mirror of https://github.com/ArduPilot/ardupilot
449 lines
17 KiB
C
449 lines
17 KiB
C
// CONFIG FILE FOR APM_Rover project by Jean-Louis Naudin
|
|
//
|
|
#define GCS_PORT 3
|
|
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK // QGroundControl protocol
|
|
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE // No GCS protocol to save memory
|
|
#define HIL_MODE HIL_MODE_DISABLED
|
|
|
|
#define MAV_SYSTEM_ID 1
|
|
|
|
// Add a ground start delay in seconds
|
|
//#define GROUND_START_DELAY 1
|
|
|
|
#define AIRSPEED_SENSOR DISABLED
|
|
|
|
#define SONAR_ENABLED DISABLED
|
|
#define SONAR_TRIGGER 200 // trigger distance in cm
|
|
|
|
#if LITE == DISABLED
|
|
#define LOGGING_ENABLED ENABLED
|
|
#endif
|
|
|
|
// for an accurate navigation a magnetometer must be used with the APM1
|
|
#define MAGNETOMETER ENABLED
|
|
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
|
|
//#define PARAM_DECLINATION 0.18 // Paris
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Serial port speeds.
|
|
//
|
|
#define SERIAL0_BAUD 115200
|
|
#define SERIAL3_BAUD 57600
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// GPS_PROTOCOL
|
|
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
|
|
|
|
#define CH7_OPTION CH7_SAVE_WP
|
|
|
|
#define FLIGHT_MODE_1 AUTO // pos 0 ---
|
|
#define FLIGHT_MODE_2 AUTO // pos 1
|
|
#define FLIGHT_MODE_3 LEARNING // pos 2
|
|
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
|
|
#define FLIGHT_MODE_5 MANUAL // pos 4
|
|
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
|
|
|
|
#define ENABLE_AIR_START DISABLED
|
|
|
|
#define MANUAL_LEVEL DISABLED
|
|
|
|
#define TURN_GAIN 5
|
|
|
|
#define CLOSED_LOOP_NAV ENABLED // set to ENABLED if closed loop navigation else set to DISABLED (Return To Lauch)
|
|
|
|
#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode
|
|
#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern
|
|
/*
|
|
During straight lines if the speed booster is enabled, after passing the Wp,
|
|
the speed is multplied by a speed factor ROV_BOOSTER = 2
|
|
(i.e. this is my tested value... so the required speed will be 2 x 4 = 8 m/s in straight lines),
|
|
the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)...
|
|
This feature works only if the ROV_AWPR_NAV is set to 0
|
|
*/
|
|
|
|
#define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
|
|
#define AUTO_WP_RADIUS DISABLED
|
|
#define AIRSPEED_CRUISE 4 // 4m/s
|
|
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// FLIGHT AND NAVIGATION CONTROL
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AIRSPEED_CRUISE OPTIONAL
|
|
//
|
|
// The speed in metres per second to maintain during cruise. The default
|
|
// is 10m/s, which is a conservative value suitable for relatively small,
|
|
// light aircraft.
|
|
//
|
|
#define GSBOOST 0
|
|
#define NUDGE_OFFSET 0
|
|
#define MIN_GNDSPEED 3
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
|
|
//
|
|
// AIRSPEED_FBW_MIN OPTIONAL
|
|
// AIRSPEED_FBW_MAX OPTIONAL
|
|
//
|
|
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
|
|
// The defaults are 6 and 30 metres per second.
|
|
//
|
|
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
|
|
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
|
|
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
|
|
//
|
|
#define AIRSPEED_FBW_MIN 6
|
|
#define AIRSPEED_FBW_MAX 35
|
|
//
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Servo mapping
|
|
//
|
|
// THROTTLE_MIN OPTIONAL
|
|
//
|
|
// The minimum throttle setting to which the autopilot will reduce the
|
|
// throttle while descending. The default is zero, which is
|
|
// suitable for aircraft with a steady power-off glide. Increase this
|
|
// value if your aircraft needs throttle to maintain a stable descent in
|
|
// level flight.
|
|
//
|
|
// THROTTLE_CRUISE OPTIONAL
|
|
//
|
|
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
|
|
// The default is 45%, which is reasonable for a modestly powered aircraft.
|
|
//
|
|
// THROTTLE_MAX OPTIONAL
|
|
//
|
|
// The maximum throttle setting the autopilot will apply. The default is 75%.
|
|
// Reduce this value if your aicraft is overpowered, or has complex flight
|
|
// characteristics at high throttle settings.
|
|
//
|
|
#define THROTTLE_MIN 0 // percent
|
|
#define THROTTLE_CRUISE 3 // 40
|
|
#define THROTTLE_MAX 100
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// AUTO_TRIM OPTIONAL
|
|
//
|
|
// ArduPilot Mega can update its trim settings by looking at the
|
|
// radio inputs when switching out of MANUAL mode. This allows you to
|
|
// manually trim your aircraft before switching to an assisted mode, but it
|
|
// also means that you should avoid switching out of MANUAL while you have
|
|
// any control stick deflection.
|
|
//
|
|
// The default is to enable AUTO_TRIM.
|
|
//
|
|
#define AUTO_TRIM ENABLED
|
|
#define THROTTLE_FAILSAFE DISABLED
|
|
|
|
//#define ENABLE_AIR_START 0
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Autopilot control limits
|
|
//
|
|
// HEAD_MAX OPTIONAL
|
|
//
|
|
// The maximum commanded bank angle in either direction.
|
|
// The default is 45 degrees. Decrease this value if your aircraft is not
|
|
// stable or has difficulty maintaining altitude in a steep bank.
|
|
//
|
|
// PITCH_MAX OPTIONAL
|
|
//
|
|
// The maximum commanded pitch up angle.
|
|
// The default is 15 degrees. Care should be taken not to set this value too
|
|
// large, as the aircraft may stall.
|
|
//
|
|
// PITCH_MIN
|
|
//
|
|
// The maximum commanded pitch down angle. Note that this value must be
|
|
// negative. The default is -25 degrees. Care should be taken not to set
|
|
// this value too large as it may result in overspeeding the aircraft.
|
|
//
|
|
// PITCH_TARGET
|
|
//
|
|
// The target pitch for cruise flight. When the APM measures this pitch
|
|
// value, the pitch error will be calculated to be 0 for the pitch PID
|
|
// control loop.
|
|
//
|
|
#define HEAD_MAX 80
|
|
#define PITCH_MAX 15
|
|
#define PITCH_MIN -20 //-25
|
|
#define PITCH_TARGET 0
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Attitude control gains
|
|
//
|
|
// Tuning values for the attitude control PID loops.
|
|
//
|
|
// The P term is the primary tuning value. This determines how the control
|
|
// deflection varies in proportion to the required correction.
|
|
//
|
|
// The I term is used to help control surfaces settle. This value should
|
|
// normally be kept low.
|
|
//
|
|
// The D term is used to control overshoot. Avoid using or adjusting this
|
|
// term if you are not familiar with tuning PID loops. It should normally
|
|
// be zero for most aircraft.
|
|
//
|
|
// Note: When tuning these values, start with changes of no more than 25% at
|
|
// a time.
|
|
//
|
|
// SERVO_ROLL_P OPTIONAL
|
|
// SERVO_ROLL_I OPTIONAL
|
|
// SERVO_ROLL_D OPTIONAL
|
|
//
|
|
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
|
|
//
|
|
// SERVO_ROLL_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
// Default is 5 degrees.
|
|
//
|
|
// ROLL_SLEW_LIMIT EXPERIMENTAL
|
|
//
|
|
// Limits the slew rate of the roll control in degrees per second. If zero,
|
|
// slew rate is not limited. Default is to not limit the roll control slew rate.
|
|
// (This feature is currently not implemented.)
|
|
//
|
|
// SERVO_PITCH_P OPTIONAL
|
|
// SERVO_PITCH_I OPTIONAL
|
|
// SERVO_PITCH_D OPTIONAL
|
|
//
|
|
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
|
|
//
|
|
// SERVO_PITCH_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
// output from being overdriven due to a persistent offset (e.g. native flight
|
|
// AoA). If you find this value is insufficient, consider adjusting the AOA
|
|
// parameter.
|
|
// Default is 5 degrees.
|
|
//
|
|
// PITCH_COMP OPTIONAL
|
|
//
|
|
// Adds pitch input to compensate for the loss of lift due to roll control.
|
|
// Default is 0.20 (20% of roll control also applied to pitch control).
|
|
//
|
|
// SERVO_YAW_P OPTIONAL
|
|
// SERVO_YAW_I OPTIONAL
|
|
// SERVO_YAW_D OPTIONAL
|
|
//
|
|
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
|
|
// Note units of this control loop are unusual. PID input is in m/s**2.
|
|
//
|
|
// SERVO_YAW_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
// Default is 0.
|
|
//
|
|
// RUDDER_MIX OPTIONAL
|
|
//
|
|
// Roll to yaw mixing. This allows for co-ordinated turns.
|
|
// Default is 0.50 (50% of roll control also applied to yaw control.)
|
|
//
|
|
#define SERVO_ROLL_P 0.0
|
|
#define SERVO_ROLL_I 0.0
|
|
#define SERVO_ROLL_D 0.0
|
|
#define SERVO_ROLL_INT_MAX 5
|
|
#define ROLL_SLEW_LIMIT 0
|
|
#define SERVO_PITCH_P 0.0
|
|
#define SERVO_PITCH_I 0.0
|
|
#define SERVO_PITCH_D 0.0
|
|
#define SERVO_PITCH_INT_MAX 5
|
|
#define PITCH_COMP 0.0
|
|
#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
|
|
#define SERVO_YAW_I 0.0
|
|
#define SERVO_YAW_D 0.0
|
|
#define SERVO_YAW_INT_MAX 5
|
|
#define RUDDER_MIX 0.0
|
|
//
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Navigation control gains
|
|
//
|
|
// Tuning values for the navigation control PID loops.
|
|
//
|
|
// The P term is the primary tuning value. This determines how the control
|
|
// deflection varies in proportion to the required correction.
|
|
//
|
|
// The I term is used to control drift.
|
|
//
|
|
// The D term is used to control overshoot. Avoid adjusting this term if
|
|
// you are not familiar with tuning PID loops.
|
|
//
|
|
// Note: When tuning these values, start with changes of no more than 25% at
|
|
// a time.
|
|
//
|
|
// NAV_ROLL_P OPTIONAL
|
|
// NAV_ROLL_I OPTIONAL
|
|
// NAV_ROLL_D OPTIONAL
|
|
//
|
|
// P, I and D terms for navigation control over roll, normally used for
|
|
// controlling the aircraft's course. The P term controls how aggressively
|
|
// the aircraft will bank to change or hold course.
|
|
// Defaults are 0.7, 0.0, 0.02.
|
|
//
|
|
// NAV_ROLL_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
// Default is 5 degrees.
|
|
//
|
|
// NAV_PITCH_ASP_P OPTIONAL
|
|
// NAV_PITCH_ASP_I OPTIONAL
|
|
// NAV_PITCH_ASP_D OPTIONAL
|
|
//
|
|
// P, I and D terms for pitch adjustments made to maintain airspeed.
|
|
// Defaults are 0.65, 0, 0.
|
|
//
|
|
// NAV_PITCH_ASP_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum pitch offset due to the integral. This limits the control
|
|
// output from being overdriven due to a persistent offset (eg. inability
|
|
// to maintain the programmed airspeed).
|
|
// Default is 5 degrees.
|
|
//
|
|
// NAV_PITCH_ALT_P OPTIONAL
|
|
// NAV_PITCH_ALT_I OPTIONAL
|
|
// NAV_PITCH_ALT_D OPTIONAL
|
|
//
|
|
// P, I and D terms for pitch adjustments made to maintain altitude.
|
|
// Defaults are 0.65, 0, 0.
|
|
//
|
|
// NAV_PITCH_ALT_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum pitch offset due to the integral. This limits the control
|
|
// output from being overdriven due to a persistent offset (eg. inability
|
|
// to maintain the programmed altitude).
|
|
// Default is 5 meters.
|
|
//
|
|
#define NAV_ROLL_P 0.7
|
|
#define NAV_ROLL_I 0.001
|
|
#define NAV_ROLL_D 0.06
|
|
#define NAV_ROLL_INT_MAX 5
|
|
|
|
#define NAV_PITCH_ASP_P 0.0
|
|
#define NAV_PITCH_ASP_I 0.0
|
|
#define NAV_PITCH_ASP_D 0.0
|
|
#define NAV_PITCH_ASP_INT_MAX 5
|
|
|
|
#define NAV_PITCH_ALT_P 0.0
|
|
#define NAV_PITCH_ALT_I 0.0
|
|
#define NAV_PITCH_ALT_D 0.0
|
|
#define NAV_PITCH_ALT_INT_MAX 5
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Energy/Altitude control gains
|
|
//
|
|
// The Energy/altitude control system uses throttle input to control aircraft
|
|
// altitude.
|
|
//
|
|
// The P term is the primary tuning value. This determines how the throttle
|
|
// setting varies in proportion to the required correction.
|
|
//
|
|
// The I term is used to compensate for small offsets.
|
|
//
|
|
// The D term is used to control overshoot. Avoid adjusting this term if
|
|
// you are not familiar with tuning PID loops.
|
|
//
|
|
// Note units of this control loop are unusual. PID input is in m**2/s**2.
|
|
//
|
|
// THROTTLE_TE_P OPTIONAL
|
|
// THROTTLE_TE_I OPTIONAL
|
|
// THROTTLE_TE_D OPTIONAL
|
|
//
|
|
// P, I and D terms for throttle adjustments made to control altitude.
|
|
// Defaults are 0.5, 0, 0.
|
|
//
|
|
// THROTTLE_TE_INT_MAX OPTIONAL
|
|
//
|
|
// Maximum throttle input due to the integral term. This limits the
|
|
// throttle from being overdriven due to a persistent offset (e.g.
|
|
// inability to maintain the programmed altitude).
|
|
// Default is 20%.
|
|
//
|
|
// THROTTLE_SLEW_LIMIT OPTIONAL
|
|
//
|
|
// Limits the slew rate of the throttle, in percent per second. Helps
|
|
// avoid sudden throttle changes, which can destabilise the aircraft.
|
|
// A setting of zero disables the feature.
|
|
// Default is zero (disabled).
|
|
//
|
|
// P_TO_T OPTIONAL
|
|
//
|
|
// Pitch to throttle feed-forward gain. Default is 0.
|
|
//
|
|
// T_TO_P OPTIONAL
|
|
//
|
|
// Throttle to pitch feed-forward gain. Default is 0.
|
|
//
|
|
#define THROTTLE_TE_P 0.1
|
|
#define THROTTLE_TE_I 0.0
|
|
#define THROTTLE_TE_D 0.0
|
|
#define THROTTLE_TE_INT_MAX 20
|
|
#define P_TO_T 0.0
|
|
#define T_TO_P 0
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Crosstrack compensation
|
|
//
|
|
// XTRACK_GAIN OPTIONAL
|
|
//
|
|
// Crosstrack compensation in degrees per metre off track.
|
|
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
|
|
// disable crosstrack compensation.
|
|
//
|
|
// XTRACK_ENTRY_ANGLE OPTIONAL
|
|
//
|
|
// Maximum angle used to correct for track following.
|
|
// Default value is 30 degrees.
|
|
//
|
|
#define XTRACK_GAIN 1 // deg/m
|
|
#define XTRACK_ENTRY_ANGLE 20 // deg
|
|
|
|
/////////////////////////////////////////////////////////////////////////////
|
|
// Navigation defaults
|
|
//
|
|
// WP_RADIUS_DEFAULT OPTIONAL
|
|
//
|
|
// When the user performs a factory reset on the APM, set the waypoint radius
|
|
// (the radius from a target waypoint within which the APM will consider
|
|
// itself to have arrived at the waypoint) to this value in meters. This is
|
|
// mainly intended to allow users to start using the APM without running the
|
|
// WaypointWriter first.
|
|
//
|
|
// LOITER_RADIUS_DEFAULT OPTIONAL
|
|
//
|
|
// When the user performs a factory reset on the APM, set the loiter radius
|
|
// (the distance the APM will attempt to maintain from a waypoint while
|
|
// loitering) to this value in meters. This is mainly intended to allow
|
|
// users to start using the APM without running the WaypointWriter first.
|
|
//
|
|
// USE_CURRENT_ALT OPTIONAL
|
|
// ALT_HOLD_HOME OPTIONAL
|
|
//
|
|
// When the user performs a factory reset on the APM, set the flag for weather
|
|
// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.
|
|
// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow
|
|
// users to start using the APM without running the WaypointWriter first.
|
|
//
|
|
#define WP_RADIUS_DEFAULT 1 // meters
|
|
#define LOITER_RADIUS_DEFAULT 5 // 60
|
|
#define USE_CURRENT_ALT TRUE
|
|
#define ALT_HOLD_HOME 0
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// INPUT_VOLTAGE OPTIONAL
|
|
//
|
|
// In order to have accurate pressure and battery voltage readings, this
|
|
// value should be set to the voltage measured on the 5V rail on the oilpan.
|
|
//
|
|
// See the manual for more details. The default value should be close.
|
|
//
|
|
#define INPUT_VOLTAGE 5.2
|
|
//
|