//
# pragma once
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// 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.
///
# include "APM_Config.h"
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
# ifndef CONFIG_HAL_BOARD
# error CONFIG_HAL_BOARD must be defined to build ArduCopter
# endif
# ifndef ARMING_DELAY_SEC
# define ARMING_DELAY_SEC 2.0f
# endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
# ifndef FRAME_CONFIG
# define FRAME_CONFIG MULTICOPTER_FRAME
# endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
# if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
# ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
# endif
//////////////////////////////////////////////////////////////////////////////
// Rangefinder
//
# ifndef RANGEFINDER_ENABLED
# define RANGEFINDER_ENABLED ENABLED
# endif
# ifndef RANGEFINDER_HEALTH_MAX
# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
# endif
# ifndef RANGEFINDER_TIMEOUT_MS
# define RANGEFINDER_TIMEOUT_MS 1000 // rangefinder filter reset if no updates from sensor in 1 second
# endif
# ifndef RANGEFINDER_FILT_DEFAULT
# define RANGEFINDER_FILT_DEFAULT 0.5f // filter for rangefinder distance
# endif
# ifndef SURFACE_TRACKING_VELZ_MAX
# define SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
# endif
# ifndef SURFACE_TRACKING_TIMEOUT_MS
# define SURFACE_TRACKING_TIMEOUT_MS 1000 // surface tracking target alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
# endif
# ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define RANGEFINDER_TILT_CORRECTION ENABLED
# endif
# ifndef RANGEFINDER_GLITCH_ALT_CM
# define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch
# endif
# ifndef RANGEFINDER_GLITCH_NUM_SAMPLES
# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading
# endif
# ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
# endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
# ifndef BOARD_VOLTAGE_MIN
# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
# endif
# ifndef BOARD_VOLTAGE_MAX
# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
# endif
// prearm GPS hdop check
# ifndef GPS_HDOP_GOOD_DEFAULT
# define GPS_HDOP_GOOD_DEFAULT 140 // 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
// Radio failsafe while using RC_override
# ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
# endif
// Radio failsafe
# ifndef FS_RADIO_TIMEOUT_MS
# define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 milliseconds with No RC Input
# endif
// missing terrain data failsafe
# ifndef FS_TERRAIN_TIMEOUT_MS
# define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL)
# endif
// pre-arm baro vs inertial nav max alt disparity
# ifndef PREARM_MAX_ALT_DISPARITY_CM
# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters
# endif
//////////////////////////////////////////////////////////////////////////////
// EKF Failsafe
# ifndef FS_EKF_ACTION_DEFAULT
# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default
# endif
# ifndef FS_EKF_THRESHOLD_DEFAULT
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
# endif
# ifndef EKF_ORIGIN_MAX_ALT_KM
# define EKF_ORIGIN_MAX_ALT_KM 50 // EKF origin and home must be within 50km vertically
# endif
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
# ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer - enabled only on larger firmwares
# ifndef SPRAYER_ENABLED
# define SPRAYER_ENABLED HAL_SPRAYER_ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Precision Landing with companion computer or IRLock sensor
# ifndef PRECISION_LANDING
# define PRECISION_LANDING ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// gripper - enabled only on larger firmwares
# ifndef GRIPPER_ENABLED
# define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// winch support
# ifndef WINCH_ENABLED
# define WINCH_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// rotations per minute sensor support
# ifndef RPM_ENABLED
# define RPM_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
# ifndef PARACHUTE
# define PARACHUTE HAL_PARACHUTE_ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
# ifndef NAV_GUIDED
# define NAV_GUIDED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Acro - fly vehicle in acrobatic mode
# ifndef MODE_ACRO_ENABLED
# define MODE_ACRO_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Auto mode - allows vehicle to trace waypoints and perform automated actions
# ifndef MODE_AUTO_ENABLED
# define MODE_AUTO_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Brake mode - bring vehicle to stop
# ifndef MODE_BRAKE_ENABLED
# define MODE_BRAKE_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Circle - fly vehicle around a central point
# ifndef MODE_CIRCLE_ENABLED
# define MODE_CIRCLE_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Drift - fly vehicle in altitude-held, coordinated-turn mode
# ifndef MODE_DRIFT_ENABLED
# define MODE_DRIFT_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// flip - fly vehicle in flip in pitch and roll direction mode
# ifndef MODE_FLIP_ENABLED
# define MODE_FLIP_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Follow - follow another vehicle or GCS
# ifndef MODE_FOLLOW_ENABLED
# define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Guided mode - control vehicle's position or angles from GCS
# ifndef MODE_GUIDED_ENABLED
# define MODE_GUIDED_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// GuidedNoGPS mode - control vehicle's angles from GCS
# ifndef MODE_GUIDED_NOGPS_ENABLED
# define MODE_GUIDED_NOGPS_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Loiter mode - allows vehicle to hold global position
# ifndef MODE_LOITER_ENABLED
# define MODE_LOITER_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Position Hold - enable holding of global position
# ifndef MODE_POSHOLD_ENABLED
# define MODE_POSHOLD_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// RTL - Return To Launch
# ifndef MODE_RTL_ENABLED
# define MODE_RTL_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
# ifndef MODE_SMARTRTL_ENABLED
# define MODE_SMARTRTL_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Sport - fly vehicle in rate-controlled (earth-frame) mode
# ifndef MODE_SPORT_ENABLED
# define MODE_SPORT_ENABLED DISABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// System ID - conduct system identification tests on vehicle
# ifndef MODE_SYSTEMID_ENABLED
# define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Throw - fly vehicle after throwing it in the air
# ifndef MODE_THROW_ENABLED
# define MODE_THROW_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// ZigZag - allow vehicle to fly in a zigzag manner with predefined point A B
# ifndef MODE_ZIGZAG_ENABLED
# define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Turtle - allow vehicle to be flipped over after a crash
# ifndef MODE_TURTLE_ENABLED
# define MODE_TURTLE_ENABLED !HAL_MINIMIZE_FEATURES && !defined(DISABLE_DSHOT) && FRAME_CONFIG != HELI_FRAME
# endif
//////////////////////////////////////////////////////////////////////////////
// Flowhold - use optical flow to hover in place
# ifndef MODE_FLOWHOLD_ENABLED
# define MODE_FLOWHOLD_ENABLED !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Autorotate - autonomous auto-rotation - helicopters only
# if CONFIG_HAL_BOARD == HAL_BOARD_SITL
# if FRAME_CONFIG == HELI_FRAME
# ifndef MODE_AUTOROTATE_ENABLED
# define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES
# endif
# else
# define MODE_AUTOROTATE_ENABLED DISABLED
# endif
# else
# define MODE_AUTOROTATE_ENABLED DISABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Beacon support - support for local positioning systems
# ifndef BEACON_ENABLED
# define BEACON_ENABLED !HAL_MINIMIZE_FEATURES
# endif
//////////////////////////////////////////////////////////////////////////////
// Landing Gear support
# ifndef LANDING_GEAR_ENABLED
# define LANDING_GEAR_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
# ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1 Mode::Number::STABILIZE
# endif
# ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2 Mode::Number::STABILIZE
# endif
# ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3 Mode::Number::STABILIZE
# endif
# ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4 Mode::Number::STABILIZE
# endif
# ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5 Mode::Number::STABILIZE
# endif
# ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6 Mode::Number::STABILIZE
# endif
//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
# ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
# endif
//////////////////////////////////////////////////////////////////////////////
// Takeoff
//
# ifndef PILOT_TKOFF_ALT_DEFAULT
# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
# endif
//////////////////////////////////////////////////////////////////////////////
// Landing
//
# ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
# endif
# ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
# endif
# ifndef LAND_WITH_DELAY_MS
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
# endif
# ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
# endif
# ifndef LAND_RANGEFINDER_MIN_ALT_CM
# define LAND_RANGEFINDER_MIN_ALT_CM 200
# endif
//////////////////////////////////////////////////////////////////////////////
// Landing Detector
//
# ifndef LAND_DETECTOR_TRIGGER_SEC
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
# endif
# ifndef LAND_AIRMODE_DETECTOR_TRIGGER_SEC
# define LAND_AIRMODE_DETECTOR_TRIGGER_SEC 3.0f // number of seconds to detect a landing in air mode
# endif
# ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
# 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)
# endif
# ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
# endif
# ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
# endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
# ifndef CAMERA
# define CAMERA ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Flight mode definitions
//
// Acro Mode
# ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000 // maximum lean angle in trainer mode measured in centidegrees
# endif
# ifndef ACRO_LEVEL_MAX_OVERSHOOT
# define ACRO_LEVEL_MAX_OVERSHOOT 1000 // maximum overshoot angle in trainer mode when full roll or pitch stick is held in centidegrees
# endif
# ifndef ACRO_BALANCE_ROLL
# define ACRO_BALANCE_ROLL 1.0f
# endif
# ifndef ACRO_BALANCE_PITCH
# define ACRO_BALANCE_PITCH 1.0f
# endif
# ifndef ACRO_RP_EXPO_DEFAULT
# define ACRO_RP_EXPO_DEFAULT 0.3f // ACRO roll and pitch expo parameter default
# endif
# ifndef ACRO_Y_EXPO_DEFAULT
# define ACRO_Y_EXPO_DEFAULT 0.0f // ACRO yaw expo parameter default
# endif
# ifndef ACRO_THR_MID_DEFAULT
# define ACRO_THR_MID_DEFAULT 0.0f
# endif
# ifndef ACRO_RP_RATE_DEFAULT
# define ACRO_RP_RATE_DEFAULT 360 // ACRO roll and pitch rotation rate parameter default in deg/s
# endif
# ifndef ACRO_Y_RATE_DEFAULT
# define ACRO_Y_RATE_DEFAULT 202.5 // ACRO yaw rotation rate parameter default in deg/s
# endif
// RTL Mode
# ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 0 // the altitude, in cm, 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_MIN
# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
# endif
# ifndef RTL_CLIMB_MIN_DEFAULT
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
# endif
# ifndef RTL_ABS_MIN_CLIMB
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
# endif
# ifndef RTL_CONE_SLOPE_DEFAULT
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
# endif
# ifndef RTL_MIN_CONE_SLOPE
# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
# endif
# ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning final descent
# endif
// AUTO Mode
# ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
# 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
// Super Simple mode
# ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
# endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
# ifndef ROLL_PITCH_YAW_INPUT_MAX
# define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range
# endif
# ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 3000 // ANGLE_MAX parameters default value
# endif
//////////////////////////////////////////////////////////////////////////////
// Stop mode defaults
//
# ifndef BRAKE_MODE_SPEED_Z
# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
# endif
# ifndef BRAKE_MODE_DECEL_RATE
# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
# endif
//////////////////////////////////////////////////////////////////////////////
// PosHold parameter defaults
//
# ifndef POSHOLD_BRAKE_RATE_DEFAULT
# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
# endif
# ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
# endif
//////////////////////////////////////////////////////////////////////////////
// Pilot control defaults
//
# ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
# endif
// default maximum vertical velocity and acceleration the pilot may request
# ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
# endif
# ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
# endif
# ifndef PILOT_Y_RATE_DEFAULT
# define PILOT_Y_RATE_DEFAULT 202.5 // yaw rotation rate parameter default in deg/s for all mode except ACRO
# endif
# ifndef PILOT_Y_EXPO_DEFAULT
# define PILOT_Y_EXPO_DEFAULT 0.0 // yaw expo parameter default for all mode except ACRO
# endif
# ifndef AUTO_DISARMING_DELAY
# define AUTO_DISARMING_DELAY 10
# endif
//////////////////////////////////////////////////////////////////////////////
// Throw mode configuration
//
# ifndef THROW_HIGH_SPEED
# define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling)
# endif
# ifndef THROW_VERTICAL_SPEED
# define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s
# endif
//////////////////////////////////////////////////////////////////////////////
// Logging control
//
# ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
# endif
// Default logging bitmask
# ifndef DEFAULT_LOG_BITMASK
# define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_RCIN | \
MASK_LOG_IMU | \
MASK_LOG_CMD | \
MASK_LOG_CURRENT | \
MASK_LOG_RCOUT | \
MASK_LOG_OPTFLOW | \
MASK_LOG_COMPASS | \
MASK_LOG_CAMERA | \
MASK_LOG_MOTBATT
# endif
//////////////////////////////////////////////////////////////////////////////
// Fence, Rally and Terrain and AC_Avoidance defaults
//
# ifndef AC_RALLY
# define AC_RALLY ENABLED
# endif
# if AP_TERRAIN_AVAILABLE && !AC_RALLY
# error Terrain relies on Rally which is disabled
# endif
# ifndef AC_AVOID_ENABLED
# define AC_AVOID_ENABLED ENABLED
# endif
# ifndef AC_OAPATHPLANNER_ENABLED
# define AC_OAPATHPLANNER_ENABLED !HAL_MINIMIZE_FEATURES
# endif
# if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED
# error Follow Mode relies on AC_AVOID which is disabled
# endif
# if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED
# error ModeAuto requires ModeGuided which is disabled
# endif
# if MODE_AUTO_ENABLED && !MODE_CIRCLE_ENABLED
# error ModeAuto requires ModeCircle which is disabled
# endif
# if MODE_AUTO_ENABLED && !MODE_RTL_ENABLED
# error ModeAuto requires ModeRTL which is disabled
# endif
# if FRAME_CONFIG == HELI_FRAME && !MODE_ACRO_ENABLED
# error Helicopter frame requires acro mode support which is disabled
# endif
# if MODE_SMARTRTL_ENABLED && !MODE_RTL_ENABLED
# error SmartRTL requires ModeRTL which is disabled
# endif
# if HAL_ADSB_ENABLED && !MODE_GUIDED_ENABLED
# error ADSB requires ModeGuided which is disabled
# endif
# if MODE_FOLLOW_ENABLED && !MODE_GUIDED_ENABLED
# error Follow requires ModeGuided which is disabled
# endif
# if MODE_GUIDED_NOGPS_ENABLED && !MODE_GUIDED_ENABLED
# error ModeGuided-NoGPS requires ModeGuided which is disabled
# endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
# ifndef ADVANCED_FAILSAFE
# define ADVANCED_FAILSAFE DISABLED
# endif
# ifndef CH_MODE_DEFAULT
# define CH_MODE_DEFAULT 5
# endif
# ifndef TOY_MODE_ENABLED
# define TOY_MODE_ENABLED DISABLED
# endif
# if TOY_MODE_ENABLED && FRAME_CONFIG == HELI_FRAME
# error Toy mode is not available on Helicopters
# endif
# ifndef STATS_ENABLED
# define STATS_ENABLED ENABLED
# endif
# ifndef OSD_ENABLED
# define OSD_ENABLED DISABLED
# endif
# ifndef HAL_FRAME_TYPE_DEFAULT
# define HAL_FRAME_TYPE_DEFAULT AP_Motors::MOTOR_FRAME_TYPE_X
# endif
