You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
712 lines
17 KiB
712 lines
17 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
// |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// |
|
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
|
// |
|
// DO NOT EDIT this file to adjust your configuration. Create your own |
|
// APM_Config.h and use APM_Config.h.example as a reference. |
|
// |
|
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
|
/// |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// |
|
// Default and automatic configuration details. |
|
// |
|
// Notes for maintainers: |
|
// |
|
// - Try to keep this file organised in the same order as APM_Config.h.example |
|
// |
|
|
|
#include "defines.h" |
|
|
|
/// |
|
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that |
|
/// change in your local copy of APM_Config.h. |
|
/// |
|
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER. |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// HARDWARE CONFIGURATION AND CONNECTIONS |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// FRAME_CONFIG |
|
// |
|
#ifndef FRAME_CONFIG |
|
# define FRAME_CONFIG QUAD_FRAME |
|
#endif |
|
#ifndef FRAME_ORIENTATION |
|
# define FRAME_ORIENTATION PLUS_FRAME |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Sonar |
|
// |
|
|
|
#ifndef SONAR_PORT |
|
# define SONAR_PORT AP_RANGEFINDER_PITOT_TUBE |
|
#endif |
|
|
|
#ifndef SONAR_TYPE |
|
# define SONAR_TYPE MAX_SONAR_XL |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Acrobatics |
|
// |
|
|
|
#ifndef CH7_OPTION |
|
# define CH7_OPTION CH7_SET_HOVER |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// AIRSPEED_SENSOR |
|
// AIRSPEED_RATIO |
|
// |
|
#ifndef AIRSPEED_SENSOR |
|
# define AIRSPEED_SENSOR DISABLED |
|
#endif |
|
#ifndef AIRSPEED_RATIO |
|
# define AIRSPEED_RATIO 1.9936 // Note - this varies from the value in ArduPilot due to the difference in ADC resolution |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// HIL_PROTOCOL OPTIONAL |
|
// HIL_MODE OPTIONAL |
|
// HIL_PORT OPTIONAL |
|
|
|
#ifndef HIL_MODE |
|
#define HIL_MODE HIL_MODE_DISABLED |
|
#endif |
|
|
|
#ifndef HIL_PROTOCOL |
|
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK |
|
#endif |
|
|
|
#ifndef HIL_PORT |
|
#define HIL_PORT 0 |
|
#endif |
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode |
|
|
|
# undef GPS_PROTOCOL |
|
# define GPS_PROTOCOL GPS_PROTOCOL_NONE |
|
|
|
#endif |
|
|
|
|
|
// If we are in XPlane, diasble the mag |
|
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode |
|
|
|
// check xplane settings |
|
#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE |
|
|
|
// MAGNETOMETER not supported by XPLANE |
|
# undef MAGNETOMETER |
|
# define MAGNETOMETER DISABLED |
|
|
|
# if HIL_MODE != HIL_MODE_ATTITUDE |
|
# error HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE |
|
# endif |
|
|
|
#endif |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GPS_PROTOCOL |
|
// |
|
// Note that this test must follow the HIL_PROTOCOL block as the HIL |
|
// setup may override the GPS configuration. |
|
// |
|
#ifndef GPS_PROTOCOL |
|
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GCS_PROTOCOL |
|
// GCS_PORT |
|
// |
|
#ifndef GCS_PROTOCOL |
|
# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK |
|
#endif |
|
|
|
//Chris: Commenting out assignment of GCS to port 3 because it kills MAVLink on Port 0 |
|
#ifndef GCS_PORT |
|
# define GCS_PORT 3 |
|
#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 BATTERY_EVENT |
|
# define BATTERY_EVENT DISABLED |
|
#endif |
|
#ifndef LOW_VOLTAGE |
|
# define LOW_VOLTAGE 9.6 |
|
#endif |
|
#ifndef VOLT_DIV_RATIO |
|
# define VOLT_DIV_RATIO 3.56 |
|
#endif |
|
|
|
#ifndef CURR_AMP_PER_VOLT |
|
# define CURR_AMP_PER_VOLT 27.32 |
|
#endif |
|
#ifndef CURR_AMPS_OFFSET |
|
# define CURR_AMPS_OFFSET 0.0 |
|
#endif |
|
#ifndef HIGH_DISCHARGE |
|
# define HIGH_DISCHARGE 1760 |
|
#endif |
|
|
|
|
|
#ifndef PIEZO |
|
# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation |
|
#endif |
|
#ifndef PIEZO_LOW_VOLTAGE |
|
# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert |
|
#endif |
|
#ifndef PIEZO_ARMING |
|
# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// INPUT_VOLTAGE |
|
// |
|
#ifndef INPUT_VOLTAGE |
|
# define INPUT_VOLTAGE 5.0 |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// MAGNETOMETER |
|
#ifndef MAGNETOMETER |
|
# define MAGNETOMETER DISABLED |
|
#endif |
|
#ifndef MAG_ORIENTATION |
|
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// OPTICAL_FLOW |
|
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included |
|
//#define OPTFLOW_ENABLED |
|
#endif |
|
|
|
#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_FOV |
|
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV |
|
#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 |
|
// THROTTLE_FS_VALUE |
|
// THROTTLE_FAILSAFE_ACTION |
|
// |
|
#ifndef THROTTLE_FAILSAFE |
|
# define THROTTLE_FAILSAFE DISABLED |
|
#endif |
|
#ifndef THROTTE_FS_VALUE |
|
# define THROTTLE_FS_VALUE 975 |
|
#endif |
|
#ifndef THROTTLE_FAILSAFE_ACTION |
|
# define THROTTLE_FAILSAFE_ACTION 2 |
|
#endif |
|
|
|
|
|
#ifndef MINIMUM_THROTTLE |
|
# define MINIMUM_THROTTLE 130 |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// STARTUP BEHAVIOUR |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GROUND_START_DELAY |
|
// |
|
#ifndef GROUND_START_DELAY |
|
# define GROUND_START_DELAY 3 |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// FLIGHT AND NAVIGATION CONTROL |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Y6 Support |
|
|
|
#ifndef TOP_BOTTOM_RATIO |
|
# define TOP_BOTTOM_RATIO 0.92 |
|
#endif |
|
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Attitude Control |
|
// |
|
|
|
// 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 |
|
#ifndef AUTO_YAW |
|
# define AUTO_YAW YAW_AUTO |
|
#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_AUTO |
|
#endif |
|
|
|
#ifndef CIRCLE_RP |
|
# define CIRCLE_RP ROLL_PITCH_AUTO |
|
#endif |
|
|
|
#ifndef CIRCLE_THR |
|
# define CIRCLE_THR THROTTLE_HOLD |
|
#endif |
|
|
|
// LOITER Mode |
|
#ifndef LOITER_YAW |
|
# define LOITER_YAW YAW_HOLD |
|
#endif |
|
|
|
#ifndef LOITER_RP |
|
# define LOITER_RP ROLL_PITCH_AUTO |
|
#endif |
|
|
|
#ifndef LOITER_THR |
|
# define LOITER_THR THROTTLE_HOLD |
|
#endif |
|
|
|
|
|
// RTL Mode |
|
#ifndef RTL_YAW |
|
# define RTL_YAW YAW_AUTO |
|
#endif |
|
|
|
#ifndef RTL_RP |
|
# define RTL_RP ROLL_PITCH_AUTO |
|
#endif |
|
|
|
#ifndef RTL_THR |
|
# define RTL_THR THROTTLE_HOLD |
|
#endif |
|
|
|
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Attitude Control |
|
// |
|
#ifndef STABILIZE_ROLL_P |
|
# define STABILIZE_ROLL_P 4.6 |
|
#endif |
|
#ifndef STABILIZE_ROLL_I |
|
# define STABILIZE_ROLL_I 0.001 |
|
#endif |
|
#ifndef STABILIZE_ROLL_IMAX |
|
# define STABILIZE_ROLL_IMAX 1.5 // degrees |
|
#endif |
|
|
|
#ifndef STABILIZE_PITCH_P |
|
# define STABILIZE_PITCH_P 4.6 |
|
#endif |
|
#ifndef STABILIZE_PITCH_I |
|
# define STABILIZE_PITCH_I 0.001 |
|
#endif |
|
#ifndef STABILIZE_PITCH_IMAX |
|
# define STABILIZE_PITCH_IMAX 1.5 // degrees |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Rate Control |
|
// |
|
#ifndef RATE_ROLL_P |
|
# define RATE_ROLL_P 0.145 |
|
#endif |
|
#ifndef RATE_ROLL_I |
|
# define RATE_ROLL_I 0.0 |
|
#endif |
|
#ifndef RATE_ROLL_IMAX |
|
# define RATE_ROLL_IMAX 15 // degrees |
|
#endif |
|
|
|
#ifndef RATE_PITCH_P |
|
# define RATE_PITCH_P 0.145 |
|
#endif |
|
#ifndef RATE_PITCH_I |
|
# define RATE_PITCH_I 0 //0.18 |
|
#endif |
|
#ifndef RATE_PITCH_IMAX |
|
# define RATE_PITCH_IMAX 15 // degrees |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// YAW Control |
|
// |
|
#ifndef STABILIZE_YAW_P |
|
# define STABILIZE_YAW_P 7 // increase for more aggressive Yaw Hold, decrease if it's bouncy |
|
#endif |
|
#ifndef STABILIZE_YAW_I |
|
# define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance |
|
#endif |
|
#ifndef STABILIZE_YAW_IMAX |
|
# define STABILIZE_YAW_IMAX 8 // degrees * 100 |
|
#endif |
|
|
|
#ifndef RATE_YAW_P |
|
# define RATE_YAW_P .13 // used to control response in turning |
|
#endif |
|
#ifndef RATE_YAW_I |
|
# define RATE_YAW_I 0.0 |
|
#endif |
|
#ifndef RATE_YAW_IMAX |
|
# define RATE_YAW_IMAX 50 |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Autopilot control limits |
|
// |
|
// how much to we pitch towards the target |
|
#ifndef PITCH_MAX |
|
# define PITCH_MAX 22 // degrees |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Navigation control gains |
|
// |
|
#ifndef LOITER_P |
|
# define LOITER_P .5 // |
|
#endif |
|
#ifndef LOITER_I |
|
# define LOITER_I 0.0 // |
|
#endif |
|
#ifndef LOITER_IMAX |
|
# define LOITER_IMAX 12 // degrees° |
|
#endif |
|
|
|
#ifndef NAV_P |
|
# define NAV_P 4.0 // |
|
#endif |
|
#ifndef NAV_I |
|
# define NAV_I 0.25 // this feels really low, 4s to move 1 degree pitch... |
|
#endif |
|
#ifndef NAV_IMAX |
|
# define NAV_IMAX 20 // degrees |
|
#endif |
|
|
|
#ifndef WAYPOINT_SPEED_MAX |
|
# define WAYPOINT_SPEED_MAX 450 // for 6m/s error = 13mph |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Throttle control gains |
|
// |
|
|
|
|
|
#ifndef THROTTLE_CRUISE |
|
# define THROTTLE_CRUISE 350 // |
|
#endif |
|
|
|
#ifndef THR_HOLD_P |
|
# define THR_HOLD_P 0.80 // |
|
#endif |
|
#ifndef THR_HOLD_I |
|
# define THR_HOLD_I 0.00 // with 4m error, 12.5s windup |
|
#endif |
|
#ifndef THR_HOLD_IMAX |
|
# define THR_HOLD_IMAX 00 |
|
#endif |
|
|
|
#ifndef THROTTLE_P |
|
# define THROTTLE_P 0.6 // |
|
#endif |
|
#ifndef THROTTLE_I |
|
# define THROTTLE_I 0.10 // with 4m error, 12.5s windup |
|
#endif |
|
#ifndef THROTTLE_IMAX |
|
# define THROTTLE_IMAX 300 |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Crosstrack compensation |
|
// |
|
#ifndef XTRACK_ENTRY_ANGLE |
|
# define XTRACK_ENTRY_ANGLE 30 // deg |
|
#endif |
|
|
|
#ifndef XTRACK_P |
|
# define XTRACK_P 2 // trying a lower val |
|
#endif |
|
#ifndef XTRACK_I |
|
# define XTRACK_I 0.00 //with 4m error, 12.5s windup |
|
#endif |
|
#ifndef XTRACK_D |
|
# define XTRACK_D 0.00 // upped with filter |
|
#endif |
|
#ifndef XTRACK_IMAX |
|
# define XTRACK_IMAX 10 |
|
#endif |
|
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// DEBUGGING |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// DEBUG_LEVEL |
|
// |
|
#ifndef DEBUG_LEVEL |
|
# define DEBUG_LEVEL SEVERITY_LOW |
|
#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_MODE |
|
# define LOG_MODE ENABLED |
|
#endif |
|
#ifndef LOG_RAW |
|
# define LOG_RAW DISABLED |
|
#endif |
|
#ifndef LOG_CMD |
|
# define LOG_CMD ENABLED |
|
#endif |
|
// current |
|
#ifndef LOG_CUR |
|
# define LOG_CUR DISABLED |
|
#endif |
|
// quad motor PWMs |
|
#ifndef LOG_MOTORS |
|
# define LOG_MOTORS DISABLED |
|
#endif |
|
// guess! |
|
#ifndef LOG_OPTFLOW |
|
# define LOG_OPTFLOW DISABLED |
|
#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(MODE) | \ |
|
LOGBIT(RAW) | \ |
|
LOGBIT(CMD) | \ |
|
LOGBIT(CUR) | \ |
|
LOGBIT(MOTORS) | \ |
|
LOGBIT(OPTFLOW) |
|
|
|
// if we are using fast, Disable Medium |
|
//#if LOG_ATTITUDE_FAST == ENABLED |
|
// #undef LOG_ATTITUDE_MED |
|
// #define LOG_ATTITUDE_MED DISABLED |
|
//#endif |
|
|
|
#ifndef DEBUG_PORT |
|
# define DEBUG_PORT 0 |
|
#endif |
|
|
|
#if DEBUG_PORT == 0 |
|
# define SendDebug_P(a) Serial.print_P(PSTR(a)) |
|
# define SendDebugln_P(a) Serial.println_P(PSTR(a)) |
|
# define SendDebug Serial.print |
|
# define SendDebugln Serial.println |
|
#elif DEBUG_PORT == 1 |
|
# define SendDebug_P(a) Serial1.print_P(PSTR(a)) |
|
# define SendDebugln_P(a) Serial1.println_P(PSTR(a)) |
|
# define SendDebug Serial1.print |
|
# define SendDebugln Serial1.println |
|
#elif DEBUG_PORT == 2 |
|
# define SendDebug_P(a) Serial2.print_P(PSTR(a)) |
|
# define SendDebugln_P(a) Serial2.println_P(PSTR(a)) |
|
# define SendDebug Serial2.print |
|
# define SendDebugln Serial2.println |
|
#elif DEBUG_PORT == 3 |
|
# define SendDebug_P(a) Serial3.print_P(PSTR(a)) |
|
# define SendDebugln_P(a) Serial3.println_P(PSTR(a)) |
|
# define SendDebug Serial3.print |
|
# define SendDebugln Serial3.println |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Navigation defaults |
|
// |
|
#ifndef WP_RADIUS_DEFAULT |
|
# define WP_RADIUS_DEFAULT 3 |
|
#endif |
|
|
|
#ifndef LOITER_RADIUS |
|
# define LOITER_RADIUS 10 |
|
#endif |
|
|
|
#ifndef ALT_HOLD_HOME |
|
# define ALT_HOLD_HOME 10 |
|
#endif |
|
|
|
#ifndef USE_CURRENT_ALT |
|
# define USE_CURRENT_ALT FALSE |
|
#endif |
|
|
|
|
|
#ifndef AUTO_RESET_LOITER |
|
# define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input. |
|
#endif |
|
#ifndef CUT_MOTORS |
|
# define CUT_MOTORS 1 // do we cut the motors with no throttle? |
|
#endif |
|
|
|
#ifndef BROKEN_SLIDER |
|
# define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode) |
|
#endif |
|
|
|
#ifndef MOTOR_LEDS |
|
# define MOTOR_LEDS 1 // 0 = off, 1 = on |
|
#endif |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// RC override |
|
// |
|
#ifndef ALLOW_RC_OVERRIDE |
|
# define ALLOW_RC_OVERRIDE DISABLED |
|
#endif |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Developer Items |
|
// |
|
|
|
// use this to completely disable the CLI |
|
#ifndef CLI_ENABLED |
|
# define CLI_ENABLED ENABLED |
|
#endif |
|
|
|
// delay to prevent Xbee bricking, in milliseconds |
|
#ifndef MAVLINK_TELEMETRY_PORT_DELAY |
|
# define MAVLINK_TELEMETRY_PORT_DELAY 2000 |
|
#endif
|
|
|