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ardupilot/ArduCopter/config.h
rmackay9 9750c14325 ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
2012-12-06 10:31:52 +09:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
#ifndef __ARDUCOPTER_CONFIG_H__
#define __ARDUCOPTER_CONFIG_H__
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// APM HARDWARE
//
#ifndef CONFIG_APM_HARDWARE
# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
#endif
//////////////////////////////////////////////////////////////////////////////
// APM2 HARDWARE DEFAULTS
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
# define CONFIG_BARO AP_BARO_MS5611
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
# define FRAME_CONFIG QUAD_FRAME
#endif
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME
#endif
#ifndef TOY_EDF
# define TOY_EDF DISABLED
#endif
#ifndef TOY_MIXER
# define TOY_MIXER TOY_LINEAR_MIXER
#endif
// optical flow doesn't work in SITL yet
#ifdef DESKTOP_BUILD
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
//
#ifndef CONFIG_IMU_TYPE
# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_FAST_SPEED
# if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# else
# define RC_FAST_SPEED 490
# endif
#endif
////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define A_LED_PIN 37
# define B_LED_PIN 36
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define SLIDE_SWITCH_PIN 40
# define PUSHBUTTON_PIN 41
# define USB_MUX_PIN -1
# define CLI_SLIDER_ENABLED DISABLED
# define OPTFLOW_CS_PIN 34
# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
# define BATTERY_CURR_PIN 1 // Battery current on A1
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define A_LED_PIN 27
# define B_LED_PIN 26
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define SLIDE_SWITCH_PIN (-1)
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN 23
# define OPTFLOW_CS_PIN A3
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#endif
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
//
#ifndef COPTER_LEDS
#define COPTER_LEDS ENABLED
#endif
#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
#endif
//////////////////////////////////////////////////////////////////////////////
// Pushbutton & Relay
//
#ifndef CONFIG_PUSHBUTTON
# define CONFIG_PUSHBUTTON ENABLED
#endif
#ifndef CONFIG_RELAY
# define CONFIG_RELAY ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
#ifndef CONFIG_BARO
# define CONFIG_BARO AP_BARO_BMP085
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
# undef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
# endif
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
# define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
# endif
#else
# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
# undef SONAR_ENABLED
# define SONAR_ENABLED DISABLED
#endif
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel Config (custom MOT channel mappings)
//
#ifndef CONFIG_CHANNELS
# define CONFIG_CHANNELS CHANNEL_CONFIG_DEFAULT
#endif
//////////////////////////////////////////////////////////////////////////////
// Acrobatics
//
#ifndef CH7_OPTION
# define CH7_OPTION CH7_SAVE_WP
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#undef CONFIG_SONAR
#define CONFIG_SONAR DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 9.6
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.56
#endif
#ifndef CURR_AMP_PER_VOLT
# define CURR_AMP_PER_VOLT 27.32
#endif
#ifndef CURR_AMPS_OFFSET
# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
# define HIGH_DISCHARGE 1760
#endif
// Battery failsafe
#ifndef BATTERY_FAILSAFE
# define BATTERY_FAILSAFE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
# define INPUT_VOLTAGE 5.0
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
#ifndef MAG_ORIENTATION
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define OPTFLOW ENABLED
#endif
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW DISABLED
#endif
#ifndef OPTFLOW_ORIENTATION
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_RESOLUTION
# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
#endif
#ifndef OPTFLOW_FOV
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P
#define OPTFLOW_ROLL_P 2.5
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 0.5
#endif
#ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12
#endif
#ifndef OPTFLOW_PITCH_P
#define OPTFLOW_PITCH_P 2.5
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 0.5
#endif
#ifndef OPTFLOW_PITCH_D
#define OPTFLOW_PITCH_D 0.12
#endif
#ifndef OPTFLOW_IMAX
#define OPTFLOW_IMAX 1
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 STABILIZE
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 STABILIZE
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 STABILIZE
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_FAILSAFE
// THROTTLE_FS_VALUE
// THROTTLE_FAILSAFE_ACTION
//
#ifndef THROTTLE_FAILSAFE
# define THROTTLE_FAILSAFE DISABLED
#endif
#ifndef THROTTE_FS_VALUE
# define THROTTLE_FS_VALUE 975
#endif
#define THROTTLE_FAILSAFE_ACTION_ALWAYS_RTL 1
#define THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION 2
#ifndef THROTTLE_FAILSAFE_ACTION
# define THROTTLE_FAILSAFE_ACTION THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION
#endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
#ifndef MAXIMUM_THROTTLE
# define MAXIMUM_THROTTLE 1000
#endif
#ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 3
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Y6 Support
#ifndef TOP_BOTTOM_RATIO
# define TOP_BOTTOM_RATIO 1.00
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# if defined( __AVR_ATmega1280__ )
# define CAMERA DISABLED
# else
# define CAMERA ENABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# if defined( __AVR_ATmega1280__ )
# define MOUNT DISABLED
# else
# define MOUNT ENABLED
# endif
#endif
#ifndef MOUNT2
# define MOUNT2 DISABLED
#endif
#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED || MOUNT2 == ENABLED)
# warning "You choose to enable MOUNT on a small ATmega1280, CLI, CAMERA and AP_LIMITS will be disabled to free some space for it"
// The small ATmega1280 chip does not have enough memory for mount support
// so disable CLI, this will allow mount support and other improvements to fit.
// This should almost have no side effects, because the APM planner can now do a complete board setup.
# define CLI_ENABLED DISABLED
// The small ATmega1280 chip does not have enough memory for mount support
// so disable AUTO GPS support, this will allow mount support and other improvements to fit.
// This should almost have no side effects, because the most users use MTK anyways.
// If the user defined a GPS protocol, than we will NOT overwrite it
# if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_MTK
# endif
// To save some more space
# undef CAMERA
# define CAMERA DISABLED
# define AP_LIMITS DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// definitions for earth frame and body frame
// used to specify frame to rate controllers
#define EARTH_FRAME 0
#define BODY_FRAME 1
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
#endif
#ifndef ALT_HOLD_RP
# define ALT_HOLD_RP ROLL_PITCH_STABLE
#endif
#ifndef ALT_HOLD_THR
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
// AUTO Mode
#ifndef AUTO_YAW
# define AUTO_YAW YAW_AUTO
#endif
#ifndef AUTO_RP
# define AUTO_RP ROLL_PITCH_AUTO
#endif
#ifndef AUTO_THR
# define AUTO_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_AUTO
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
// LOITER Mode
#ifndef LOITER_YAW
# define LOITER_YAW YAW_HOLD
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_AUTO
#endif
#ifndef LOITER_THR
# define LOITER_THR THROTTLE_HOLD
#endif
// RTL Mode
#ifndef RTL_RP
# define RTL_RP ROLL_PITCH_AUTO
#endif
#ifndef RTL_THR
# define RTL_THR THROTTLE_AUTO
#endif
#ifndef SUPER_SIMPLE
# define SUPER_SIMPLE DISABLED
#endif
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
// RTL Mode
#ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 200 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
#endif
#ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
#endif
#ifndef RTL_ALT_MAX
# define RTL_ALT_MAX 8000 // Max height to return to home in cm
#endif
// LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
#endif
#ifndef OF_LOITER_RP
# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
#endif
#ifndef OF_LOITER_THR
# define OF_LOITER_THR THROTTLE_HOLD
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// Extra motor values that are changed from time to time by jani @ jDrones as software
// and charachteristics changes.
#ifdef MOTORS_JD880
# define STABILIZE_ROLL_P 3.7
# define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 3.7
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif
#ifdef MOTORS_JD850
# define STABILIZE_ROLL_P 4.2
# define STABILIZE_ROLL_I 0.0
# define STABILIZE_ROLL_IMAX 8.0 // degrees
# define STABILIZE_PITCH_P 4.2
# define STABILIZE_PITCH_I 0.0
# define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif
#ifndef ACRO_P
# define ACRO_P 4.5
#endif
#ifndef AXIS_LOCK_ENABLED
# define AXIS_LOCK_ENABLED ENABLED
#endif
#ifndef AXIS_LOCK_P
# define AXIS_LOCK_P .02
#endif
// Good for smaller payload motors.
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 8.0 // degrees
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 8.0 // degrees
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.0
#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 8.0 // degrees * 100
#endif
#ifndef YAW_LOOK_AHEAD_RATE
# define YAW_LOOK_AHEAD_RATE 1000 // dimensionless, smaller number means stronger effect
#endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef MAX_INPUT_ROLL_ANGLE
# define MAX_INPUT_ROLL_ANGLE 4500
#endif
#ifndef MAX_INPUT_PITCH_ANGLE
# define MAX_INPUT_PITCH_ANGLE 4500
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.175
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.010
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5.0 // degrees
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.175
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.010
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5.0 // degrees
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P 0.25
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.015
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D 0.000
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 8.0 // degrees
#endif
#ifndef STABILIZE_D
# define STABILIZE_D 0.00
#endif
#ifndef STABILIZE_D_SCHEDULE
# define STABILIZE_D_SCHEDULE 0.5
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate controlled stabilized variables
//
#ifndef MAX_ROLL_OVERSHOOT
#define MAX_ROLL_OVERSHOOT 3000
#endif
#ifndef MAX_PITCH_OVERSHOOT
#define MAX_PITCH_OVERSHOOT 3000
#endif
#ifndef MAX_YAW_OVERSHOOT
#define MAX_YAW_OVERSHOOT 1000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 200
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 200
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .20
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter Navigation control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 5.0 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.04 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.40 // try 2 or 3 for LOITER_RATE 1
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 2.4 //
#endif
#ifndef NAV_I
# define NAV_I 0.17 // Wind control
#endif
#ifndef NAV_D
# define NAV_D 0.00 // .95
#endif
#ifndef NAV_IMAX
# define NAV_IMAX 18 // degrees
#endif
#ifndef AUTO_SLEW_RATE
# define AUTO_SLEW_RATE 30 // degrees
#endif
#ifndef WAYPOINT_SPEED_MAX
# define WAYPOINT_SPEED_MAX 500 // 6m/s error = 13mph
#endif
#ifndef WAYPOINT_SPEED_MIN
# define WAYPOINT_SPEED_MIN 150 // 1m/s
#endif
#ifndef TILT_COMPENSATION
# if FRAME_CONFIG == HELI_FRAME
# define TILT_COMPENSATION 5
# else
# define TILT_COMPENSATION 54
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 //
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 0.5
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300
#endif
// RATE control
#ifndef THROTTLE_P
# define THROTTLE_P 1.0
#endif
#ifndef THROTTLE_I
# define THROTTLE_I 0.0
#endif
#ifndef THROTTLE_D
# define THROTTLE_D 0.0
#endif
#ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300
#endif
// minimum and maximum climb rates while in alt hold mode
#ifndef ALTHOLD_MAX_CLIMB_RATE
# define ALTHOLD_MAX_CLIMB_RATE 250
#endif
#ifndef ALTHOLD_MIN_CLIMB_RATE
# define ALTHOLD_MIN_CLIMB_RATE -ALTHOLD_MAX_CLIMB_RATE
#endif
// max allowed acceleration
#define VELOCITY_MAX_Z 250 // maximum vertical velocity in cm/s
#define ACCELERATION_MAX_Z 750 // maximum veritcal acceleration in cm/s/s
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.5
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef CROSSTRACK_GAIN
# define CROSSTRACK_GAIN .2
#endif
#ifndef CROSSTRACK_MIN_DISTANCE
# define CROSSTRACK_MIN_DISTANCE 15
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUG_LEVEL
//
#ifndef DEBUG_LEVEL
# define DEBUG_LEVEL SEVERITY_LOW
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
// Logging must be disabled for 1280 build.
#if defined( __AVR_ATmega1280__ )
# if LOGGING_ENABLED == ENABLED
// If logging was enabled in APM_Config or command line, warn the user.
# warning "Logging is not supported on ATmega1280"
# undef LOGGING_ENABLED
# endif
# ifndef LOGGING_ENABLED
# define LOGGING_ENABLED DISABLED
# endif
#elif !defined(LOGGING_ENABLED)
// Logging is enabled by default for all other builds.
# define LOGGING_ENABLED ENABLED
#endif
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
#ifndef LOG_ATTITUDE_MED
# define LOG_ATTITUDE_MED ENABLED
#endif
#ifndef LOG_GPS
# define LOG_GPS ENABLED
#endif
#ifndef LOG_PM
# define LOG_PM ENABLED
#endif
#ifndef LOG_CTUN
# define LOG_CTUN ENABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN ENABLED
#endif
#ifndef LOG_MODE
# define LOG_MODE ENABLED
#endif
#ifndef LOG_RAW
# define LOG_RAW DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
// current
#ifndef LOG_CUR
# define LOG_CUR DISABLED
#endif
// quad motor PWMs
#ifndef LOG_MOTORS
# define LOG_MOTORS DISABLED
#endif
// optical flow
#ifndef LOG_OPTFLOW
# define LOG_OPTFLOW DISABLED
#endif
#ifndef LOG_PID
# define LOG_PID DISABLED
#endif
#ifndef LOG_ITERM
# define LOG_ITERM ENABLED
#endif
#ifndef LOG_INAV
# define LOG_INAV DISABLED
#endif
// calculate the default log_bitmask
#define LOGBIT(_s) (LOG_ ## _s ? MASK_LOG_ ## _s : 0)
#define DEFAULT_LOG_BITMASK \
LOGBIT(ATTITUDE_FAST) | \
LOGBIT(ATTITUDE_MED) | \
LOGBIT(GPS) | \
LOGBIT(PM) | \
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(MODE) | \
LOGBIT(RAW) | \
LOGBIT(CMD) | \
LOGBIT(CUR) | \
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \
LOGBIT(ITERM) | \
LOGBIT(INAV)
// if we are using fast, Disable Medium
//#if LOG_ATTITUDE_FAST == ENABLED
// #undef LOG_ATTITUDE_MED
// #define LOG_ATTITUDE_MED DISABLED
//#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
#ifndef WP_RADIUS_DEFAULT
# define WP_RADIUS_DEFAULT 2
#endif
#ifndef LOITER_RADIUS
# define LOITER_RADIUS 10 // meters for circle mode
#endif
#ifndef USE_CURRENT_ALT
# define USE_CURRENT_ALT FALSE
#endif
//////////////////////////////////////////////////////////////////////////////
// RC override
//
#ifndef ALLOW_RC_OVERRIDE
# define ALLOW_RC_OVERRIDE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AP_LIMITS
#define AP_LIMITS ENABLED
#endif
// Use PIN for displaying LIMITS status. 0 is disabled.
#ifndef LIMITS_TRIGGERED_PIN
#define LIMITS_TRIGGERED_PIN 0
#endif
// PWM of "on" state for LIM_CHANNEL
#ifndef LIMITS_ENABLE_PWM
#define LIMITS_ENABLE_PWM 1800
#endif
#ifndef LIM_ENABLED
#define LIM_ENABLED 0
#endif
#ifndef LIM_ALT_ON
#define LIM_ALT_ON 0
#endif
#ifndef LIM_FNC_ON
#define LIM_FNC_ON 0
#endif
#ifndef LIM_GPSLCK_ON
#define LIM_GPSLCK_ON 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
#ifndef CLI_ENABLED
// Sorry the chip is just too small to let this fit
# if defined( __AVR_ATmega1280__ )
# define CLI_ENABLED DISABLED
# else
# define CLI_ENABLED ENABLED
# endif
#endif
// use this to disable the CLI slider switch
#ifndef CLI_SLIDER_ENABLED
# define CLI_SLIDER_ENABLED DISABLED
#endif
// experimental mpu6000 DMP code
#ifndef DMP_ENABLED
# define DMP_ENABLED DISABLED
#endif
// experimental mpu6000 DMP code
#ifndef SECONDARY_DMP_ENABLED
# define SECONDARY_DMP_ENABLED DISABLED
#endif
#ifndef ALTERNATIVE_YAW_MODE
# define ALTERNATIVE_YAW_MODE DISABLED
#endif
// Inertia based contollers.
#ifndef INERTIAL_NAV_XY
# define INERTIAL_NAV_XY DISABLED
#endif
#ifndef INERTIAL_NAV_Z
# define INERTIAL_NAV_Z DISABLED
#endif
#endif // __ARDUCOPTER_CONFIG_H__
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