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733 lines
23 KiB
733 lines
23 KiB
// |
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#pragma once |
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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" |
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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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#ifndef CONFIG_HAL_BOARD |
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#error CONFIG_HAL_BOARD must be defined to build ArduCopter |
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#endif |
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#ifndef ARMING_DELAY_SEC |
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# define ARMING_DELAY_SEC 2.0f |
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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 MULTICOPTER_FRAME |
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#endif |
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///////////////////////////////////////////////////////////////////////////////// |
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// TradHeli defaults |
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#if FRAME_CONFIG == HELI_FRAME |
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# define RC_FAST_SPEED 125 |
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD |
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# define AUTOTUNE_ENABLED DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// PWM control |
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// default RC speed in Hz |
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#ifndef RC_FAST_SPEED |
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# define RC_FAST_SPEED 490 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Rangefinder |
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// |
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#ifndef RANGEFINDER_ENABLED |
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# define RANGEFINDER_ENABLED ENABLED |
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#endif |
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#ifndef RANGEFINDER_HEALTH_MAX |
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder |
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#endif |
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#ifndef RANGEFINDER_TIMEOUT_MS |
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# define RANGEFINDER_TIMEOUT_MS 1000 // rangefinder filter reset if no updates from sensor in 1 second |
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#endif |
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#ifndef RANGEFINDER_FILT_DEFAULT |
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# define RANGEFINDER_FILT_DEFAULT 0.5f // filter for rangefinder distance |
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#endif |
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#ifndef SURFACE_TRACKING_VELZ_MAX |
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# define SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder |
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#endif |
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#ifndef SURFACE_TRACKING_TIMEOUT_MS |
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# 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 |
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#endif |
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF |
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# define RANGEFINDER_TILT_CORRECTION ENABLED |
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#endif |
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#ifndef RANGEFINDER_GLITCH_ALT_CM |
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# define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch |
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#endif |
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#ifndef RANGEFINDER_GLITCH_NUM_SAMPLES |
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# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading |
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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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// Battery monitoring |
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// |
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#ifndef BOARD_VOLTAGE_MIN |
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# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks |
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#endif |
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#ifndef BOARD_VOLTAGE_MAX |
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# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks |
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#endif |
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// prearm GPS hdop check |
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#ifndef GPS_HDOP_GOOD_DEFAULT |
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# define GPS_HDOP_GOOD_DEFAULT 140 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled |
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#endif |
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// GCS failsafe |
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#ifndef FS_GCS |
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# define FS_GCS DISABLED |
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#endif |
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// Radio failsafe while using RC_override |
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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS |
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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station |
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#endif |
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// Radio failsafe |
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#ifndef FS_RADIO_TIMEOUT_MS |
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#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 milliseconds with No RC Input |
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#endif |
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// missing terrain data failsafe |
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#ifndef FS_TERRAIN_TIMEOUT_MS |
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#define FS_TERRAIN_TIMEOUT_MS 5000 // 5 seconds of missing terrain data will trigger failsafe (RTL) |
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#endif |
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#ifndef PREARM_DISPLAY_PERIOD |
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# define PREARM_DISPLAY_PERIOD 30 |
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#endif |
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// pre-arm baro vs inertial nav max alt disparity |
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#ifndef PREARM_MAX_ALT_DISPARITY_CM |
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# define PREARM_MAX_ALT_DISPARITY_CM 100 // barometer and inertial nav altitude must be within this many centimeters |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// EKF Failsafe |
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#ifndef FS_EKF_ACTION_DEFAULT |
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# define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND // EKF failsafe triggers land by default |
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#endif |
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#ifndef FS_EKF_THRESHOLD_DEFAULT |
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# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered |
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#endif |
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#ifndef EKF_ORIGIN_MAX_ALT_KM |
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# define EKF_ORIGIN_MAX_ALT_KM 50 // EKF origin and home must be within 50km vertically |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// OPTICAL_FLOW |
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#ifndef OPTFLOW |
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# define OPTFLOW ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Auto Tuning |
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#ifndef AUTOTUNE_ENABLED |
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# define AUTOTUNE_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Crop Sprayer - enabled only on larger firmwares |
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#ifndef SPRAYER_ENABLED |
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# define SPRAYER_ENABLED HAL_SPRAYER_ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Precision Landing with companion computer or IRLock sensor |
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#ifndef PRECISION_LANDING |
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# define PRECISION_LANDING ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// gripper - enabled only on larger firmwares |
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#ifndef GRIPPER_ENABLED |
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# define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// winch support |
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#ifndef WINCH_ENABLED |
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# define WINCH_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// rotations per minute sensor support |
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#ifndef RPM_ENABLED |
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# define RPM_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Parachute release |
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#ifndef PARACHUTE |
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# define PARACHUTE HAL_PARACHUTE_ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Nav-Guided - allows external nav computer to control vehicle |
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#ifndef NAV_GUIDED |
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# define NAV_GUIDED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Acro - fly vehicle in acrobatic mode |
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#ifndef MODE_ACRO_ENABLED |
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# define MODE_ACRO_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Auto mode - allows vehicle to trace waypoints and perform automated actions |
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#ifndef MODE_AUTO_ENABLED |
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# define MODE_AUTO_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Brake mode - bring vehicle to stop |
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#ifndef MODE_BRAKE_ENABLED |
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# define MODE_BRAKE_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Circle - fly vehicle around a central point |
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#ifndef MODE_CIRCLE_ENABLED |
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# define MODE_CIRCLE_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Drift - fly vehicle in altitude-held, coordinated-turn mode |
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#ifndef MODE_DRIFT_ENABLED |
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# define MODE_DRIFT_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// flip - fly vehicle in flip in pitch and roll direction mode |
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#ifndef MODE_FLIP_ENABLED |
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# define MODE_FLIP_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Follow - follow another vehicle or GCS |
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#ifndef MODE_FOLLOW_ENABLED |
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# define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Guided mode - control vehicle's position or angles from GCS |
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#ifndef MODE_GUIDED_ENABLED |
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# define MODE_GUIDED_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// GuidedNoGPS mode - control vehicle's angles from GCS |
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#ifndef MODE_GUIDED_NOGPS_ENABLED |
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# define MODE_GUIDED_NOGPS_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Loiter mode - allows vehicle to hold global position |
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#ifndef MODE_LOITER_ENABLED |
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# define MODE_LOITER_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Position Hold - enable holding of global position |
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#ifndef MODE_POSHOLD_ENABLED |
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# define MODE_POSHOLD_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// RTL - Return To Launch |
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#ifndef MODE_RTL_ENABLED |
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# define MODE_RTL_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home |
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#ifndef MODE_SMARTRTL_ENABLED |
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# define MODE_SMARTRTL_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Sport - fly vehicle in rate-controlled (earth-frame) mode |
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#ifndef MODE_SPORT_ENABLED |
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# define MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// System ID - conduct system identification tests on vehicle |
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#ifndef MODE_SYSTEMID_ENABLED |
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# define MODE_SYSTEMID_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Throw - fly vehicle after throwing it in the air |
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#ifndef MODE_THROW_ENABLED |
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# define MODE_THROW_ENABLED ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// ZigZag - allow vehicle to fly in a zigzag manner with predefined point A B |
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#ifndef MODE_ZIGZAG_ENABLED |
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# define MODE_ZIGZAG_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Turtle - allow vehicle to be flipped over after a crash |
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#ifndef MODE_TURTLE_ENABLED |
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# define MODE_TURTLE_ENABLED !HAL_MINIMIZE_FEATURES && !defined(DISABLE_DSHOT) && FRAME_CONFIG != HELI_FRAME |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// Autorotate - autonomous auto-rotation - helicopters only |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#if FRAME_CONFIG == HELI_FRAME |
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#ifndef MODE_AUTOROTATE_ENABLED |
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# define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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#else |
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# define MODE_AUTOROTATE_ENABLED DISABLED |
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#endif |
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#else |
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# define MODE_AUTOROTATE_ENABLED DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Beacon support - support for local positioning systems |
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#ifndef BEACON_ENABLED |
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# define BEACON_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Landing Gear support |
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#ifndef LANDING_GEAR_ENABLED |
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#define LANDING_GEAR_ENABLED ENABLED |
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#endif |
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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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// |
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#ifndef FLIGHT_MODE_1 |
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# define FLIGHT_MODE_1 Mode::Number::STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_2 |
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# define FLIGHT_MODE_2 Mode::Number::STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_3 |
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# define FLIGHT_MODE_3 Mode::Number::STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_4 |
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# define FLIGHT_MODE_4 Mode::Number::STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_5 |
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# define FLIGHT_MODE_5 Mode::Number::STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_6 |
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# define FLIGHT_MODE_6 Mode::Number::STABILIZE |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Throttle Failsafe |
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// |
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#ifndef FS_THR_VALUE_DEFAULT |
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# define FS_THR_VALUE_DEFAULT 975 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Takeoff |
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// |
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#ifndef PILOT_TKOFF_ALT_DEFAULT |
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# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Landing |
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// |
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#ifndef LAND_SPEED |
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# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s |
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#endif |
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#ifndef LAND_REPOSITION_DEFAULT |
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# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing |
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#endif |
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#ifndef LAND_WITH_DELAY_MS |
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# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event |
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#endif |
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#ifndef LAND_CANCEL_TRIGGER_THR |
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# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700 |
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#endif |
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#ifndef LAND_RANGEFINDER_MIN_ALT_CM |
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#define LAND_RANGEFINDER_MIN_ALT_CM 200 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Landing Detector |
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// |
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#ifndef LAND_DETECTOR_TRIGGER_SEC |
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# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing |
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#endif |
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#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC |
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# 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) |
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#endif |
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#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF |
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# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter |
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#endif |
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#ifndef LAND_DETECTOR_ACCEL_MAX |
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# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s |
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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 ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Flight mode definitions |
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// |
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// Acro Mode |
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#ifndef ACRO_LEVEL_MAX_ANGLE |
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# define ACRO_LEVEL_MAX_ANGLE 3000 // maximum lean angle in trainer mode measured in centidegrees |
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#endif |
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#ifndef ACRO_LEVEL_MAX_OVERSHOOT |
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# define ACRO_LEVEL_MAX_OVERSHOOT 1000 // maximum overshoot angle in trainer mode when full roll or pitch stick is held in centidegrees |
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#endif |
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#ifndef ACRO_BALANCE_ROLL |
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#define ACRO_BALANCE_ROLL 1.0f |
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#endif |
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#ifndef ACRO_BALANCE_PITCH |
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#define ACRO_BALANCE_PITCH 1.0f |
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#endif |
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#ifndef ACRO_RP_EXPO_DEFAULT |
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#define ACRO_RP_EXPO_DEFAULT 0.3f // ACRO roll and pitch expo parameter default |
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#endif |
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#ifndef ACRO_Y_EXPO_DEFAULT |
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#define ACRO_Y_EXPO_DEFAULT 0.0f // ACRO yaw expo parameter default |
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#endif |
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#ifndef ACRO_THR_MID_DEFAULT |
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#define ACRO_THR_MID_DEFAULT 0.0f |
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#endif |
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#ifndef ACRO_RP_RATE_DEFAULT |
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#define ACRO_RP_RATE_DEFAULT 360 // ACRO roll and pitch rotation rate parameter default in deg/s |
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#endif |
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#ifndef ACRO_Y_RATE_DEFAULT |
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#define ACRO_Y_RATE_DEFAULT 202.5 // ACRO yaw rotation rate parameter default in deg/s |
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#endif |
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// RTL Mode |
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#ifndef RTL_ALT_FINAL |
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# 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. |
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#endif |
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#ifndef RTL_ALT |
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# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude |
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#endif |
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#ifndef RTL_ALT_MIN |
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# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m) |
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#endif |
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#ifndef RTL_CLIMB_MIN_DEFAULT |
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# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL |
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#endif |
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#ifndef RTL_ABS_MIN_CLIMB |
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# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb |
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#endif |
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#ifndef RTL_CONE_SLOPE_DEFAULT |
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# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone |
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#endif |
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#ifndef RTL_MIN_CONE_SLOPE |
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# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone |
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#endif |
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#ifndef RTL_LOITER_TIME |
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# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning final descent |
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#endif |
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// AUTO Mode |
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#ifndef WP_YAW_BEHAVIOR_DEFAULT |
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL |
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#endif |
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#ifndef YAW_LOOK_AHEAD_MIN_SPEED |
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course |
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#endif |
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// Super Simple mode |
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#ifndef SUPER_SIMPLE_RADIUS |
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# define SUPER_SIMPLE_RADIUS 1000 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Stabilize Rate Control |
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// |
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#ifndef ROLL_PITCH_YAW_INPUT_MAX |
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# define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range |
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#endif |
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#ifndef DEFAULT_ANGLE_MAX |
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# define DEFAULT_ANGLE_MAX 3000 // ANGLE_MAX parameters default value |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Stop mode defaults |
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// |
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#ifndef BRAKE_MODE_SPEED_Z |
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# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode |
|
#endif |
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#ifndef BRAKE_MODE_DECEL_RATE |
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# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode |
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#endif |
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|
////////////////////////////////////////////////////////////////////////////// |
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// PosHold parameter defaults |
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// |
|
#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 |
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|
|
////////////////////////////////////////////////////////////////////////////// |
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// 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 |
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# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control |
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#endif |
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|
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#ifndef PILOT_Y_RATE_DEFAULT |
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# define PILOT_Y_RATE_DEFAULT 202.5 // yaw rotation rate parameter default in deg/s for all mode except ACRO |
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#endif |
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#ifndef PILOT_Y_EXPO_DEFAULT |
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# define PILOT_Y_EXPO_DEFAULT 0.0 // yaw expo parameter default for all mode except ACRO |
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#endif |
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|
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#ifndef AUTO_DISARMING_DELAY |
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# define AUTO_DISARMING_DELAY 10 |
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#endif |
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|
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////////////////////////////////////////////////////////////////////////////// |
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// Throw mode configuration |
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// |
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#ifndef THROW_HIGH_SPEED |
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# define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling) |
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#endif |
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#ifndef THROW_VERTICAL_SPEED |
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# define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s |
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#endif |
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|
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////////////////////////////////////////////////////////////////////////////// |
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// Logging control |
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// |
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#ifndef LOGGING_ENABLED |
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# define LOGGING_ENABLED ENABLED |
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#endif |
|
|
|
// Default logging bitmask |
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#ifndef DEFAULT_LOG_BITMASK |
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# define DEFAULT_LOG_BITMASK \ |
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MASK_LOG_ATTITUDE_MED | \ |
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MASK_LOG_GPS | \ |
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MASK_LOG_PM | \ |
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MASK_LOG_CTUN | \ |
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MASK_LOG_NTUN | \ |
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MASK_LOG_RCIN | \ |
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MASK_LOG_IMU | \ |
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MASK_LOG_CMD | \ |
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MASK_LOG_CURRENT | \ |
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MASK_LOG_RCOUT | \ |
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MASK_LOG_OPTFLOW | \ |
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MASK_LOG_COMPASS | \ |
|
MASK_LOG_CAMERA | \ |
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MASK_LOG_MOTBATT |
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#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Fence, Rally and Terrain and AC_Avoidance defaults |
|
// |
|
|
|
// Enable/disable Fence |
|
#ifndef AC_FENCE |
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#define AC_FENCE ENABLED |
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#endif |
|
|
|
#ifndef AC_RALLY |
|
#define AC_RALLY ENABLED |
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#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 AC_AVOID_ENABLED && !AC_FENCE |
|
#error AC_Avoidance relies on AC_FENCE which is disabled |
|
#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 AP_TERRAIN_AVAILABLE && !MODE_AUTO_ENABLED |
|
#error Terrain requires ModeAuto 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 |
|
// |
|
|
|
//use this to completely disable FRSKY TELEM |
|
#ifndef FRSKY_TELEM_ENABLED |
|
# define FRSKY_TELEM_ENABLED ENABLED |
|
#endif |
|
|
|
#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
|
|
|