mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.6 KiB
C
90 lines
2.6 KiB
C
/*
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* BoatGeneric.h
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*
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* Created on: May 1, 2011
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* Author: jgoppert
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*
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*/
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#ifndef BOATGENERIC_H_
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#define BOATGENERIC_H_
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// vehicle options
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static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
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static const apo::halMode_t halMode = apo::MODE_LIVE;
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static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
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static const uint8_t heartBeatTimeout = 3;
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// algorithm selection
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#define CONTROLLER_CLASS ControllerBoat
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#define GUIDE_CLASS MavlinkGuide
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#define NAVIGATOR_CLASS DcmNavigator
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#define COMMLINK_CLASS MavlinkComm
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// hardware selection
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#define COMPASS_CLASS AP_Compass_HMC5843
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#define BARO_CLASS APM_BMP085_Class
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#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
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// baud rates
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static const uint32_t debugBaud = 57600;
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static const uint32_t telemBaud = 57600;
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static const uint32_t gpsBaud = 38400;
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static const uint32_t hilBaud = 115200;
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// optional sensors
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static const bool gpsEnabled = false;
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static const bool baroEnabled = false;
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static const bool compassEnabled = true;
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static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
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// compass orientation: See AP_Compass_HMC5843.h for possible values
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// battery monitoring
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static const bool batteryMonitorEnabled = false;
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static const uint8_t batteryPin = 0;
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static const float batteryVoltageDivRatio = 6;
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static const float batteryMinVolt = 10.0;
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static const float batteryMaxVolt = 12.4;
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static const bool useForwardReverseSwitch = true;
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static const bool rangeFinderFrontEnabled = false;
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static const bool rangeFinderBackEnabled = false;
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static const bool rangeFinderLeftEnabled = false;
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static const bool rangeFinderRightEnabled = false;
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static const bool rangeFinderUpEnabled = false;
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static const bool rangeFinderDownEnabled = false;
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// loop rates
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static const float loopRate = 150; // attitude nav
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static const float loop0Rate = 50; // controller
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static const float loop1Rate = 5; // pos nav/ gcs fast
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static const float loop2Rate = 1; // gcs slow
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static const float loop3Rate = 0.1;
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// gains
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static const float steeringP = 0.1;
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static const float steeringI = 0.0;
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static const float steeringD = 0.1;
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static const float steeringIMax = 0.0;
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static const float steeringYMax = 1;
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static const float steeringDFCut = 25.0;
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static const float throttleP = 0.1;
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static const float throttleI = 0.0;
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static const float throttleD = 0.0;
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static const float throttleIMax = 0.0;
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static const float throttleYMax = 1;
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static const float throttleDFCut = 0.0;
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// guidance
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static const float velCmd = 5;
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static const float xt = 10;
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static const float xtLim = 90;
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#include "ControllerBoat.h"
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#endif /* BOATGENERIC_H_ */
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// vim:ts=4:sw=4:expandtab
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