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777 lines
24 KiB
777 lines
24 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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#ifndef __ARDUCOPTER_CONFIG_H__ |
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#define __ARDUCOPTER_CONFIG_H__ |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// |
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
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// |
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// DO NOT EDIT this file to adjust your configuration. Create your own |
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// APM_Config.h and use APM_Config.h.example as a reference. |
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// |
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
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/// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// |
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// Default and automatic configuration details. |
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// |
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// Notes for maintainers: |
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// |
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// - Try to keep this file organised in the same order as APM_Config.h.example |
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// |
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#include "defines.h" |
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/// |
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that |
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/// change in your local copy of APM_Config.h. |
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/// |
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#ifdef USE_CMAKE_APM_CONFIG |
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#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists |
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#else |
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER. |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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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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////////////////////////////////////////////////////////////////////////////// |
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// HIL_MODE OPTIONAL |
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#ifndef HIL_MODE |
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#define HIL_MODE HIL_MODE_DISABLED |
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#endif |
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode |
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#undef CONFIG_SONAR |
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#define CONFIG_SONAR DISABLED |
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#endif |
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#define MAGNETOMETER ENABLED |
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// run at 400Hz on all systems |
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# define MAIN_LOOP_RATE 400 |
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# define MAIN_LOOP_SECONDS 0.0025f |
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# define MAIN_LOOP_MICROS 2500 |
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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 QUAD_FRAME |
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#endif |
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#if FRAME_CONFIG == QUAD_FRAME |
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# define FRAME_CONFIG_STRING "QUAD" |
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#elif FRAME_CONFIG == TRI_FRAME |
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# define FRAME_CONFIG_STRING "TRI" |
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#elif FRAME_CONFIG == HEXA_FRAME |
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# define FRAME_CONFIG_STRING "HEXA" |
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#elif FRAME_CONFIG == Y6_FRAME |
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# define FRAME_CONFIG_STRING "Y6" |
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#elif FRAME_CONFIG == OCTA_FRAME |
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# define FRAME_CONFIG_STRING "OCTA" |
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#elif FRAME_CONFIG == OCTA_QUAD_FRAME |
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# define FRAME_CONFIG_STRING "OCTA_QUAD" |
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#elif FRAME_CONFIG == HELI_FRAME |
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# define FRAME_CONFIG_STRING "HELI" |
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#elif FRAME_CONFIG == SINGLE_FRAME |
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# define FRAME_CONFIG_STRING "SINGLE" |
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#elif FRAME_CONFIG == COAX_FRAME |
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# define FRAME_CONFIG_STRING "COAX" |
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#else |
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# define FRAME_CONFIG_STRING "UNKNOWN" |
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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 RATE_ROLL_P 0.02 |
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# define RATE_ROLL_I 0.5 |
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# define RATE_ROLL_D 0.001 |
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# define RATE_ROLL_IMAX 4500 |
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# define RATE_ROLL_FF 0.05 |
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# define RATE_ROLL_FILT_HZ 20.0f |
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# define RATE_PITCH_P 0.02 |
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# define RATE_PITCH_I 0.5 |
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# define RATE_PITCH_D 0.001 |
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# define RATE_PITCH_IMAX 4500 |
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# define RATE_PITCH_FF 0.05 |
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# define RATE_PITCH_FILT_HZ 20.0f |
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# define RATE_YAW_P 0.15 |
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# define RATE_YAW_I 0.100 |
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# define RATE_YAW_D 0.003 |
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# define RATE_YAW_IMAX 4500 |
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# define RATE_YAW_FF 0.02 |
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# define RATE_YAW_FILT_HZ 20.0f |
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# define THR_MIN_DEFAULT 0 |
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# define AUTOTUNE_ENABLED DISABLED |
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#endif |
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///////////////////////////////////////////////////////////////////////////////// |
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// Y6 defaults |
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#if FRAME_CONFIG == Y6_FRAME |
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# define RATE_ROLL_P 0.1f |
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# define RATE_ROLL_D 0.006f |
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# define RATE_PITCH_P 0.1f |
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# define RATE_PITCH_D 0.006f |
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# define RATE_YAW_P 0.150f |
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# define RATE_YAW_I 0.015f |
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#endif |
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///////////////////////////////////////////////////////////////////////////////// |
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// Tri defaults |
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#if FRAME_CONFIG == TRI_FRAME |
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# define RATE_YAW_FILT_HZ 100.0f |
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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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// Sonar |
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// |
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#ifndef CONFIG_SONAR |
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# define CONFIG_SONAR ENABLED |
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#endif |
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#ifndef SONAR_ALT_HEALTH_MAX |
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# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar |
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#endif |
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#ifndef SONAR_RELIABLE_DISTANCE_PCT |
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# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range |
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#endif |
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#ifndef SONAR_GAIN_DEFAULT |
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# define SONAR_GAIN_DEFAULT 0.8f // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction) |
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#endif |
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#ifndef THR_SURFACE_TRACKING_VELZ_MAX |
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# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar |
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#endif |
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#ifndef SONAR_TIMEOUT_MS |
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# define SONAR_TIMEOUT_MS 1000 // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt |
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#endif |
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#ifndef SONAR_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF |
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# define SONAR_TILT_CORRECTION DISABLED |
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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 FS_BATT_VOLTAGE_DEFAULT |
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# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered |
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#endif |
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#ifndef FS_BATT_MAH_DEFAULT |
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# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered |
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#endif |
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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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#ifndef FS_GCS_TIMEOUT_MS |
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# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat |
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#endif |
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#ifndef GNDEFFECT_COMPENSATION |
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# define GNDEFFECT_COMPENSATION DISABLED |
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#endif |
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// possible values for FS_GCS parameter |
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#define FS_GCS_DISABLED 0 |
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#define FS_GCS_ENABLED_ALWAYS_RTL 1 |
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#define FS_GCS_ENABLED_CONTINUE_MISSION 2 |
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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 miliseconds with No RC Input |
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#endif |
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#ifndef FS_CLOSE_TO_HOME_CM |
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# define FS_CLOSE_TO_HOME_CM 500 // if vehicle within 5m of home, vehicle will LAND instead of RTL during some failsafes |
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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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// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers |
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#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF |
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#define PREARM_MAX_ACCEL_VECTOR_DIFF 0.70f // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s |
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#endif |
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// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros |
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#ifndef PREARM_MAX_GYRO_VECTOR_DIFF |
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#define PREARM_MAX_GYRO_VECTOR_DIFF 0.0873f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec) |
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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_DIST_M |
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// MAGNETOMETER |
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#ifndef MAGNETOMETER |
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# define MAGNETOMETER ENABLED |
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#endif |
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// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value |
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#ifndef COMPASS_MAGFIELD_EXPECTED |
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#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185 |
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#endif |
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// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2)) |
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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#ifndef COMPASS_OFFSETS_MAX |
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# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets |
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#endif |
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#else // SITL, FLYMAPLE, etc |
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#ifndef COMPASS_OFFSETS_MAX |
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# define COMPASS_OFFSETS_MAX 500 |
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#endif |
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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 |
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#ifndef SPRAYER |
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# define SPRAYER DISABLED |
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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 DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// EPM cargo gripper |
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#ifndef EPM_ENABLED |
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# define EPM_ENABLED ENABLED |
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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 ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// ADSB support |
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#ifndef ADSB_ENABLED |
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# define ADSB_ENABLED 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 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 STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_2 |
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# define FLIGHT_MODE_2 STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_3 |
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# define FLIGHT_MODE_3 STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_4 |
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# define FLIGHT_MODE_4 STABILIZE |
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#endif |
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#ifndef FLIGHT_MODE_5 |
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# define FLIGHT_MODE_5 STABILIZE |
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#endif |
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#ifndef 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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// |
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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_START_ALT |
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# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent |
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#endif |
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#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM |
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# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL |
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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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////////////////////////////////////////////////////////////////////////////// |
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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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// MOUNT (ANTENNA OR CAMERA) |
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// |
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#ifndef MOUNT |
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# define MOUNT ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Flight mode definitions |
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// |
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// Acro Mode |
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#ifndef ACRO_RP_P |
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# define ACRO_RP_P 4.5f |
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#endif |
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#ifndef ACRO_YAW_P |
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# define ACRO_YAW_P 4.5f |
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#endif |
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#ifndef ACRO_LEVEL_MAX_ANGLE |
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# define ACRO_LEVEL_MAX_ANGLE 3000 |
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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_EXPO_DEFAULT |
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#define ACRO_EXPO_DEFAULT 0.3f |
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#endif |
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// Stabilize (angle controller) gains |
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#ifndef STABILIZE_ROLL_P |
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# define STABILIZE_ROLL_P 4.5f |
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#endif |
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#ifndef STABILIZE_PITCH_P |
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# define STABILIZE_PITCH_P 4.5f |
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#endif |
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#ifndef STABILIZE_YAW_P |
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# define STABILIZE_YAW_P 4.5f |
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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 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 |
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# define RTL_CONE_SLOPE 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 begining 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 AUTO_YAW_SLEW_RATE |
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# define AUTO_YAW_SLEW_RATE 60 // degrees/sec |
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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_INPUT_MAX |
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# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range |
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#endif |
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#ifndef DEFAULT_ANGLE_MAX |
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value |
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#endif |
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#ifndef ANGLE_RATE_MAX |
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Rate controller gains |
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// |
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#ifndef RATE_ROLL_P |
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# define RATE_ROLL_P 0.150f |
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#endif |
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#ifndef RATE_ROLL_I |
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# define RATE_ROLL_I 0.100f |
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#endif |
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#ifndef RATE_ROLL_D |
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# define RATE_ROLL_D 0.004f |
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#endif |
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#ifndef RATE_ROLL_IMAX |
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# define RATE_ROLL_IMAX 2000 |
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#endif |
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#ifndef RATE_ROLL_FILT_HZ |
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# define RATE_ROLL_FILT_HZ 20.0f |
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#endif |
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#ifndef RATE_PITCH_P |
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# define RATE_PITCH_P 0.150f |
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#endif |
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#ifndef RATE_PITCH_I |
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# define RATE_PITCH_I 0.100f |
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#endif |
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#ifndef RATE_PITCH_D |
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# define RATE_PITCH_D 0.004f |
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#endif |
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#ifndef RATE_PITCH_IMAX |
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# define RATE_PITCH_IMAX 2000 |
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#endif |
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#ifndef RATE_PITCH_FILT_HZ |
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# define RATE_PITCH_FILT_HZ 20.0f |
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#endif |
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|
|
|
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#ifndef RATE_YAW_P |
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# define RATE_YAW_P 0.200f |
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#endif |
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#ifndef RATE_YAW_I |
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# define RATE_YAW_I 0.020f |
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#endif |
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#ifndef RATE_YAW_D |
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# define RATE_YAW_D 0.000f |
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#endif |
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#ifndef RATE_YAW_IMAX |
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# define RATE_YAW_IMAX 1000 |
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#endif |
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#ifndef RATE_YAW_FILT_HZ |
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# define RATE_YAW_FILT_HZ 5.0f |
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#endif |
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|
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////////////////////////////////////////////////////////////////////////////// |
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// Loiter position control gains |
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// |
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#ifndef POS_XY_P |
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# define POS_XY_P 1.0f |
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#endif |
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|
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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 |
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#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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////////////////////////////////////////////////////////////////////////////// |
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// Velocity (horizontal) gains |
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// |
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#ifndef VEL_XY_P |
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# define VEL_XY_P 1.0f |
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#endif |
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#ifndef VEL_XY_I |
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# define VEL_XY_I 0.5f |
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#endif |
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#ifndef VEL_XY_IMAX |
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# define VEL_XY_IMAX 1000 |
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#endif |
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#ifndef VEL_XY_FILT_HZ |
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# define VEL_XY_FILT_HZ 5.0f |
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#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
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// PosHold parameter defaults |
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// |
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#ifndef POSHOLD_ENABLED |
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# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default |
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#endif |
|
#ifndef POSHOLD_BRAKE_RATE_DEFAULT |
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# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec |
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#endif |
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#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT |
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# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees |
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#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Throttle control gains |
|
// |
|
#ifndef THR_MID_DEFAULT |
|
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position |
|
#endif |
|
|
|
#ifndef THR_MIN_DEFAULT |
|
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero |
|
#endif |
|
#define THR_MAX 1000 // maximum throttle input and output sent to the motors |
|
|
|
#ifndef THR_DZ_DEFAULT |
|
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter |
|
#endif |
|
|
|
#ifndef ALT_HOLD_P |
|
# define ALT_HOLD_P 1.0f |
|
#endif |
|
|
|
// Velocity (vertical) control gains |
|
#ifndef VEL_Z_P |
|
# define VEL_Z_P 5.0f |
|
#endif |
|
|
|
// Accel (vertical) control gains |
|
#ifndef ACCEL_Z_P |
|
# define ACCEL_Z_P 0.50f |
|
#endif |
|
#ifndef ACCEL_Z_I |
|
# define ACCEL_Z_I 1.00f |
|
#endif |
|
#ifndef ACCEL_Z_D |
|
# define ACCEL_Z_D 0.0f |
|
#endif |
|
#ifndef ACCEL_Z_IMAX |
|
# define ACCEL_Z_IMAX 800 |
|
#endif |
|
#ifndef ACCEL_Z_FILT_HZ |
|
# define ACCEL_Z_FILT_HZ 20.0f |
|
#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 |
|
|
|
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode |
|
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT |
|
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200 |
|
#endif |
|
// the acceleration used to define the distance-velocity curve |
|
#ifndef ALT_HOLD_ACCEL_MAX |
|
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h |
|
#endif |
|
|
|
#ifndef AUTO_DISARMING_DELAY |
|
# define AUTO_DISARMING_DELAY 10 |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Dataflash 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 |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// AP_Limits Defaults |
|
// |
|
|
|
// Enable/disable AP_Limits |
|
#ifndef AC_FENCE |
|
#define AC_FENCE ENABLED |
|
#endif |
|
|
|
#ifndef AC_RALLY |
|
#define AC_RALLY ENABLED |
|
#endif |
|
|
|
#ifndef AC_TERRAIN |
|
#define AC_TERRAIN ENABLED |
|
#if !AC_RALLY |
|
#error Terrain relies on Rally which is disabled |
|
#endif |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Developer Items |
|
// |
|
|
|
// use this to completely disable the CLI |
|
#ifndef CLI_ENABLED |
|
# define CLI_ENABLED ENABLED |
|
#endif |
|
|
|
//use this to completely disable FRSKY TELEM |
|
#ifndef FRSKY_TELEM_ENABLED |
|
# define FRSKY_TELEM_ENABLED ENABLED |
|
#endif |
|
|
|
/* |
|
build a firmware version string. |
|
GIT_VERSION comes from Makefile builds |
|
*/ |
|
#ifndef GIT_VERSION |
|
#define FIRMWARE_STRING THISFIRMWARE |
|
#else |
|
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")" |
|
#endif |
|
|
|
#endif // __ARDUCOPTER_CONFIG_H__
|
|
|