mirror of https://github.com/ArduPilot/ardupilot
528 lines
14 KiB
C
528 lines
14 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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#ifdef USE_CMAKE_APM_CONFIG
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
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#else
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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#endif
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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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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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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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#ifdef CONFIG_APM_HARDWARE
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#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// APM HARDWARE
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//
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#if defined( __AVR_ATmega1280__ )
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// default choices for a 1280. We can't fit everything in, so we
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// make some popular choices by default
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#define LOGGING_ENABLED DISABLED
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#ifndef GEOFENCE_ENABLED
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# define GEOFENCE_ENABLED DISABLED
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#endif
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#ifndef CLI_ENABLED
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# define CLI_ENABLED DISABLED
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#endif
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#ifndef MOUNT2
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# define MOUNT2 DISABLED
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#endif
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#ifndef MOUNT
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# define MOUNT DISABLED
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#endif
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#ifndef CAMERA
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# define CAMERA DISABLED
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#endif
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#ifndef FRSKY_TELEM_ENABLED
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# define FRSKY_TELEM_ENABLED DISABLED
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// sensor types
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#define CONFIG_BARO HAL_BARO_DEFAULT
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#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
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#ifdef HAL_SERIAL0_BAUD_DEFAULT
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# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
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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 CONFIG_BARO
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#define CONFIG_BARO HAL_BARO_HIL
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#undef CONFIG_COMPASS
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#define CONFIG_COMPASS HAL_COMPASS_HIL
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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 SERIAL1_BAUD
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# define SERIAL1_BAUD 57600
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#endif
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#ifndef SERIAL2_BAUD
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# define SERIAL2_BAUD 57600
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FrSky telemetry support
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//
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#ifndef FRSKY_TELEM_ENABLED
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define FRSKY_TELEM_ENABLED DISABLED
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#else
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# define FRSKY_TELEM_ENABLED ENABLED
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#endif
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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 0
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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 0
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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 FLY_BY_WIRE_A
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 FLY_BY_WIRE_A
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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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#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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//////////////////////////////////////////////////////////////////////////////
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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_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 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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// CAMERA TRIGGER AND CONTROL
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//
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// uses 1182 bytes of memory
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#ifndef CAMERA
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# define CAMERA ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MOUNT (ANTENNA OR CAMERA)
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//
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// uses 4174 bytes of memory on 1280 chips (MNT_JSTICK_SPD_OPTION, MNT_RETRACT_OPTION, MNT_STABILIZE_OPTION and MNT_MOUNT2_OPTION disabled)
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// uses 7726 bytes of memory on 2560 chips (all options are enabled)
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#ifndef MOUNT
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# define MOUNT ENABLED
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#endif
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// second mount, can for example be used to keep an antenna pointed at the home position
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#ifndef MOUNT2
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# define MOUNT2 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 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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// MIN_GNDSPEED
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//
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#ifndef MIN_GNDSPEED
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# define MIN_GNDSPEED 0 // m/s (0 disables)
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#endif
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#define MIN_GNDSPEED_CM MIN_GNDSPEED*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 9
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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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#ifndef ALT_HOLD_FBW
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# define ALT_HOLD_FBW 0
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#endif
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#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
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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 20
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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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#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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//////////////////////////////////////////////////////////////////////////////
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// DEBUGGING
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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#ifndef LOGGING_ENABLED
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# define LOGGING_ENABLED ENABLED
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#define DEFAULT_LOG_BITMASK \
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MASK_LOG_ATTITUDE_MED | \
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MASK_LOG_GPS | \
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MASK_LOG_PM | \
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MASK_LOG_NTUN | \
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MASK_LOG_CTUN | \
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MASK_LOG_MODE | \
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MASK_LOG_CMD | \
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MASK_LOG_COMPASS | \
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MASK_LOG_CURRENT | \
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MASK_LOG_TECS | \
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MASK_LOG_CAMERA | \
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MASK_LOG_RC
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#else
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// other systems have plenty of space for full logs
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#define DEFAULT_LOG_BITMASK 0xffff
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation defaults
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//
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#ifndef WP_RADIUS_DEFAULT
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# define WP_RADIUS_DEFAULT 90
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#endif
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#ifndef LOITER_RADIUS_DEFAULT
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# define LOITER_RADIUS_DEFAULT 60
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#endif
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#ifndef ALT_HOLD_HOME
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# define ALT_HOLD_HOME 100
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#endif
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#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
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#ifndef USE_CURRENT_ALT
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# define USE_CURRENT_ALT FALSE
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#endif
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#ifndef INVERTED_FLIGHT_PWM
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# define INVERTED_FLIGHT_PWM 1750
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#endif
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#ifndef PX4IO_OVERRIDE_PWM
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# define PX4IO_OVERRIDE_PWM 1750
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Developer Items
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//
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#ifndef SCALING_SPEED
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# define SCALING_SPEED 15.0
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#endif
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// use this to completely disable the CLI. We now default the CLI to
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// off as it really is no longer needed except for special developer
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// testing. This also allows us to keep supporting the APM2 for a bit
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// longer, as it saves us 20k of flash
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#ifndef CLI_ENABLED
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# define CLI_ENABLED DISABLE
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#endif
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// use this to disable geo-fencing
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#ifndef GEOFENCE_ENABLED
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# define GEOFENCE_ENABLED ENABLED
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#endif
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// pwm value on FENCE_CHANNEL to use to enable fenced mode
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#ifndef FENCE_ENABLE_PWM
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# define FENCE_ENABLE_PWM 1750
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#endif
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// a digital pin to set high when the geo-fence triggers. Defaults
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// to -1, which means don't activate a pin
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#ifndef FENCE_TRIGGERED_PIN
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# define FENCE_TRIGGERED_PIN -1
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#endif
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// if RESET_SWITCH_CH is not zero, then this is the PWM value on
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// that channel where we reset the control mode to the current switch
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// position (to for example return to switched mode after failsafe or
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// fence breach)
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#ifndef RESET_SWITCH_CHAN_PWM
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# define RESET_SWITCH_CHAN_PWM 1750
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#endif
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// OBC Failsafe enable
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#ifndef OBC_FAILSAFE
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
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# define OBC_FAILSAFE ENABLED
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#else
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# define OBC_FAILSAFE DISABLED
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#endif
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#endif
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#if OBC_FAILSAFE == ENABLED && HAL_CPU_CLASS < HAL_CPU_CLASS_75
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#define CLI_ENABLED DISABLED
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#endif
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#ifndef SERIAL_BUFSIZE
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# define SERIAL_BUFSIZE 512
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#endif
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#ifndef SERIAL1_BUFSIZE
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# define SERIAL1_BUFSIZE 256
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#endif
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#ifndef SERIAL2_BUFSIZE
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# define SERIAL2_BUFSIZE 256
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#endif
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/*
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build a firmware version string.
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GIT_VERSION comes from Makefile builds
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*/
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#ifndef GIT_VERSION
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#define FIRMWARE_STRING THISFIRMWARE
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#else
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#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
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#endif
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