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a812ef4660
Ardupilot2/ArduCopter/config.h
Randy Mackay bc1e06757b Copter: allow GPS failsafe to trigger AltHold 
FS_GPS_ENABLE parameter accepts two new options, 2=AltHold,
3=LandEvenFromStabilize.
If set to 3 the GPS failsafe will trigger and LAND even from manual
flight modes like Stabilize and ACRO.  This is useful for users who want
to ensure their copters can never stray outside the circular fence (the
fence only triggers when it knows it is outside the bounds, and it can't
know this if it has no GPS)
2013-11-16 13:55:59 +09:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
#ifndef __ARDUCOPTER_CONFIG_H__
#define __ARDUCOPTER_CONFIG_H__
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifdef CONFIG_APM_HARDWARE
#error CONFIG_APM_HARDWARE option is deprecated! use CONFIG_HAL_BOARD instead
#endif
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduCopter
#endif
#ifdef __AVR_ATmega1280__
#error ATmega1280 is not supported
#endif
//////////////////////////////////////////////////////////////////////////////
// APM2 HARDWARE DEFAULTS
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
# define CONFIG_BARO AP_BARO_MS5611
# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
# endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define CONFIG_IMU_TYPE CONFIG_IMU_PX4
# define CONFIG_BARO AP_BARO_PX4
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
# define CONFIG_ADC DISABLED
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
# define CONFIG_ADC DISABLED
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
# define FRAME_CONFIG QUAD_FRAME
#endif
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME
#endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0
# ifndef HELI_CC_COMP
#define HELI_CC_COMP DISABLED
#endif
# ifndef HELI_PIRO_COMP
#define HELI_PIRO_COMP DISABLED
#endif
#endif
/////////////////////////////////////////////////////////////////////////////////
// Y6 defaults
#if FRAME_CONFIG == Y6_FRAME
# define RATE_ROLL_P 0.1f
# define RATE_ROLL_D 0.006f
# define RATE_PITCH_P 0.1f
# define RATE_PITCH_D 0.006f
# define RATE_YAW_P 0.150f
# define RATE_YAW_I 0.015f
#endif
// optical flow doesn't work in SITL yet
#ifdef DESKTOP_BUILD
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
//
#ifndef CONFIG_IMU_TYPE
# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
#endif
#ifndef MPU6K_FILTER
# define MPU6K_FILTER MPU6K_DEFAULT_FILTER
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
#endif
////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define LED_ON HIGH
# define LED_OFF LOW
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define LED_ON LOW
# define LED_OFF HIGH
#endif
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
//
#ifndef COPTER_LEDS
#define COPTER_LEDS ENABLED
#endif
#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
#else
// not supported yet on this board
#undef COPTER_LEDS
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
#ifndef CONFIG_BARO
# define CONFIG_BARO AP_BARO_BMP085
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
# undef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
# endif
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
# define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
# endif
#else
# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
# define CONFIG_SONAR DISABLED
#endif
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif
#ifndef SONAR_ALT_HEALTH_MAX
# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
#endif
#ifndef SONAR_RELIABLE_DISTANCE_PCT
# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
#endif
#ifndef SONAR_GAIN_DEFAULT
# define SONAR_GAIN_DEFAULT 2.0 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
#endif
#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel 7 and 8 default options
//
#ifndef CH7_OPTION
# define CH7_OPTION AUX_SWITCH_DO_NOTHING
#endif
#ifndef CH8_OPTION
# define CH8_OPTION AUX_SWITCH_DO_NOTHING
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#undef CONFIG_SONAR
#define CONFIG_SONAR DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
#endif
#ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
#endif
#ifndef BOARD_VOLTAGE_MIN
# define BOARD_VOLTAGE_MIN 4300 // min board voltage in milli volts for pre-arm checks
#endif
#ifndef BOARD_VOLTAGE_MAX
# define BOARD_VOLTAGE_MAX 5800 // max board voltage in milli volts for pre-arm checks
#endif
// Battery failsafe
#ifndef FS_BATTERY
# define FS_BATTERY DISABLED
#endif
// GPS failsafe
#ifndef FAILSAFE_GPS_TIMEOUT_MS
# define FAILSAFE_GPS_TIMEOUT_MS 5000 // gps failsafe triggers after 5 seconds with no GPS
#endif
#ifndef GPS_HDOP_GOOD_DEFAULT
# define GPS_HDOP_GOOD_DEFAULT 200 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// possible values for FS_GCS parameter
#define FS_GCS_DISABLED 0
#define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2
// pre-arm check max velocity
#ifndef PREARM_MAX_VELOCITY_CMS
# define PREARM_MAX_VELOCITY_CMS 50.0f // vehicle must be travelling under 50cm/s before arming
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 330 // pre arm will fail if mag field > 544 or < 115
#endif
#else // PX4, SITL
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW ENABLED
#endif
#ifndef OPTFLOW_ORIENTATION
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_RESOLUTION
# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
#endif
#ifndef OPTFLOW_FOV
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P
#define OPTFLOW_ROLL_P 2.5f
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 0.5f
#endif
#ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12f
#endif
#ifndef OPTFLOW_PITCH_P
#define OPTFLOW_PITCH_P 2.5f
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 0.5f
#endif
#ifndef OPTFLOW_PITCH_D
#define OPTFLOW_PITCH_D 0.12f
#endif
#ifndef OPTFLOW_IMAX
#define OPTFLOW_IMAX 100
#endif
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
#ifndef AUTOTUNE
# define AUTOTUNE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
#ifndef SPRAYER
# define SPRAYER DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 STABILIZE
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 STABILIZE
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 STABILIZE
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
#ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
#endif
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_DETECTOR_TRIGGER
# define LAND_DETECTOR_TRIGGER 50 // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
#ifndef MOUNT2
# define MOUNT2 DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// definitions for earth frame and body frame
// used to specify frame to rate controllers
#define EARTH_FRAME 0
#define BODY_FRAME 1
#define BODY_EARTH_FRAME 2
// Flight mode roll, pitch, yaw, throttle and navigation definitions
// Stabilize Mode
#ifndef STABILIZE_YAW
# define STABILIZE_YAW YAW_HOLD
#endif
#ifndef STABILIZE_RP
# define STABILIZE_RP ROLL_PITCH_STABLE
#endif
#ifndef STABILIZE_THR
# define STABILIZE_THR THROTTLE_MANUAL_TILT_COMPENSATED
#endif
// Acro Mode
#ifndef ACRO_YAW
# define ACRO_YAW YAW_ACRO
#endif
#ifndef ACRO_RP
# define ACRO_RP ROLL_PITCH_ACRO
#endif
#ifndef ACRO_THR
# define ACRO_THR THROTTLE_MANUAL
#endif
#ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
#endif
// Sport Mode
#ifndef SPORT_YAW
# define SPORT_YAW YAW_HOLD
#endif
#ifndef SPORT_RP
# define SPORT_RP ROLL_PITCH_SPORT
#endif
#ifndef SPORT_THR
# define SPORT_THR THROTTLE_HOLD
#endif
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
#endif
#ifndef ALT_HOLD_RP
# define ALT_HOLD_RP ROLL_PITCH_STABLE
#endif
#ifndef ALT_HOLD_THR
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
// AUTO Mode
// Note: Auto mode yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
#endif
#ifndef AUTO_RP
# define AUTO_RP ROLL_PITCH_AUTO
#endif
#ifndef AUTO_THR
# define AUTO_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_CIRCLE
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
#ifndef CIRCLE_NAV
# define CIRCLE_NAV NAV_CIRCLE
#endif
#ifndef CIRCLE_RADIUS
# define CIRCLE_RADIUS 10 // radius in meters for circle mode
#endif
#ifndef CIRCLE_RATE
# define CIRCLE_RATE 20.0f // degrees per second turn rate
#endif
// Guided Mode
// Note: Guided mode yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef GUIDED_RP
# define GUIDED_RP ROLL_PITCH_AUTO
#endif
#ifndef GUIDED_THR
# define GUIDED_THR THROTTLE_AUTO
#endif
#ifndef GUIDED_NAV
# define GUIDED_NAV NAV_WP
#endif
// LOITER Mode
#ifndef LOITER_YAW
# define LOITER_YAW YAW_HOLD
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_LOITER
#endif
#ifndef LOITER_THR
# define LOITER_THR THROTTLE_HOLD
#endif
#ifndef LOITER_NAV
# define LOITER_NAV NAV_LOITER
#endif
// POSITION Mode
#ifndef POSITION_YAW
# define POSITION_YAW YAW_HOLD
#endif
#ifndef POSITION_RP
# define POSITION_RP ROLL_PITCH_LOITER
#endif
#ifndef POSITION_THR
# define POSITION_THR THROTTLE_MANUAL_TILT_COMPENSATED
#endif
#ifndef POSITION_NAV
# define POSITION_NAV NAV_LOITER
#endif
// RTL Mode
// Note: RTL Yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef RTL_RP
# define RTL_RP ROLL_PITCH_AUTO
#endif
#ifndef RTL_THR
# define RTL_THR THROTTLE_AUTO
#endif
#ifndef SUPER_SIMPLE
# define SUPER_SIMPLE DISABLED
#endif
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
// RTL Mode
#ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
#endif
#ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
#endif
#ifndef RTL_ALT_MAX
# define RTL_ALT_MAX 8000 // Max height to return to home in cm (i.e 80m)
#endif
#ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif
// Optical Flow LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
#endif
#ifndef OF_LOITER_RP
# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
#endif
#ifndef OF_LOITER_THR
# define OF_LOITER_THR THROTTLE_HOLD
#endif
#ifndef OF_LOITER_NAV
# define OF_LOITER_NAV NAV_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// Acro mode gains
#ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
#endif
#ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
#endif
// Stabilize (angle controller) gains
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5f
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0f
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 0
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5f
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0f
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 0
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.0f
#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 0
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
#endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef ROLL_PITCH_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
#endif
#ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
#endif
#ifndef ANGLE_RATE_MAX
# 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
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.150f
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.100f
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004f
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 500
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.150f
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.100f
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004f
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 500
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P 0.200f
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.020f
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D 0.000f
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 800
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate controlled stabilized variables
//
#ifndef MAX_ROLL_OVERSHOOT
#define MAX_ROLL_OVERSHOOT 3000
#endif
#ifndef MAX_PITCH_OVERSHOOT
#define MAX_PITCH_OVERSHOOT 3000
#endif
#ifndef MAX_YAW_OVERSHOOT
#define MAX_YAW_OVERSHOOT 1000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 1.0f
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 1.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef LOITER_P
# define LOITER_P 1.0f
#endif
#ifndef LOITER_I
# define LOITER_I 0.0f
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter rate control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 1.0f
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.5f
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.0f
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 400 // maximum acceleration from I term build-up in cm/s/s
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot rotate rate limits
//
#ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
#endif
#ifndef THR_MID_DEFAULT
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif
#ifndef THR_MIN_DEFAULT
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero
#endif
#ifndef THR_MAX_DEFAULT
# define THR_MAX_DEFAULT 1000 // maximum throttle sent to the motors
#endif
#ifndef THROTTLE_IN_DEADBAND
# define THROTTLE_IN_DEADBAND 100 // the throttle input channel's deadband in PWM
#endif
#ifndef ALT_HOLD_TAKEOFF_JUMP
# define ALT_HOLD_TAKEOFF_JUMP 20 // jump in altitude target when taking off in Loiter or AltHold flight modes
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0f
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0f
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300
#endif
// RATE control
#ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 6.0f
#endif
#ifndef THROTTLE_RATE_I
# define THROTTLE_RATE_I 0.0f
#endif
#ifndef THROTTLE_RATE_D
# define THROTTLE_RATE_D 0.0f
#endif
#ifndef THROTTLE_RATE_IMAX
# define THROTTLE_RATE_IMAX 300
#endif
// default maximum vertical velocity the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
#endif
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
#endif
// the acceleration used to define the distance-velocity curve
#ifndef ALT_HOLD_ACCEL_MAX
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.75f
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.50f
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0f
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif
//////////////////////////////////////////////////////////////////////////////
// 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 ENABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN ENABLED
#endif
#ifndef LOG_IMU
# define LOG_IMU DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
// current
#ifndef LOG_CURRENT
# define LOG_CURRENT ENABLED
#endif
// quad motor PWMs
#ifndef LOG_MOTORS
# define LOG_MOTORS DISABLED
#endif
// optical flow
#ifndef LOG_OPTFLOW
# define LOG_OPTFLOW DISABLED
#endif
#ifndef LOG_PID
# define LOG_PID DISABLED
#endif
#ifndef LOG_COMPASS
# define LOG_COMPASS DISABLED
#endif
#ifndef LOG_INAV
# define LOG_INAV DISABLED
#endif
#ifndef LOG_CAMERA
# define LOG_CAMERA ENABLED
#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(IMU) | \
LOGBIT(CMD) | \
LOGBIT(CURRENT) | \
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \
LOGBIT(COMPASS) | \
LOGBIT(INAV)
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AC_FENCE
#define AC_FENCE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
#ifndef CLI_ENABLED
# define CLI_ENABLED ENABLED
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds
*/
#ifndef GIT_VERSION
#define FIRMWARE_STRING THISFIRMWARE
#else
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
#endif
#endif // __ARDUCOPTER_CONFIG_H__
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