mirror of https://github.com/ArduPilot/ardupilot
258 lines
6.5 KiB
C
258 lines
6.5 KiB
C
//
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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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#pragma once
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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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//////////////////////////////////////////////////////////////////////////////
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// sensor types
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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 CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define BATTERY_PIN_1 1
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#define CURRENT_PIN_1 2
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define BATTERY_PIN_1 -1
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#define CURRENT_PIN_1 -1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#define BATTERY_PIN_1 -1
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#define CURRENT_PIN_1 -1
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define BATTERY_PIN_1 -1
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#define CURRENT_PIN_1 -1
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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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#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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// FrSky telemetry support
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//
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#ifndef FRSKY_TELEM_ENABLED
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#define FRSKY_TELEM_ENABLED ENABLED
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#endif
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#ifndef CH7_OPTION
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#define CH7_OPTION CH7_SAVE_WP
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#endif
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#ifndef TUNING_OPTION
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#define TUNING_OPTION TUN_NONE
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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 ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// MODE
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// MODE_CHANNEL
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//
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#ifndef MODE_CHANNEL
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#define MODE_CHANNEL 8
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#endif
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#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
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#error XXX
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#error XXX You must set 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(MODE_1)
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#define MODE_1 LEARNING
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#endif
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#if !defined(MODE_2)
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#define MODE_2 LEARNING
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#endif
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#if !defined(MODE_3)
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#define MODE_3 LEARNING
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#endif
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#if !defined(MODE_4)
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#define MODE_4 LEARNING
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#endif
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#if !defined(MODE_5)
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#define MODE_5 LEARNING
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#endif
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#if !defined(MODE_6)
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#define MODE_6 MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// failsafe defaults
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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 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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// 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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// MOUNT (ANTENNA OR CAMERA)
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//
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#ifndef MOUNT
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#define MOUNT ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA control
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//
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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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// AIRSPEED_CRUISE
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//
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#ifndef SPEED_CRUISE
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#define SPEED_CRUISE 5 // in m/s
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#endif
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#ifndef TURN_GAIN
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#define TURN_GAIN 5
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#endif
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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 100
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Attitude control gains
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//
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#ifndef SERVO_STEER_P
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#define SERVO_STEER_P 0.4
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#endif
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#ifndef SERVO_STEER_I
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#define SERVO_STEER_I 0.0
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#endif
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#ifndef SERVO_STEER_D
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#define SERVO_STEER_D 0.0
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#endif
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#ifndef SERVO_STEER_INT_MAX
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#define SERVO_STEER_INT_MAX 5
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#endif
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#define SERVO_STEER_INT_MAX_CENTIDEGREE (SERVO_STEER_INT_MAX * 100)
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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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#define DEFAULT_LOG_BITMASK 0xffff
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//////////////////////////////////////////////////////////////////////////////
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// Developer Items
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//
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// use this to enable servos in HIL mode
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#ifndef HIL_SERVOS
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#define HIL_SERVOS DISABLED
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#endif
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// use this to completely disable the CLI
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#ifndef CLI_ENABLED
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#define CLI_ENABLED ENABLED
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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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