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ardupilot/ArduCopter/config.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
#ifndef __ARDUCOPTER_CONFIG_H__
#define __ARDUCOPTER_CONFIG_H__
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifdef CONFIG_APM_HARDWARE
#error CONFIG_APM_HARDWARE option is deprecated! use CONFIG_HAL_BOARD instead
#endif
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduCopter
#endif
#ifdef __AVR_ATmega1280__
#error ATmega1280 is not supported
#endif
//////////////////////////////////////////////////////////////////////////////
// APM2 HARDWARE DEFAULTS
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# ifdef APM2_BETA_HARDWARE
# define CONFIG_BARO AP_BARO_BMP085
# else // APM2 Production Hardware (default)
# define CONFIG_BARO AP_BARO_MS5611
# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
# endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define CONFIG_IMU_TYPE CONFIG_IMU_PX4
# define CONFIG_BARO AP_BARO_PX4
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
# define CONFIG_ADC DISABLED
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
# define CONFIG_ADC DISABLED
# define MAGNETOMETER ENABLED
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
#ifndef FRAME_CONFIG
# define FRAME_CONFIG QUAD_FRAME
#endif
#ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME
#endif
#ifndef TOY_EDF
# define TOY_EDF DISABLED
#endif
#ifndef TOY_MIXER
# define TOY_MIXER TOY_LINEAR_MIXER
#endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT YAW_LOOK_AT_HOME
# define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define HELI_PITCH_FF 0
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define STABILIZE_THROTTLE THROTTLE_MANUAL
# define MPU6K_FILTER 10
#endif
/////////////////////////////////////////////////////////////////////////////////
// Y6 defaults
#if FRAME_CONFIG == Y6_FRAME
# define RATE_ROLL_P 0.1f
# define RATE_ROLL_D 0.006f
# define RATE_PITCH_P 0.1f
# define RATE_PITCH_D 0.006f
# define RATE_YAW_P 0.150f
# define RATE_YAW_I 0.015f
#endif
// optical flow doesn't work in SITL yet
#ifdef DESKTOP_BUILD
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// IMU Selection
//
#ifndef CONFIG_IMU_TYPE
# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
#endif
#ifndef MPU6K_FILTER
# define MPU6K_FILTER MPU6K_DEFAULT_FILTER
#endif
//////////////////////////////////////////////////////////////////////////////
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED
# endif
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
#endif
////////////////////////////////////////////////////////
// LED and IO Pins
//
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define LED_ON HIGH
# define LED_OFF LOW
# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
# define BATTERY_CURR_PIN 1 // Battery current on A1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define LED_ON LOW
# define LED_OFF HIGH
# define BATTERY_VOLT_PIN -1
# define BATTERY_CURR_PIN -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define BATTERY_VOLT_PIN 20
# define BATTERY_CURR_PIN 19
# define LED_ON LOW
# define LED_OFF HIGH
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define BATTERY_VOLT_PIN -1
# define BATTERY_CURR_PIN -1
# define LED_ON LOW
# define LED_OFF HIGH
#endif
////////////////////////////////////////////////////////////////////////////////
// CopterLEDs
//
#ifndef COPTER_LEDS
#define COPTER_LEDS ENABLED
#endif
#define COPTER_LED_ON HIGH
#define COPTER_LED_OFF LOW
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define COPTER_LED_1 AN4 // Motor or Aux LED
#define COPTER_LED_2 AN5 // Motor LED or Beeper
#define COPTER_LED_3 AN6 // Motor or GPS LED
#define COPTER_LED_4 AN7 // Motor LED
#define COPTER_LED_5 AN8 // Motor LED
#define COPTER_LED_6 AN9 // Motor LED
#define COPTER_LED_7 AN10 // Motor LED
#define COPTER_LED_8 AN11 // Motor LED
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define COPTER_LED_1 AN8 // Motor or Aux LED
#define COPTER_LED_2 AN9 // Motor LED
#define COPTER_LED_3 AN10 // Motor or GPS LED
#define COPTER_LED_4 AN11 // Motor LED
#define COPTER_LED_5 AN12 // Motor LED
#define COPTER_LED_6 AN13 // Motor LED
#define COPTER_LED_7 AN14 // Motor LED
#define COPTER_LED_8 AN15 // Motor LED
#else
// not supported yet on this board
#undef COPTER_LEDS
#endif
//////////////////////////////////////////////////////////////////////////////
// Barometer
//
#ifndef CONFIG_BARO
# define CONFIG_BARO AP_BARO_BMP085
#endif
//////////////////////////////////////////////////////////////////////////////
// Sonar
//
#ifndef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED
# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED
# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN
# undef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
#endif
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL
# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7
# endif
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
# define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
# endif
#else
# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
# define CONFIG_SONAR DISABLED
#endif
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif
#ifndef SONAR_ALT_HEALTH_MAX
# define SONAR_ALT_HEALTH_MAX 3 // number of good reads that indicates a healthy sonar
#endif
#ifndef SONAR_RELIABLE_DISTANCE_PCT
# define SONAR_RELIABLE_DISTANCE_PCT 0.60f // we trust the sonar out to 60% of it's maximum range
#endif
#ifndef SONAR_GAIN_DEFAULT
# define SONAR_GAIN_DEFAULT 2.0 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction)
#endif
#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel 7 and 8 default options
//
#ifndef CH7_OPTION
# define CH7_OPTION AUX_SWITCH_SAVE_WP
#endif
#ifndef CH8_OPTION
# define CH8_OPTION AUX_SWITCH_DO_NOTHING
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#undef CONFIG_SONAR
#define CONFIG_SONAR DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL3_BAUD
# define SERIAL3_BAUD 57600
#endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 10.5f
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.56f
#endif
#ifndef CURR_AMP_PER_VOLT
# define CURR_AMP_PER_VOLT 27.32f
#endif
#ifndef CURR_AMPS_OFFSET
# define CURR_AMPS_OFFSET 0.0f
#endif
#ifndef BATTERY_CAPACITY_DEFAULT
# define BATTERY_CAPACITY_DEFAULT 3500
#endif
#ifndef BOARD_VOLTAGE_MIN
# define BOARD_VOLTAGE_MIN 4300 // min board voltage in milli volts for pre-arm checks
#endif
#ifndef BOARD_VOLTAGE_MAX
# define BOARD_VOLTAGE_MAX 5800 // max board voltage in milli volts for pre-arm checks
#endif
// Battery failsafe
#ifndef FS_BATTERY
# define FS_BATTERY DISABLED
#endif
// GPS failsafe
#ifndef FS_GPS
# define FS_GPS ENABLED
#endif
#ifndef FAILSAFE_GPS_TIMEOUT_MS
# define FAILSAFE_GPS_TIMEOUT_MS 5000 // gps failsafe triggers after 5 seconds with no GPS
#endif
#ifndef GPS_HDOP_GOOD_DEFAULT
# define GPS_HDOP_GOOD_DEFAULT 200 // minimum hdop that represents a good position. used during pre-arm checks if fence is enabled
#endif
// GCS failsafe
#ifndef FS_GCS
# define FS_GCS DISABLED
#endif
#ifndef FS_GCS_TIMEOUT_MS
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// possible values for FS_GCS parameter
#define FS_GCS_DISABLED 0
#define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
// expected magnetic field strength. pre-arm checks will fail if 50% higher or lower than this value
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 330 // pre arm will fail if mag field > 495 or < 165
#endif
#else // APM1, PX4, SITL
#ifndef COMPASS_MAGFIELD_EXPECTED
#define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 795 or < 265
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW DISABLED
#endif
#ifndef OPTFLOW_ORIENTATION
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_RESOLUTION
# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
#endif
#ifndef OPTFLOW_FOV
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P
#define OPTFLOW_ROLL_P 2.5f
#endif
#ifndef OPTFLOW_ROLL_I
#define OPTFLOW_ROLL_I 0.5f
#endif
#ifndef OPTFLOW_ROLL_D
#define OPTFLOW_ROLL_D 0.12f
#endif
#ifndef OPTFLOW_PITCH_P
#define OPTFLOW_PITCH_P 2.5f
#endif
#ifndef OPTFLOW_PITCH_I
#define OPTFLOW_PITCH_I 0.5f
#endif
#ifndef OPTFLOW_PITCH_D
#define OPTFLOW_PITCH_D 0.12f
#endif
#ifndef OPTFLOW_IMAX
#define OPTFLOW_IMAX 100
#endif
//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
#ifndef SPRAYER
# define SPRAYER DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
//
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 STABILIZE
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 STABILIZE
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 STABILIZE
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 STABILIZE
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 STABILIZE
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 STABILIZE
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle Failsafe
//
// possible values for FS_THR parameter
#define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2
#define FS_THR_ENABLED_ALWAYS_LAND 3
#ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
#endif
#ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130
#endif
#ifndef MAXIMUM_THROTTLE
# define MAXIMUM_THROTTLE 1000
#endif
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_DETECTOR_TRIGGER
# define LAND_DETECTOR_TRIGGER 50 // number of 50hz iterations with near zero climb rate and low throttle that triggers landing complete.
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 3
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
#ifndef MOUNT2
# define MOUNT2 DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// definitions for earth frame and body frame
// used to specify frame to rate controllers
#define EARTH_FRAME 0
#define BODY_FRAME 1
#define BODY_EARTH_FRAME 2
// Flight mode roll, pitch, yaw, throttle and navigation definitions
// Acro Mode
#ifndef ACRO_YAW
# define ACRO_YAW YAW_ACRO
#endif
#ifndef ACRO_RP
# define ACRO_RP ROLL_PITCH_ACRO
#endif
#ifndef ACRO_THR
# define ACRO_THR THROTTLE_MANUAL
#endif
#ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
#endif
// Sport Mode
#ifndef SPORT_YAW
# define SPORT_YAW YAW_HOLD
#endif
#ifndef SPORT_RP
# define SPORT_RP ROLL_PITCH_SPORT
#endif
#ifndef SPORT_THR
# define SPORT_THR THROTTLE_HOLD
#endif
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
#endif
#ifndef ALT_HOLD_RP
# define ALT_HOLD_RP ROLL_PITCH_STABLE
#endif
#ifndef ALT_HOLD_THR
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
// AUTO Mode
// Note: Auto mode yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
#endif
#ifndef AUTO_RP
# define AUTO_RP ROLL_PITCH_AUTO
#endif
#ifndef AUTO_THR
# define AUTO_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_CIRCLE
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
#ifndef CIRCLE_NAV
# define CIRCLE_NAV NAV_CIRCLE
#endif
#ifndef CIRCLE_RADIUS
# define CIRCLE_RADIUS 10 // radius in meters for circle mode
#endif
#ifndef CIRCLE_RATE
# define CIRCLE_RATE 20.0f // degrees per second turn rate
#endif
// Guided Mode
// Note: Guided mode yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef GUIDED_RP
# define GUIDED_RP ROLL_PITCH_AUTO
#endif
#ifndef GUIDED_THR
# define GUIDED_THR THROTTLE_AUTO
#endif
#ifndef GUIDED_NAV
# define GUIDED_NAV NAV_WP
#endif
// LOITER Mode
#ifndef LOITER_YAW
# define LOITER_YAW YAW_HOLD
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_LOITER
#endif
#ifndef LOITER_THR
# define LOITER_THR THROTTLE_HOLD
#endif
#ifndef LOITER_NAV
# define LOITER_NAV NAV_LOITER
#endif
// POSITION Mode
#ifndef POSITION_YAW
# define POSITION_YAW YAW_HOLD
#endif
#ifndef POSITION_RP
# define POSITION_RP ROLL_PITCH_LOITER
#endif
#ifndef POSITION_THR
# define POSITION_THR THROTTLE_MANUAL_TILT_COMPENSATED
#endif
#ifndef POSITION_NAV
# define POSITION_NAV NAV_LOITER
#endif
// RTL Mode
// Note: RTL Yaw behaviour is controlled by WP_YAW_BEHAVIOR parameter
#ifndef RTL_RP
# define RTL_RP ROLL_PITCH_AUTO
#endif
#ifndef RTL_THR
# define RTL_THR THROTTLE_AUTO
#endif
#ifndef SUPER_SIMPLE
# define SUPER_SIMPLE DISABLED
#endif
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
// RTL Mode
#ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
#endif
#ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
#endif
#ifndef RTL_ALT_MAX
# define RTL_ALT_MAX 8000 // Max height to return to home in cm (i.e 80m)
#endif
#ifndef RTL_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
#endif
// Optical Flow LOITER Mode
#ifndef OF_LOITER_YAW
# define OF_LOITER_YAW YAW_HOLD
#endif
#ifndef OF_LOITER_RP
# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
#endif
#ifndef OF_LOITER_THR
# define OF_LOITER_THR THROTTLE_HOLD
#endif
#ifndef OF_LOITER_NAV
# define OF_LOITER_NAV NAV_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//
// Acro mode gains
#ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
#endif
#ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
#endif
// Stabilize (angle controller) gains
#ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5f
#endif
#ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0f
#endif
#ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 0
#endif
#ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5f
#endif
#ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0f
#endif
#ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 0
#endif
#ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif
#ifndef STABILIZE_YAW_I
# define STABILIZE_YAW_I 0.0f
#endif
#ifndef STABILIZE_YAW_IMAX
# define STABILIZE_YAW_IMAX 0
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before copter is aimed at ground course
#endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef ROLL_PITCH_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
#endif
#ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
#endif
#ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.150f
#endif
#ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.100f
#endif
#ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.004f
#endif
#ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 500
#endif
#ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.150f
#endif
#ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.100f
#endif
#ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.004f
#endif
#ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 500
#endif
#ifndef RATE_YAW_P
# define RATE_YAW_P 0.200f
#endif
#ifndef RATE_YAW_I
# define RATE_YAW_I 0.020f
#endif
#ifndef RATE_YAW_D
# define RATE_YAW_D 0.000f
#endif
#ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 800
#endif
//////////////////////////////////////////////////////////////////////////////
// Rate controlled stabilized variables
//
#ifndef MAX_ROLL_OVERSHOOT
#define MAX_ROLL_OVERSHOOT 3000
#endif
#ifndef MAX_PITCH_OVERSHOOT
#define MAX_PITCH_OVERSHOOT 3000
#endif
#ifndef MAX_YAW_OVERSHOOT
#define MAX_YAW_OVERSHOOT 1000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 1.0f
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 1.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef LOITER_P
# define LOITER_P 1.0f
#endif
#ifndef LOITER_I
# define LOITER_I 0.0f
#endif
#ifndef LOITER_IMAX
# define LOITER_IMAX 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter rate control gains
//
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 1.0f
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.5f
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.0f
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 400 // maximum acceleration from I term build-up in cm/s/s
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot rotate rate limits
//
#ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 450 // default estimate of throttle required for vehicle to maintain a hover
#endif
#ifndef THR_MID
# define THR_MID 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif
#ifndef ALT_HOLD_TAKEOFF_JUMP
# define ALT_HOLD_TAKEOFF_JUMP 20 // jump in altitude target when taking off in Loiter or AltHold flight modes
#endif
#ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0f
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.0f
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300
#endif
// RATE control
#ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 6.0f
#endif
#ifndef THROTTLE_RATE_I
# define THROTTLE_RATE_I 0.0f
#endif
#ifndef THROTTLE_RATE_D
# define THROTTLE_RATE_D 0.0f
#endif
#ifndef THROTTLE_RATE_IMAX
# define THROTTLE_RATE_IMAX 300
#endif
// default maximum vertical velocity the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
#endif
// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
#endif
// the acceleration used to define the distance-velocity curve
#ifndef ALT_HOLD_ACCEL_MAX
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.75f
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.50f
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0f
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 500
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
#ifndef LOG_ATTITUDE_FAST
# define LOG_ATTITUDE_FAST DISABLED
#endif
#ifndef LOG_ATTITUDE_MED
# define LOG_ATTITUDE_MED ENABLED
#endif
#ifndef LOG_GPS
# define LOG_GPS ENABLED
#endif
#ifndef LOG_PM
# define LOG_PM ENABLED
#endif
#ifndef LOG_CTUN
# define LOG_CTUN ENABLED
#endif
#ifndef LOG_NTUN
# define LOG_NTUN ENABLED
#endif
#ifndef LOG_IMU
# define LOG_IMU DISABLED
#endif
#ifndef LOG_CMD
# define LOG_CMD ENABLED
#endif
// current
#ifndef LOG_CURRENT
# define LOG_CURRENT ENABLED
#endif
// quad motor PWMs
#ifndef LOG_MOTORS
# define LOG_MOTORS DISABLED
#endif
// optical flow
#ifndef LOG_OPTFLOW
# define LOG_OPTFLOW DISABLED
#endif
#ifndef LOG_PID
# define LOG_PID DISABLED
#endif
#ifndef LOG_COMPASS
# define LOG_COMPASS DISABLED
#endif
#ifndef LOG_INAV
# define LOG_INAV DISABLED
#endif
#ifndef LOG_CAMERA
# define LOG_CAMERA ENABLED
#endif
// calculate the default log_bitmask
#define LOGBIT(_s) (LOG_ ## _s ? MASK_LOG_ ## _s : 0)
#define DEFAULT_LOG_BITMASK \
LOGBIT(ATTITUDE_FAST) | \
LOGBIT(ATTITUDE_MED) | \
LOGBIT(GPS) | \
LOGBIT(PM) | \
LOGBIT(CTUN) | \
LOGBIT(NTUN) | \
LOGBIT(IMU) | \
LOGBIT(CMD) | \
LOGBIT(CURRENT) | \
LOGBIT(MOTORS) | \
LOGBIT(OPTFLOW) | \
LOGBIT(PID) | \
LOGBIT(COMPASS) | \
LOGBIT(INAV)
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
#ifndef AC_FENCE
#define AC_FENCE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
#ifndef CLI_ENABLED
# define CLI_ENABLED ENABLED
#endif
#endif // __ARDUCOPTER_CONFIG_H__