mirror of https://github.com/ArduPilot/ardupilot
716 lines
18 KiB
C
716 lines
18 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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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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/// 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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// 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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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_SENSOR
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// AIRSPEED_RATIO
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//
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#ifndef AIRSPEED_SENSOR
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# define AIRSPEED_SENSOR DISABLED
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#endif
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#ifndef AIRSPEED_RATIO
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# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Sonar
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//
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#ifndef SONAR_ENABLED
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# define SONAR_ENABLED DISABLED
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#endif
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#ifndef SONAR_PIN
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# define SONAR_PIN AN4 // AN5, AP_RANGEFINDER_PITOT_TUBE
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
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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 GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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#endif
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// If we are in XPlane, diasble the mag
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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// check xplane settings
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#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
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// MAGNETOMETER not supported by XPLANE
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# undef MAGNETOMETER
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# define MAGNETOMETER DISABLED
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# if HIL_MODE != HIL_MODE_ATTITUDE
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# error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE
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# endif
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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// Note that this test must follow the HIL_PROTOCOL block as the HIL
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// setup may override the GPS configuration.
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//
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#ifndef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GCS_PROTOCOL
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// GCS_PORT
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//
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#ifndef GCS_PROTOCOL
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# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#endif
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#ifndef GCS_PORT
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# define GCS_PORT 3
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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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// Serial port speeds.
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//
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#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 115200
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#endif
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#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 57600
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef BATTERY_EVENT
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# define BATTERY_EVENT DISABLED
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#endif
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#ifndef LOW_VOLTAGE
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# define LOW_VOLTAGE 9.6
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56
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#endif
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#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32
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#endif
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#ifndef CURR_AMPS_OFFSET
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# define CURR_AMPS_OFFSET 0.0
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#endif
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#ifndef HIGH_DISCHARGE
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# define HIGH_DISCHARGE 1760
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// INPUT_VOLTAGE
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//
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#ifndef INPUT_VOLTAGE
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# define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
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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 DISABLED
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#endif
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#ifndef MAG_ORIENTATION
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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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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//////////////////////////////////////////////////////////////////////////////
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// Radio channel limits
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//
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// Note that these are not called out in APM_Config.h.reference.
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//
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#ifndef CH5_MIN
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# define CH5_MIN 1000
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#endif
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#ifndef CH5_MAX
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# define CH5_MAX 2000
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#endif
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#ifndef CH6_MIN
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# define CH6_MIN 1000
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#endif
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#ifndef CH6_MAX
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# define CH6_MAX 2000
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#endif
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#ifndef CH7_MIN
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# define CH7_MIN 1000
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#endif
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#ifndef CH7_MAX
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# define CH7_MAX 2000
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#endif
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#ifndef CH8_MIN
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# define CH8_MIN 1000
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#endif
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#ifndef CH8_MAX
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# define CH8_MAX 2000
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#endif
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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 255
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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 255
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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 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 STABILIZE
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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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// THROTTLE_FAILSAFE
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// THROTTLE_FS_VALUE
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// SHORT_FAILSAFE_ACTION
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// LONG_FAILSAFE_ACTION
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// GCS_HEARTBEAT_FAILSAFE
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//
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE ENABLED
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#endif
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#ifndef THROTTLE_FS_VALUE
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# define THROTTLE_FS_VALUE 950
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#endif
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#ifndef SHORT_FAILSAFE_ACTION
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# define SHORT_FAILSAFE_ACTION 0
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#endif
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#ifndef LONG_FAILSAFE_ACTION
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# define LONG_FAILSAFE_ACTION 0
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#endif
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#ifndef GCS_HEARTBEAT_FAILSAFE
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# define GCS_HEARTBEAT_FAILSAFE DISABLED
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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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// THROTTLE_REVERSE
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//
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#ifndef THROTTLE_REVERSE
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# define THROTTLE_REVERSE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_STICK_MIXING
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//
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#ifndef ENABLE_STICK_MIXING
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# define ENABLE_STICK_MIXING ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_OUT
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//
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#ifndef THROTTE_OUT
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# define THROTTLE_OUT ENABLED
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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_AIR_START
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//
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#ifndef ENABLE_AIR_START
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# define ENABLE_AIR_START DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE REVERSE_SWITCH
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//
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#ifndef REVERSE_SWITCH
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# define REVERSE_SWITCH ENABLED
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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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//////////////////////////////////////////////////////////////////////////////
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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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// Altitude measurement and control.
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//
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#ifndef ALT_EST_GAIN
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# define ALT_EST_GAIN 0.01
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#endif
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#ifndef ALTITUDE_MIX
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# define ALTITUDE_MIX 1
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#endif
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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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// 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 6
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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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/* The following parmaeters have no corresponding control implementation
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#ifndef THROTTLE_ALT_P
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# define THROTTLE_ALT_P 0.32
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#endif
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#ifndef THROTTLE_ALT_I
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# define THROTTLE_ALT_I 0.0
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#endif
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#ifndef THROTTLE_ALT_D
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# define THROTTLE_ALT_D 0.0
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#endif
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#ifndef THROTTLE_ALT_INT_MAX
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# define THROTTLE_ALT_INT_MAX 20
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#endif
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#define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
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*/
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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 75
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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 15
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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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//////////////////////////////////////////////////////////////////////////////
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// Attitude control gains
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//
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#ifndef SERVO_ROLL_P
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# define SERVO_ROLL_P 0.4
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#endif
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#ifndef SERVO_ROLL_I
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# define SERVO_ROLL_I 0.0
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#endif
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#ifndef SERVO_ROLL_D
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# define SERVO_ROLL_D 0.0
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#endif
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#ifndef SERVO_ROLL_INT_MAX
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# define SERVO_ROLL_INT_MAX 5
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#endif
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#define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100
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#ifndef ROLL_SLEW_LIMIT
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# define ROLL_SLEW_LIMIT 0
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#endif
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#ifndef SERVO_PITCH_P
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# define SERVO_PITCH_P 0.6
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#endif
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#ifndef SERVO_PITCH_I
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# define SERVO_PITCH_I 0.0
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#endif
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#ifndef SERVO_PITCH_D
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# define SERVO_PITCH_D 0.0
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#endif
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#ifndef SERVO_PITCH_INT_MAX
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# define SERVO_PITCH_INT_MAX 5
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#endif
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#define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100
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#ifndef PITCH_COMP
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# define PITCH_COMP 0.2
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#endif
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#ifndef SERVO_YAW_P
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# define SERVO_YAW_P 0.0
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#endif
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#ifndef SERVO_YAW_I
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# define SERVO_YAW_I 0.0
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#endif
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#ifndef SERVO_YAW_D
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# define SERVO_YAW_D 0.0
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#endif
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#ifndef SERVO_YAW_INT_MAX
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# define SERVO_YAW_INT_MAX 0
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#endif
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#ifndef RUDDER_MIX
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# define RUDDER_MIX 0.5
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation control gains
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//
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#ifndef NAV_ROLL_P
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# define NAV_ROLL_P 0.7
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#endif
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#ifndef NAV_ROLL_I
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# define NAV_ROLL_I 0.0
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#endif
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#ifndef NAV_ROLL_D
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# define NAV_ROLL_D 0.02
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#endif
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#ifndef NAV_ROLL_INT_MAX
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# define NAV_ROLL_INT_MAX 5
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#endif
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#define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100
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#ifndef NAV_PITCH_ASP_P
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# define NAV_PITCH_ASP_P 0.65
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#endif
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#ifndef NAV_PITCH_ASP_I
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# define NAV_PITCH_ASP_I 0.0
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#endif
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#ifndef NAV_PITCH_ASP_D
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# define NAV_PITCH_ASP_D 0.0
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#endif
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#ifndef NAV_PITCH_ASP_INT_MAX
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# define NAV_PITCH_ASP_INT_MAX 5
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#endif
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#define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100
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#ifndef NAV_PITCH_ALT_P
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# define NAV_PITCH_ALT_P 0.65
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#endif
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#ifndef NAV_PITCH_ALT_I
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# define NAV_PITCH_ALT_I 0.0
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#endif
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#ifndef NAV_PITCH_ALT_D
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# define NAV_PITCH_ALT_D 0.0
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#endif
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#ifndef NAV_PITCH_ALT_INT_MAX
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# define NAV_PITCH_ALT_INT_MAX 5
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#endif
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#define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100
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//////////////////////////////////////////////////////////////////////////////
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// Energy/Altitude control gains
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//
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#ifndef THROTTLE_TE_P
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# define THROTTLE_TE_P 0.50
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#endif
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#ifndef THROTTLE_TE_I
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# define THROTTLE_TE_I 0.0
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#endif
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#ifndef THROTTLE_TE_D
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# define THROTTLE_TE_D 0.0
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#endif
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#ifndef THROTTLE_TE_INT_MAX
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# define THROTTLE_TE_INT_MAX 20
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#endif
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#ifndef THROTTLE_SLEW_LIMIT
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# define THROTTLE_SLEW_LIMIT 0
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#endif
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#ifndef P_TO_T
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# define P_TO_T 0
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#endif
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#ifndef T_TO_P
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# define T_TO_P 0
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#endif
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#ifndef PITCH_TARGET
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# define PITCH_TARGET 0
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#endif
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|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Crosstrack compensation
|
|
//
|
|
#ifndef XTRACK_GAIN
|
|
# define XTRACK_GAIN 1 // deg/m
|
|
#endif
|
|
#ifndef XTRACK_ENTRY_ANGLE
|
|
# define XTRACK_ENTRY_ANGLE 30 // deg
|
|
#endif
|
|
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
|
|
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// DEBUGGING
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// 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 DISABLED
|
|
#endif
|
|
#ifndef LOG_NTUN
|
|
# define LOG_NTUN DISABLED
|
|
#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
|
|
#ifndef LOG_CUR
|
|
# define LOG_CUR 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)
|
|
|
|
|
|
#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 30
|
|
#endif
|
|
|
|
#ifndef LOITER_RADIUS_DEFAULT
|
|
# define LOITER_RADIUS_DEFAULT 60
|
|
#endif
|
|
|
|
#ifndef ALT_HOLD_HOME
|
|
# define ALT_HOLD_HOME 100
|
|
#endif
|
|
#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
|
|
|
|
#ifndef USE_CURRENT_ALT
|
|
# define USE_CURRENT_ALT FALSE
|
|
#endif
|
|
|
|
#ifndef INVERTED_FLIGHT_PWM
|
|
# define INVERTED_FLIGHT_PWM 1750
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
#ifndef STANDARD_SPEED
|
|
# define STANDARD_SPEED 15.0
|
|
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
|
|
#endif
|
|
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
|
|
|
|
// use this to enable servos in HIL mode
|
|
#ifndef HIL_SERVOS
|
|
# define HIL_SERVOS DISABLED
|
|
#endif
|
|
|
|
// 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
|