mirror of https://github.com/ArduPilot/ardupilot
650 lines
19 KiB
C
650 lines
19 KiB
C
//
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#pragma once
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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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#include "APM_Config.h"
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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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#ifndef CONFIG_HAL_BOARD
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#error CONFIG_HAL_BOARD must be defined to build ArduCopter
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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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#define MAGNETOMETER ENABLED
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// run at 400Hz on all systems
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# define MAIN_LOOP_RATE 400
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# define MAIN_LOOP_SECONDS 0.0025f
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# define MAIN_LOOP_MICROS 2500
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#ifndef ARMING_DELAY_SEC
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# define ARMING_DELAY_SEC 2.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG MULTICOPTER_FRAME
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// TradHeli defaults
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#if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
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# define THR_MIN_DEFAULT 0
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# define AUTOTUNE_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// default RC speed in Hz
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#ifndef RC_FAST_SPEED
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# define RC_FAST_SPEED 490
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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#ifndef RANGEFINDER_ENABLED
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# define RANGEFINDER_ENABLED ENABLED
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#endif
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#ifndef RANGEFINDER_HEALTH_MAX
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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#endif
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#ifndef RANGEFINDER_GAIN_DEFAULT
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# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
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#endif
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#ifndef THR_SURFACE_TRACKING_VELZ_MAX
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# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
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#endif
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#ifndef RANGEFINDER_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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#endif
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#ifndef RANGEFINDER_WPNAV_FILT_HZ
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# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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#endif
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define RANGEFINDER_TILT_CORRECTION ENABLED
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#endif
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#ifndef RANGEFINDER_GLITCH_ALT_CM
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# define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch
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#endif
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#ifndef RANGEFINDER_GLITCH_NUM_SAMPLES
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# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Proximity sensor
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//
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#ifndef PROXIMITY_ENABLED
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# define PROXIMITY_ENABLED ENABLED
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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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// Battery monitoring
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//
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#ifndef FS_BATT_VOLTAGE_DEFAULT
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# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
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#endif
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#ifndef FS_BATT_MAH_DEFAULT
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
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#endif
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#ifndef BOARD_VOLTAGE_MIN
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
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#endif
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#ifndef BOARD_VOLTAGE_MAX
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
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#endif
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// prearm GPS hdop check
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#ifndef GPS_HDOP_GOOD_DEFAULT
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
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#endif
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// GCS failsafe
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#ifndef FS_GCS
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# define FS_GCS DISABLED
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#endif
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#ifndef FS_GCS_TIMEOUT_MS
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# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
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#endif
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// Radio failsafe while using RC_override
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
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#endif
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// Radio failsafe
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#ifndef FS_RADIO_TIMEOUT_MS
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
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#endif
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// missing terrain data failsafe
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#ifndef FS_TERRAIN_TIMEOUT_MS
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#define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL)
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#endif
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#ifndef PREARM_DISPLAY_PERIOD
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# define PREARM_DISPLAY_PERIOD 30
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#endif
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// pre-arm baro vs inertial nav max alt disparity
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#ifndef PREARM_MAX_ALT_DISPARITY_CM
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// EKF Failsafe
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#ifndef FS_EKF_ACTION_DEFAULT
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
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#endif
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#ifndef FS_EKF_THRESHOLD_DEFAULT
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
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#endif
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#ifndef EKF_ORIGIN_MAX_DIST_M
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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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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#ifndef COMPASS_CAL_STICK_GESTURE_TIME
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#define COMPASS_CAL_STICK_GESTURE_TIME 2.0f // 2 seconds
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#endif
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#ifndef COMPASS_CAL_STICK_DELAY
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#define COMPASS_CAL_STICK_DELAY 5.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Crop Sprayer
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#ifndef SPRAYER
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# define SPRAYER ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Precision Landing with companion computer or IRLock sensor
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#ifndef PRECISION_LANDING
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# define PRECISION_LANDING ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// gripper
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#ifndef GRIPPER_ENABLED
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# define GRIPPER_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Parachute release
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#ifndef PARACHUTE
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# define PARACHUTE ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADSB support
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#ifndef ADSB_ENABLED
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# define ADSB_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Nav-Guided - allows external nav computer to control vehicle
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#ifndef NAV_GUIDED
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# define NAV_GUIDED ENABLED
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#endif
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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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// FLIGHT_MODE
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//
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_2
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# define FLIGHT_MODE_2 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_3
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 STABILIZE
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 STABILIZE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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//
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#ifndef FS_THR_VALUE_DEFAULT
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Takeoff
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//
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#ifndef PILOT_TKOFF_ALT_DEFAULT
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# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing
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//
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#ifndef LAND_SPEED
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
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#endif
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#ifndef LAND_START_ALT
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# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
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#endif
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#ifndef LAND_REPOSITION_DEFAULT
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
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#endif
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#ifndef LAND_WITH_DELAY_MS
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# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
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#endif
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#ifndef LAND_CANCEL_TRIGGER_THR
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# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
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#endif
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#ifndef LAND_RANGEFINDER_MIN_ALT_CM
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#define LAND_RANGEFINDER_MIN_ALT_CM 200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Landing Detector
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//
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#ifndef LAND_DETECTOR_TRIGGER_SEC
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# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
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#endif
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
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# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
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#endif
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#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
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# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
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#endif
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#ifndef LAND_DETECTOR_ACCEL_MAX
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# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
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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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#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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#ifndef MOUNT
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# define MOUNT ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Flight mode definitions
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//
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// Acro Mode
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#ifndef ACRO_RP_P
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# define ACRO_RP_P 4.5f
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#endif
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#ifndef ACRO_YAW_P
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# define ACRO_YAW_P 4.5f
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#endif
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#ifndef ACRO_LEVEL_MAX_ANGLE
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# define ACRO_LEVEL_MAX_ANGLE 3000
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#endif
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#ifndef ACRO_BALANCE_ROLL
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#define ACRO_BALANCE_ROLL 1.0f
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#endif
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#ifndef ACRO_BALANCE_PITCH
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#define ACRO_BALANCE_PITCH 1.0f
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#endif
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#ifndef ACRO_RP_EXPO_DEFAULT
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#define ACRO_RP_EXPO_DEFAULT 0.3f
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#endif
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#ifndef ACRO_Y_EXPO_DEFAULT
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#define ACRO_Y_EXPO_DEFAULT 0.0f
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#endif
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#ifndef ACRO_THR_MID_DEFAULT
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#define ACRO_THR_MID_DEFAULT 0.0f
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#endif
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// RTL Mode
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#ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
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#endif
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#ifndef RTL_ALT
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# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
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#endif
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#ifndef RTL_ALT_MIN
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# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
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#endif
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#ifndef RTL_CLIMB_MIN_DEFAULT
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# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
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#endif
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#ifndef RTL_ABS_MIN_CLIMB
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# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
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#endif
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#ifndef RTL_CONE_SLOPE_DEFAULT
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# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
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#endif
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#ifndef RTL_MIN_CONE_SLOPE
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# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
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#endif
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#ifndef RTL_LOITER_TIME
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# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning final descent
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#endif
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// AUTO Mode
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#ifndef WP_YAW_BEHAVIOR_DEFAULT
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
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#endif
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#ifndef AUTO_YAW_SLEW_RATE
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# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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#endif
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#ifndef YAW_LOOK_AHEAD_MIN_SPEED
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
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#endif
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// Super Simple mode
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#ifndef SUPER_SIMPLE_RADIUS
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# define SUPER_SIMPLE_RADIUS 1000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stabilize Rate Control
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//
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#ifndef ROLL_PITCH_YAW_INPUT_MAX
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# define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range
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#endif
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#ifndef DEFAULT_ANGLE_MAX
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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#endif
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#ifndef ANGLE_RATE_MAX
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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#ifndef POS_XY_P
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# define POS_XY_P 1.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Stop mode defaults
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//
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#ifndef BRAKE_MODE_SPEED_Z
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# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
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#endif
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#ifndef BRAKE_MODE_DECEL_RATE
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# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Velocity (horizontal) gains
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//
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#ifndef VEL_XY_P
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# define VEL_XY_P 1.0f
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#endif
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#ifndef VEL_XY_I
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# define VEL_XY_I 0.5f
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#endif
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#ifndef VEL_XY_IMAX
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# define VEL_XY_IMAX 1000
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#endif
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#ifndef VEL_XY_FILT_HZ
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# define VEL_XY_FILT_HZ 5.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PosHold parameter defaults
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//
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#ifndef POSHOLD_ENABLED
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# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
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#endif
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#ifndef POSHOLD_BRAKE_RATE_DEFAULT
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# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
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#endif
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#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
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# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Throttle control gains
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//
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#ifndef THR_DZ_DEFAULT
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# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
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#endif
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#ifndef ALT_HOLD_P
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# define ALT_HOLD_P 1.0f
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#endif
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// Velocity (vertical) control gains
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#ifndef VEL_Z_P
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# define VEL_Z_P 5.0f
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#endif
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// Accel (vertical) control gains
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#ifndef ACCEL_Z_P
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# define ACCEL_Z_P 0.50f
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#endif
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#ifndef ACCEL_Z_I
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# define ACCEL_Z_I 1.00f
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#endif
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#ifndef ACCEL_Z_D
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# define ACCEL_Z_D 0.0f
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#endif
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#ifndef ACCEL_Z_IMAX
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# define ACCEL_Z_IMAX 800
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#endif
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#ifndef ACCEL_Z_FILT_HZ
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# define ACCEL_Z_FILT_HZ 20.0f
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#endif
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// default maximum vertical velocity and acceleration the pilot may request
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#ifndef PILOT_VELZ_MAX
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# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
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#endif
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#ifndef PILOT_ACCEL_Z_DEFAULT
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# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
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#endif
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// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
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#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
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# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
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#endif
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// the acceleration used to define the distance-velocity curve
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#ifndef ALT_HOLD_ACCEL_MAX
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# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
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#endif
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#ifndef AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 10
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#endif
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|
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//////////////////////////////////////////////////////////////////////////////
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// Throw mode configuration
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//
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#ifndef THROW_HIGH_SPEED
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# define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling)
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#endif
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#ifndef THROW_VERTICAL_SPEED
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# define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s
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#endif
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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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|
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// Default logging bitmask
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|
#ifndef DEFAULT_LOG_BITMASK
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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_CTUN | \
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|
MASK_LOG_NTUN | \
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|
MASK_LOG_RCIN | \
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|
MASK_LOG_IMU | \
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|
MASK_LOG_CMD | \
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|
MASK_LOG_CURRENT | \
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|
MASK_LOG_RCOUT | \
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|
MASK_LOG_OPTFLOW | \
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|
MASK_LOG_COMPASS | \
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|
MASK_LOG_CAMERA | \
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|
MASK_LOG_MOTBATT
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#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
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|
// Fence, Rally and Terrain and AC_Avoidance defaults
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|
//
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|
|
|
// Enable/disable Fence
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|
#ifndef AC_FENCE
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|
#define AC_FENCE ENABLED
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|
#endif
|
|
|
|
#ifndef AC_RALLY
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|
#define AC_RALLY ENABLED
|
|
#endif
|
|
|
|
#ifndef AC_TERRAIN
|
|
#define AC_TERRAIN ENABLED
|
|
#endif
|
|
|
|
#if AC_TERRAIN && !AC_RALLY
|
|
#error Terrain relies on Rally which is disabled
|
|
#endif
|
|
|
|
#ifndef AC_AVOID_ENABLED
|
|
#define AC_AVOID_ENABLED ENABLED
|
|
#endif
|
|
|
|
#if AC_AVOID_ENABLED && !PROXIMITY_ENABLED
|
|
#error AC_Avoidance relies on PROXIMITY_ENABLED which is disabled
|
|
#endif
|
|
#if AC_AVOID_ENABLED && !AC_FENCE
|
|
#error AC_Avoidance relies on AC_FENCE which is disabled
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
//use this to completely disable FRSKY TELEM
|
|
#ifndef FRSKY_TELEM_ENABLED
|
|
# define FRSKY_TELEM_ENABLED ENABLED
|
|
#endif
|
|
|
|
#ifndef ADVANCED_FAILSAFE
|
|
# define ADVANCED_FAILSAFE DISABLED
|
|
#endif
|