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