82b82283be
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
888 lines
22 KiB
C
888 lines
22 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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//
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// DO NOT EDIT this file to adjust your configuration. Create your own
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// APM_Config.h and use APM_Config.h.example as a reference.
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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///
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// Default and automatic configuration details.
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//
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// Notes for maintainers:
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//
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// - Try to keep this file organised in the same order as APM_Config.h.example
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//
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#include "defines.h"
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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#ifdef USE_CMAKE_APM_CONFIG
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
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#else
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
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#endif
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///
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
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/// change in your local copy of APM_Config.h.
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///
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// Just so that it's completely clear...
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#define ENABLED 1
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#define DISABLED 0
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// this avoids a very common config error
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#define ENABLE ENABLED
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#define DISABLE DISABLED
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// APM HARDWARE
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//
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#ifndef CONFIG_APM_HARDWARE
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#endif
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#if defined( __AVR_ATmega1280__ )
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#define LOGGING_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// APM2 HARDWARE DEFAULTS
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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# define CONFIG_RELAY DISABLED
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# ifdef APM2_BETA_HARDWARE
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# endif
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#endif
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// use this to enable telemetry on UART2. This is used
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// when you have setup the solder bridge on an APM2 to enable UART2
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#ifndef TELEMETRY_UART2
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# define TELEMETRY_UART2 DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// LED and IO Pins
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define A_LED_PIN 37
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# define B_LED_PIN 36
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define SLIDE_SWITCH_PIN 40
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# define PUSHBUTTON_PIN 41
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# define USB_MUX_PIN -1
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# define CONFIG_RELAY ENABLED
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define SLIDE_SWITCH_PIN (-1)
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# define PUSHBUTTON_PIN (-1)
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# define CLI_SLIDER_ENABLED DISABLED
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#if TELEMETRY_UART2 == ENABLED
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# define USB_MUX_PIN -1
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#else
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# define USB_MUX_PIN 23
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#endif
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# define BATTERY_PIN_1 1
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# define CURRENT_PIN_1 2
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_SENSOR
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// AIRSPEED_RATIO
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//
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#ifndef AIRSPEED_SENSOR
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# define AIRSPEED_SENSOR DISABLED
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#endif
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#ifndef AIRSPEED_RATIO
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# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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#ifndef CONFIG_IMU_TYPE
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
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#endif
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
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# define CONFIG_MPU6000_CHIP_SELECT_PIN 53
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ADC Enable - used to eliminate for systems which don't have ADC.
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//
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#ifndef CONFIG_ADC
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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
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# define CONFIG_ADC ENABLED
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# else
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# define CONFIG_ADC DISABLED
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Barometer
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//
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#ifndef CONFIG_BARO
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# define CONFIG_BARO AP_BARO_BMP085
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Pitot
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//
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#ifndef PITOT_ENABLED
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# define PITOT_ENABLED DISABLED
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#endif
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#ifndef CONFIG_PITOT_SOURCE
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
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#endif
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#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
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# ifndef CONFIG_PITOT_SOURCE_ADC_CHANNEL
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# define CONFIG_PITOT_SOURCE_ADC_CHANNEL 7
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# endif
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#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
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# ifndef CONFIG_PITOT_SOURCE_ANALOG_PIN
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# define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
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# endif
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#else
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# warning Invalid value for CONFIG_PITOT_SOURCE, disabling airspeed
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# undef PITOT_ENABLED
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# define PITOT_ENABLED DISABLED
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#endif
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#ifndef SONAR_TYPE
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# define SONAR_TYPE MAX_SONAR_LV // MAX_SONAR_XL,
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#endif
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#ifndef SONAR_ENABLED
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#define SONAR_ENABLED DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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# undef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL
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//
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// Note that this test must follow the HIL_PROTOCOL block as the HIL
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// setup may override the GPS configuration.
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//
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#ifndef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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#endif
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Serial port speeds.
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//
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#ifndef SERIAL0_BAUD
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# define SERIAL0_BAUD 115200
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#endif
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#ifndef SERIAL3_BAUD
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# define SERIAL3_BAUD 57600
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring
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//
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#ifndef BATTERY_EVENT
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# define BATTERY_EVENT DISABLED
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#endif
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#ifndef LOW_VOLTAGE
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# define LOW_VOLTAGE 9.6
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#endif
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#ifndef VOLT_DIV_RATIO
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# define VOLT_DIV_RATIO 3.56 // This is the proper value for an on-board APM1 voltage divider with a 3.9kOhm resistor
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//# define VOLT_DIV_RATIO 15.70 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define VOLT_DIV_RATIO 4.127 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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#ifndef CURR_AMP_PER_VOLT
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# define CURR_AMP_PER_VOLT 27.32 // This is the proper value for the AttoPilot 50V/90A sensor
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//# define CURR_AMP_PER_VOLT 13.66 // This is the proper value for the AttoPilot 13.6V/45A sensor
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#endif
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#ifndef CURR_AMPS_OFFSET
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# define CURR_AMPS_OFFSET 0.0
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#endif
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#ifndef HIGH_DISCHARGE
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# define HIGH_DISCHARGE 1760
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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 DISABLED
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#endif
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#ifndef MAG_ORIENTATION
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Radio channel limits
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//
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// Note that these are not called out in APM_Config.h.reference.
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//
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#ifndef CH5_MIN
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# define CH5_MIN 1000
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#endif
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#ifndef CH5_MAX
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# define CH5_MAX 2000
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#endif
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#ifndef CH6_MIN
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# define CH6_MIN 1000
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#endif
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#ifndef CH6_MAX
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# define CH6_MAX 2000
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#endif
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#ifndef CH7_MIN
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# define CH7_MIN 1000
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#endif
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#ifndef CH7_MAX
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# define CH7_MAX 2000
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#endif
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#ifndef CH8_MIN
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# define CH8_MIN 1000
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#endif
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#ifndef CH8_MAX
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# define CH8_MAX 2000
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#endif
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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#endif
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#ifndef FLAP_1_SPEED
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# define FLAP_1_SPEED 255
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#endif
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#ifndef FLAP_2_PERCENT
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# define FLAP_2_PERCENT 0
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#endif
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#ifndef FLAP_2_SPEED
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# define FLAP_2_SPEED 255
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE_CHANNEL
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//
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#ifndef FLIGHT_MODE_CHANNEL
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# define FLIGHT_MODE_CHANNEL 8
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#endif
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#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)
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# error XXX
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# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
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# error XXX
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#endif
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#if !defined(FLIGHT_MODE_1)
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# define FLIGHT_MODE_1 RTL
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#endif
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#if !defined(FLIGHT_MODE_2)
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# define FLIGHT_MODE_2 RTL
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#endif
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#if !defined(FLIGHT_MODE_3)
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# define FLIGHT_MODE_3 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_4)
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# define FLIGHT_MODE_4 STABILIZE
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#endif
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#if !defined(FLIGHT_MODE_5)
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# define FLIGHT_MODE_5 MANUAL
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#endif
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#if !defined(FLIGHT_MODE_6)
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# define FLIGHT_MODE_6 MANUAL
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_FAILSAFE
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// THROTTLE_FS_VALUE
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// SHORT_FAILSAFE_ACTION
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// LONG_FAILSAFE_ACTION
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// GCS_HEARTBEAT_FAILSAFE
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//
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#ifndef THROTTLE_FAILSAFE
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# define THROTTLE_FAILSAFE ENABLED
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#endif
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#ifndef THROTTLE_FS_VALUE
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# define THROTTLE_FS_VALUE 950
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#endif
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#ifndef SHORT_FAILSAFE_ACTION
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# define SHORT_FAILSAFE_ACTION 0
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#endif
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#ifndef LONG_FAILSAFE_ACTION
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# define LONG_FAILSAFE_ACTION 0
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#endif
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#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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// AUTO_TRIM
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//
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#ifndef AUTO_TRIM
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# define AUTO_TRIM DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_REVERSE
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//
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#ifndef THROTTLE_REVERSE
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# define THROTTLE_REVERSE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_STICK_MIXING
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//
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#ifndef ENABLE_STICK_MIXING
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# define ENABLE_STICK_MIXING ENABLED
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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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// Level with each startup = 0, level with MP/CLI only = 1
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//
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#ifndef MANUAL_LEVEL
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# define MANUAL_LEVEL 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// GROUND_START_DELAY
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//
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#ifndef GROUND_START_DELAY
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# define GROUND_START_DELAY 0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_AIR_START
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//
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#ifndef ENABLE_AIR_START
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# define ENABLE_AIR_START DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE REVERSE_SWITCH
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//
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#ifndef REVERSE_SWITCH
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# define REVERSE_SWITCH ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE ELEVON_MIXING
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//
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#ifndef ELEVON_MIXING
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# define ELEVON_MIXING DISABLED
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#endif
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#ifndef ELEVON_REVERSE
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# define ELEVON_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH1_REVERSE
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# define ELEVON_CH1_REVERSE DISABLED
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#endif
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#ifndef ELEVON_CH2_REVERSE
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# define ELEVON_CH2_REVERSE DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// CAMERA TRIGGER AND CONTROL
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//
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#ifndef CAMERA
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# define CAMERA DISABLED
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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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#if defined( __AVR_ATmega1280__ ) && (MOUNT == ENABLED)
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// The small ATmega1280 chip does not have enough memory for mount support
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// so disable CLI, this will allow mount support and other improvements to fit.
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// This should almost have no side effects, because the APM planner can now do a complete board setup.
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# define CLI_ENABLED DISABLED
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// The small ATmega1280 chip does not have enough memory for mount support
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// so disable AUTO GPS support, this will allow mount support and other improvements to fit.
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// This should almost have no side effects, because the most users use MTK anyways.
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// If the user defined a GPS protocol, than we will NOT overwrite it
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# if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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# undef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_MTK
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# endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT AND NAVIGATION CONTROL
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Altitude measurement and control.
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//
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#ifndef ALT_EST_GAIN
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# define ALT_EST_GAIN 0.01
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#endif
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#ifndef ALTITUDE_MIX
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# define ALTITUDE_MIX 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_CRUISE
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//
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#ifndef AIRSPEED_CRUISE
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# define AIRSPEED_CRUISE 12 // 12 m/s
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#endif
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#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
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//////////////////////////////////////////////////////////////////////////////
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// MIN_GNDSPEED
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//
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#ifndef MIN_GNDSPEED
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# define MIN_GNDSPEED 0 // m/s (0 disables)
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#endif
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#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
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//////////////////////////////////////////////////////////////////////////////
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// FLY_BY_WIRE_B airspeed control
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//
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#ifndef AIRSPEED_FBW_MIN
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# define AIRSPEED_FBW_MIN 6
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#endif
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#ifndef AIRSPEED_FBW_MAX
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# define AIRSPEED_FBW_MAX 22
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#endif
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#ifndef ALT_HOLD_FBW
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# define ALT_HOLD_FBW 0
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#endif
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#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
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/* The following parameters have no corresponding control implementation
|
|
#ifndef THROTTLE_ALT_P
|
|
# define THROTTLE_ALT_P 0.32
|
|
#endif
|
|
#ifndef THROTTLE_ALT_I
|
|
# define THROTTLE_ALT_I 0.0
|
|
#endif
|
|
#ifndef THROTTLE_ALT_D
|
|
# define THROTTLE_ALT_D 0.0
|
|
#endif
|
|
#ifndef THROTTLE_ALT_INT_MAX
|
|
# define THROTTLE_ALT_INT_MAX 20
|
|
#endif
|
|
#define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
|
|
*/
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Servo Mapping
|
|
//
|
|
#ifndef THROTTLE_MIN
|
|
# define THROTTLE_MIN 0 // percent
|
|
#endif
|
|
#ifndef THROTTLE_CRUISE
|
|
# define THROTTLE_CRUISE 45
|
|
#endif
|
|
#ifndef THROTTLE_MAX
|
|
# define THROTTLE_MAX 75
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Autopilot control limits
|
|
//
|
|
#ifndef HEAD_MAX
|
|
# define HEAD_MAX 45
|
|
#endif
|
|
#ifndef PITCH_MAX
|
|
# define PITCH_MAX 15
|
|
#endif
|
|
#ifndef PITCH_MIN
|
|
# define PITCH_MIN -25
|
|
#endif
|
|
#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
|
|
#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
|
|
#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Attitude control gains
|
|
//
|
|
#ifndef SERVO_ROLL_P
|
|
# define SERVO_ROLL_P 0.4
|
|
#endif
|
|
#ifndef SERVO_ROLL_I
|
|
# define SERVO_ROLL_I 0.0
|
|
#endif
|
|
#ifndef SERVO_ROLL_D
|
|
# define SERVO_ROLL_D 0.0
|
|
#endif
|
|
#ifndef SERVO_ROLL_INT_MAX
|
|
# define SERVO_ROLL_INT_MAX 5
|
|
#endif
|
|
#define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100
|
|
#ifndef ROLL_SLEW_LIMIT
|
|
# define ROLL_SLEW_LIMIT 0
|
|
#endif
|
|
#ifndef SERVO_PITCH_P
|
|
# define SERVO_PITCH_P 0.6
|
|
#endif
|
|
#ifndef SERVO_PITCH_I
|
|
# define SERVO_PITCH_I 0.0
|
|
#endif
|
|
#ifndef SERVO_PITCH_D
|
|
# define SERVO_PITCH_D 0.0
|
|
#endif
|
|
#ifndef SERVO_PITCH_INT_MAX
|
|
# define SERVO_PITCH_INT_MAX 5
|
|
#endif
|
|
#define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100
|
|
#ifndef PITCH_COMP
|
|
# define PITCH_COMP 0.2
|
|
#endif
|
|
#ifndef SERVO_YAW_P
|
|
# define SERVO_YAW_P 0.0
|
|
#endif
|
|
#ifndef SERVO_YAW_I
|
|
# define SERVO_YAW_I 0.0
|
|
#endif
|
|
#ifndef SERVO_YAW_D
|
|
# define SERVO_YAW_D 0.0
|
|
#endif
|
|
#ifndef SERVO_YAW_INT_MAX
|
|
# define SERVO_YAW_INT_MAX 0
|
|
#endif
|
|
#ifndef RUDDER_MIX
|
|
# define RUDDER_MIX 0.5
|
|
#endif
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Navigation control gains
|
|
//
|
|
#ifndef NAV_ROLL_P
|
|
# define NAV_ROLL_P 0.7
|
|
#endif
|
|
#ifndef NAV_ROLL_I
|
|
# define NAV_ROLL_I 0.02
|
|
#endif
|
|
#ifndef NAV_ROLL_D
|
|
# define NAV_ROLL_D 0.1
|
|
#endif
|
|
#ifndef NAV_ROLL_INT_MAX
|
|
# define NAV_ROLL_INT_MAX 5
|
|
#endif
|
|
#define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100
|
|
#ifndef NAV_PITCH_ASP_P
|
|
# define NAV_PITCH_ASP_P 0.65
|
|
#endif
|
|
#ifndef NAV_PITCH_ASP_I
|
|
# define NAV_PITCH_ASP_I 0.1
|
|
#endif
|
|
#ifndef NAV_PITCH_ASP_D
|
|
# define NAV_PITCH_ASP_D 0.0
|
|
#endif
|
|
#ifndef NAV_PITCH_ASP_INT_MAX
|
|
# define NAV_PITCH_ASP_INT_MAX 5
|
|
#endif
|
|
#define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100
|
|
#ifndef NAV_PITCH_ALT_P
|
|
# define NAV_PITCH_ALT_P 0.65
|
|
#endif
|
|
#ifndef NAV_PITCH_ALT_I
|
|
# define NAV_PITCH_ALT_I 0.1
|
|
#endif
|
|
#ifndef NAV_PITCH_ALT_D
|
|
# define NAV_PITCH_ALT_D 0.0
|
|
#endif
|
|
#ifndef NAV_PITCH_ALT_INT_MAX
|
|
# define NAV_PITCH_ALT_INT_MAX 5
|
|
#endif
|
|
#define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Energy/Altitude control gains
|
|
//
|
|
#ifndef THROTTLE_TE_P
|
|
# define THROTTLE_TE_P 0.50
|
|
#endif
|
|
#ifndef THROTTLE_TE_I
|
|
# define THROTTLE_TE_I 0.0
|
|
#endif
|
|
#ifndef THROTTLE_TE_D
|
|
# define THROTTLE_TE_D 0.0
|
|
#endif
|
|
#ifndef THROTTLE_TE_INT_MAX
|
|
# define THROTTLE_TE_INT_MAX 20
|
|
#endif
|
|
#ifndef THROTTLE_SLEW_LIMIT
|
|
# define THROTTLE_SLEW_LIMIT 0
|
|
#endif
|
|
#ifndef P_TO_T
|
|
# define P_TO_T 0
|
|
#endif
|
|
#ifndef T_TO_P
|
|
# define T_TO_P 0
|
|
#endif
|
|
#ifndef PITCH_TARGET
|
|
# define PITCH_TARGET 0
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Crosstrack compensation
|
|
//
|
|
#ifndef XTRACK_GAIN
|
|
# define XTRACK_GAIN 1 // deg/m
|
|
#endif
|
|
#ifndef XTRACK_ENTRY_ANGLE
|
|
# define XTRACK_ENTRY_ANGLE 30 // deg
|
|
#endif
|
|
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
|
|
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// DEBUGGING
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Dataflash logging control
|
|
//
|
|
|
|
#ifndef LOGGING_ENABLED
|
|
# 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 DISABLED
|
|
#endif
|
|
#ifndef LOG_NTUN
|
|
# define LOG_NTUN DISABLED
|
|
#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
|
|
#ifndef LOG_CUR
|
|
# define LOG_CUR 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)
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Navigation defaults
|
|
//
|
|
#ifndef WP_RADIUS_DEFAULT
|
|
# define WP_RADIUS_DEFAULT 30
|
|
#endif
|
|
|
|
#ifndef LOITER_RADIUS_DEFAULT
|
|
# define LOITER_RADIUS_DEFAULT 60
|
|
#endif
|
|
|
|
#ifndef ALT_HOLD_HOME
|
|
# define ALT_HOLD_HOME 100
|
|
#endif
|
|
#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
|
|
|
|
#ifndef USE_CURRENT_ALT
|
|
# define USE_CURRENT_ALT FALSE
|
|
#endif
|
|
|
|
#ifndef INVERTED_FLIGHT_PWM
|
|
# define INVERTED_FLIGHT_PWM 1750
|
|
#endif
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
// Developer Items
|
|
//
|
|
|
|
#ifndef SCALING_SPEED
|
|
# define SCALING_SPEED 15.0
|
|
#endif
|
|
|
|
// use this to enable servos in HIL mode
|
|
#ifndef HIL_SERVOS
|
|
# define HIL_SERVOS DISABLED
|
|
#endif
|
|
|
|
// use this to completely disable the CLI
|
|
#ifndef CLI_ENABLED
|
|
# define CLI_ENABLED ENABLED
|
|
#endif
|
|
|
|
// use this to disable the CLI slider switch
|
|
#ifndef CLI_SLIDER_ENABLED
|
|
# define CLI_SLIDER_ENABLED ENABLED
|
|
#endif
|
|
|
|
// delay to prevent Xbee bricking, in milliseconds
|
|
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
|
|
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
|
|
#endif
|
|
|
|
// use this to disable gen-fencing
|
|
#ifndef GEOFENCE_ENABLED
|
|
# define GEOFENCE_ENABLED ENABLED
|
|
#endif
|
|
|
|
// pwm value on FENCE_CHANNEL to use to enable fenced mode
|
|
#ifndef FENCE_ENABLE_PWM
|
|
# define FENCE_ENABLE_PWM 1750
|
|
#endif
|
|
|
|
// a digital pin to set high when the geo-fence triggers. Defaults
|
|
// to -1, which means don't activate a pin
|
|
#ifndef FENCE_TRIGGERED_PIN
|
|
# define FENCE_TRIGGERED_PIN -1
|
|
#endif
|
|
|
|
// if RESET_SWITCH_CH is not zero, then this is the PWM value on
|
|
// that channel where we reset the control mode to the current switch
|
|
// position (to for example return to switched mode after failsafe or
|
|
// fence breach)
|
|
#ifndef RESET_SWITCH_CHAN_PWM
|
|
# define RESET_SWITCH_CHAN_PWM 1750
|
|
#endif
|
|
|
|
// experimental quaternion code
|
|
#ifndef QUATERNION_ENABLE
|
|
# define QUATERNION_ENABLE DISABLED
|
|
#endif
|
|
|
|
// experimental mpu6000 DMP code
|
|
#ifndef DMP_ENABLED
|
|
# define DMP_ENABLED DISABLED
|
|
#endif
|