // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
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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_DISABLED // EKF failsafe
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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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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// gripper
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#ifndef GRIPPER_ENABLED
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# define GRIPPER_ENABLED DISABLED
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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 MANUAL
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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 ALT_HOLD
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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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// 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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// 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 vehicle is aimed at ground course
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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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//////////////////////////////////////////////////////////////////////////////
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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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// Velocity (horizontal) gains
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//
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#ifndef VEL_XY_P
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# define VEL_XY_P 1.0f
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#endif
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#ifndef VEL_XY_I
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# define VEL_XY_I 0.5f
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#endif
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#ifndef VEL_XY_IMAX
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# define VEL_XY_IMAX 1000
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#endif
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#ifndef VEL_XY_FILT_HZ
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# define VEL_XY_FILT_HZ 5.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PosHold parameter defaults
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//
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#ifndef POSHOLD_ENABLED
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# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control gains
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//
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#ifndef THR_DZ_DEFAULT
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# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
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#endif
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#ifndef ALT_HOLD_P
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# define ALT_HOLD_P 3.0f
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#endif
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// Velocity (vertical) control gains
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#ifndef VEL_Z_P
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# define VEL_Z_P 8.0f
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#endif
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// Accel (vertical) control gains
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#ifndef ACCEL_Z_P
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# define ACCEL_Z_P 0.50f
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#endif
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#ifndef ACCEL_Z_I
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# define ACCEL_Z_I 0.1f
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#endif
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#ifndef ACCEL_Z_D
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# define ACCEL_Z_D 0.0f
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#endif
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#ifndef ACCEL_Z_IMAX
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# define ACCEL_Z_IMAX 100
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#endif
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#ifndef ACCEL_Z_FILT_HZ
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# define ACCEL_Z_FILT_HZ 20.0f
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#endif
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// default maximum vertical velocity and acceleration the pilot may request
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#ifndef PILOT_VELZ_MAX
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# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
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#endif
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#ifndef PILOT_ACCEL_Z_DEFAULT
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# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
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#endif
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#ifndef AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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#ifndef LOGGING_ENABLED
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# define LOGGING_ENABLED ENABLED
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#endif
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// Default logging bitmask
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#ifndef DEFAULT_LOG_BITMASK
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# define DEFAULT_LOG_BITMASK \
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MASK_LOG_ATTITUDE_MED | \
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MASK_LOG_GPS | \
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MASK_LOG_PM | \
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MASK_LOG_CTUN | \
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MASK_LOG_NTUN | \
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MASK_LOG_RCIN | \
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MASK_LOG_IMU | \
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MASK_LOG_CMD | \
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MASK_LOG_CURRENT | \
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MASK_LOG_RCOUT | \
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MASK_LOG_OPTFLOW | \
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MASK_LOG_COMPASS | \
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MASK_LOG_CAMERA | \
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MASK_LOG_MOTBATT
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AP_Limits Defaults
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//
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// Enable/disable AP_Limits
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#ifndef AC_FENCE
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#define AC_FENCE ENABLED
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#endif
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#ifndef AC_RALLY
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#define AC_RALLY DISABLED
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#endif
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#ifndef AC_TERRAIN
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#define AC_TERRAIN DISABLED // Requires Rally enabled as well
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Developer Items
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//
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// use this to completely disable the CLI
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#ifndef CLI_ENABLED
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# define CLI_ENABLED ENABLED
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#endif
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