mirror of https://github.com/ArduPilot/ardupilot
144 lines
4.2 KiB
C
144 lines
4.2 KiB
C
//
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#pragma once
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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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//
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#include "defines.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 Blimp
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#endif
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#ifndef ARMING_DELAY_SEC
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# define ARMING_DELAY_SEC 2.0f
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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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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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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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// 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 milliseconds 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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// 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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//////////////////////////////////////////////////////////////////////////////
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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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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 Mode::Number::MANUAL
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 Mode::Number::MANUAL
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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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// Throttle control defaults
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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 AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 10
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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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#ifndef CH_MODE_DEFAULT
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# define CH_MODE_DEFAULT 5
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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 HAL_FRAME_TYPE_DEFAULT
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#define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH
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#endif
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