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541 lines
14 KiB
541 lines
14 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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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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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT |
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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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////////////////////////////////////////////////////////////////////////////// |
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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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// ENABLE_HIL |
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// Hardware in the loop output |
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// |
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#ifndef ENABLE_HIL |
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# define ENABLE_HIL DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// GPS_PROTOCOL |
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// |
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//#ifndef GPS_PROTOCOL |
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//# error XXX |
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//# error XXX You must define GPS_PROTOCOL in APM_Config.h |
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//# error XXX |
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//#endif |
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// The X-Plane GCS requires the IMU GPS configuration |
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#if (ENABLE_HIL == ENABLED) && (GPS_PROTOCOL != GPS_PROTOCOL_IMU) |
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# error Must select GPS_PROTOCOL_IMU when configuring for X-Plane or Flight Gear HIL |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// FRAME_CONFIG |
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// |
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#ifndef FRAME_CONFIG |
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# define FRAME_CONFIG PLUS_FRAME |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// GCS_PROTOCOL |
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// GCS_PORT |
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// |
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#ifndef GCS_PROTOCOL |
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# define GCS_PROTOCOL GCS_PROTOCOL_STANDARD |
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#endif |
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#ifndef GCS_PORT |
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# if (GCS_PROTOCOL == GCS_PROTOCOL_STANDARD) || (GCS_PROTOCOL == GCS_PROTOCOL_LEGACY) |
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# define GCS_PORT 3 |
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# else |
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# define GCS_PORT 0 |
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# endif |
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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 38400 |
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#endif |
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#ifndef SERIAL3_BAUD |
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# define SERIAL3_BAUD 115200 |
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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 BATTERY_TYPE |
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# define BATTERY_TYPE 0 |
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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 3.0 |
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#endif |
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#ifndef CURR_VOLT_DIV_RATIO |
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# define CURR_VOLT_DIV_RATIO 15.7 |
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#endif |
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#ifndef CURR_AMP_DIV_RATIO |
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# define CURR_AMP_DIV_RATIO 30.35 |
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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 5.0 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// MAGNETOMETER |
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#ifndef MAGORIENTATION |
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# define MAGORIENTATION APM_COMPASS_COMPONENTS_UP_PINS_FORWARD |
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#endif |
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// run the CLI tool to get this value |
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#ifndef MAGOFFSET |
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# define MAGOFFSET 0,0,0 |
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#endif |
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// Declination is a correction factor between North Pole and real magnetic North. This is different on every location |
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// IF you want to use really accurate headholding and future navigation features, you should update this |
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// You can check Declination to your location from http://www.magnetic-declination.com/ |
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#ifndef DECLINATION |
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# define DECLINATION 0 |
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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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// 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 CH_5 |
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#endif |
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#if (FLIGHT_MODE_CHANNEL != CH_5) && (FLIGHT_MODE_CHANNEL != CH_6) && (FLIGHT_MODE_CHANNEL != CH_7) && (FLIGHT_MODE_CHANNEL != CH_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 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_2) |
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# define FLIGHT_MODE_2 STABILIZE |
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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 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_6) |
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# define FLIGHT_MODE_6 STABILIZE |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// THROTTLE_FAILSAFE |
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// THROTTLE_FS_VALUE |
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// THROTTLE_FAILSAFE_ACTION |
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// |
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#ifndef THROTTLE_FAILSAFE |
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# define THROTTLE_FAILSAFE DISABLED |
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#endif |
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#ifndef THROTTE_FS_VALUE |
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# define THROTTLE_FS_VALUE 975 |
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#endif |
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#ifndef THROTTLE_FAILSAFE_ACTION |
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# define THROTTLE_FAILSAFE_ACTION 2 |
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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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// 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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////////////////////////////////////////////////////////////////////////////// |
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// FLIGHT AND NAVIGATION CONTROL |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// ACRO Rate Control |
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#ifndef ACRO_RATE_ROLL_P |
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# define ACRO_RATE_ROLL_P .190 |
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#endif |
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#ifndef ACRO_RATE_ROLL_I |
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# define ACRO_RATE_ROLL_I 0.0 |
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#endif |
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#ifndef ACRO_RATE_ROLL_D |
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# define ACRO_RATE_ROLL_D 0.0 |
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#endif |
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#ifndef ACRO_RATE_ROLL_IMAX |
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# define ACRO_RATE_ROLL_IMAX 20 |
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#endif |
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# define ACRO_RATE_ROLL_IMAX_CENTIDEGREE ACRO_RATE_ROLL_IMAX * 100 |
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#ifndef ACRO_RATE_PITCH_P |
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# define ACRO_RATE_PITCH_P .190 |
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#endif |
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#ifndef ACRO_RATE_PITCH_I |
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# define ACRO_RATE_PITCH_I 0.0 |
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#endif |
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#ifndef ACRO_RATE_PITCH_D |
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# define ACRO_RATE_PITCH_D 0.0 |
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#endif |
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#ifndef ACRO_RATE_PITCH_IMAX |
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# define ACRO_RATE_PITCH_IMAX 20 |
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#endif |
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#define ACRO_RATE_PITCH_IMAX_CENTIDEGREE ACRO_RATE_PITCH_IMAX * 100 |
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#ifndef ACRO_RATE_YAW_P |
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# define ACRO_RATE_YAW_P .07 |
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#endif |
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#ifndef ACRO_RATE_YAW_I |
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# define ACRO_RATE_YAW_I 0.0 |
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#endif |
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#ifndef ACRO_RATE_YAW_D |
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# define ACRO_RATE_YAW_D 0.0 |
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#endif |
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#ifndef ACRO_RATE_YAW_IMAX |
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# define ACRO_RATE_YAW_IMAX 0 |
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#endif |
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# define ACRO_RATE_YAW_IMAX_CENTIDEGREE ACRO_RATE_YAW_IMAX * 100 |
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#ifndef ACRO_RATE_TRIGGER |
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# define ACRO_RATE_TRIGGER 100 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// STABILZE Angle Control |
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// |
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#ifndef STABILIZE_ROLL_P |
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# define STABILIZE_ROLL_P 0.6 |
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#endif |
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#ifndef STABILIZE_ROLL_I |
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# define STABILIZE_ROLL_I 0.0 |
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#endif |
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#ifndef STABILIZE_ROLL_D |
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# define STABILIZE_ROLL_D 0.0 |
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#endif |
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#ifndef STABILIZE_ROLL_IMAX |
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# define STABILIZE_ROLL_IMAX 3 |
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#endif |
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#define STABILIZE_ROLL_IMAX_CENTIDEGREE STABILIZE_ROLL_IMAX * 100 |
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#ifndef STABILIZE_PITCH_P |
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# define STABILIZE_PITCH_P 0.6 |
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#endif |
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#ifndef STABILIZE_PITCH_I |
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# define STABILIZE_PITCH_I 0.0 |
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#endif |
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#ifndef STABILIZE_PITCH_D |
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# define STABILIZE_PITCH_D 0.0 |
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#endif |
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#ifndef STABILIZE_PITCH_IMAX |
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# define STABILIZE_PITCH_IMAX 3 |
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#endif |
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# define STABILIZE_PITCH_IMAX_CENTIDEGREE STABILIZE_PITCH_IMAX * 100 |
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// STABILZE RATE Control |
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// |
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#ifndef STABILIZE_DAMPENER |
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# define STABILIZE_DAMPENER 0.135 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// YAW Control |
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// |
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#ifndef YAW_P |
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# define YAW_P 0.5 |
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#endif |
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#ifndef YAW_I |
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# define YAW_I 0.0 |
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#endif |
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#ifndef YAW_D |
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# define YAW_D 0.0 |
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#endif |
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#ifndef YAW_IMAX |
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# define YAW_IMAX 1 |
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#endif |
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# define YAW_IMAX_CENTIDEGREE YAW_IMAX * 100 |
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// STABILZE YAW Control |
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// |
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#ifndef HOLD_YAW_DAMPENER |
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# define HOLD_YAW_DAMPENER 0.175 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Throttle control |
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// |
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#ifndef THROTTLE_MIN |
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# define THROTTLE_MIN 0 |
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#endif |
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#ifndef THROTTLE_CRUISE |
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# define THROTTLE_CRUISE 250 |
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#endif |
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#ifndef THROTTLE_MAX |
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# define THROTTLE_MAX 1000 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Autopilot control limits |
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// |
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// how much to we pitch towards the target |
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#ifndef PITCH_MAX |
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# define PITCH_MAX 36 |
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#endif |
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#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100 |
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////////////////////////////////////////////////////////////////////////////// |
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// Navigation control gains |
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// |
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#ifndef NAV_P |
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# define NAV_P 2.0 |
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#endif |
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#ifndef NAV_I |
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# define NAV_I 0.00 |
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#endif |
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#ifndef NAV_D |
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# define NAV_D 0.00 |
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#endif |
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#ifndef NAV_IMAX |
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# define NAV_IMAX 250 |
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#endif |
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# define NAV_IMAX_CENTIDEGREE NAV_IMAX * 100 |
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////////////////////////////////////////////////////////////////////////////// |
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// Throttle control gains |
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// |
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#ifndef THROTTLE_BARO_P |
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# define THROTTLE_BARO_P 0.25 |
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#endif |
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#ifndef THROTTLE_BARO_I |
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# define THROTTLE_BARO_I 0.01 |
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#endif |
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#ifndef THROTTLE_BARO_D |
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# define THROTTLE_BARO_D 0.2 |
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#endif |
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#ifndef THROTTLE_BARO_IMAX |
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# define THROTTLE_BARO_IMAX 50 |
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#endif |
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# define THROTTLE_BARO_IMAX_CENTIDEGREE THROTTLE_BARO_IMAX * 100 |
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#ifndef THROTTLE_SONAR_P |
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# define THROTTLE_SONAR_P .8 |
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#endif |
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#ifndef THROTTLE_SONAR_I |
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# define THROTTLE_SONAR_I 0.3 |
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#endif |
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#ifndef THROTTLE_SONAR_D |
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# define THROTTLE_SONAR_D 0.7 |
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#endif |
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#ifndef THROTTLE_SONAR_IMAX |
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# define THROTTLE_SONAR_IMAX 300 |
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#endif |
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# define THROTTLE_SONAR_IMAX_CENTIDEGREE THROTTLE_SONAR_IMAX * 100 |
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////////////////////////////////////////////////////////////////////////////// |
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// Crosstrack compensation |
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// |
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#ifndef XTRACK_GAIN |
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# define XTRACK_GAIN 1 // deg/m |
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#endif |
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#ifndef XTRACK_ENTRY_ANGLE |
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# define XTRACK_ENTRY_ANGLE 30 // deg |
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#endif |
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# define XTRACK_GAIN_SCALED XTRACK_GAIN * 100 |
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# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE * 100 |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// DEBUGGING |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// DEBUG_LEVEL |
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// |
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#ifndef DEBUG_LEVEL |
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# define DEBUG_LEVEL SEVERITY_LOW |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Dataflash logging control |
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// |
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#ifndef LOG_ATTITUDE_FAST |
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# define LOG_ATTITUDE_FAST DISABLED |
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#endif |
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#ifndef LOG_ATTITUDE_MED |
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# define LOG_ATTITUDE_MED ENABLED |
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#endif |
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#ifndef LOG_GPS |
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# define LOG_GPS ENABLED |
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#endif |
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#ifndef LOG_PM |
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# define LOG_PM ENABLED |
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#endif |
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#ifndef LOG_CTUN |
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# define LOG_CTUN DISABLED |
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#endif |
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#ifndef LOG_NTUN |
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# define LOG_NTUN DISABLED |
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#endif |
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#ifndef LOG_MODE |
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# define LOG_MODE ENABLED |
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#endif |
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#ifndef LOG_RAW |
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# define LOG_RAW DISABLED |
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#endif |
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#ifndef LOG_CMD |
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# define LOG_CMD ENABLED |
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#endif |
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#ifndef LOG_CURRENT |
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# define LOG_CURRENT DISABLED |
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#endif |
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#ifndef DEBUG_PORT |
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# define DEBUG_PORT 0 |
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#endif |
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#if DEBUG_PORT == 0 |
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# define SendDebug_P(a) Serial.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial.println_P(PSTR(a)) |
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# define SendDebug Serial.print |
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# define SendDebugln Serial.println |
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#elif DEBUG_PORT == 1 |
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# define SendDebug_P(a) Serial1.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial1.println_P(PSTR(a)) |
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# define SendDebug Serial1.print |
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# define SendDebugln Serial1.println |
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#elif DEBUG_PORT == 2 |
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# define SendDebug_P(a) Serial2.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial2.println_P(PSTR(a)) |
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# define SendDebug Serial2.print |
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# define SendDebugln Serial2.println |
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#elif DEBUG_PORT == 3 |
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# define SendDebug_P(a) Serial3.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial3.println_P(PSTR(a)) |
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# define SendDebug Serial3.print |
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# define SendDebugln Serial3.println |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Navigation defaults |
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// |
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#ifndef WP_RADIUS_DEFAULT |
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# define WP_RADIUS_DEFAULT 3 |
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#endif |
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#ifndef LOITER_RADIUS_DEFAULT |
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# define LOITER_RADIUS_DEFAULT 10 |
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#endif |
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#ifndef ALT_HOLD_HOME |
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# define ALT_HOLD_HOME 8 |
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#endif |
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#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100 |
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#ifndef USE_CURRENT_ALT |
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# define USE_CURRENT_ALT FALSE |
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#endif |
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#if USE_CURRENT_ALT == TRUE |
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# define CONFIG_OPTIONS 0 |
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#else |
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# define CONFIG_OPTIONS HOLD_ALT_ABOVE_HOME |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Developer Items |
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// |
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#ifndef STANDARD_SPEED |
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# define STANDARD_SPEED 15.0 |
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#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED) |
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#endif |
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#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
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