// -*- 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
//////////////////////////////////////////////////////////////////////////////
// FLIGHT CONTROLLER HARDWARE DEFAULT SETTINGS
//
# 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
# define MAIN_LOOP_RATE 100
# 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
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 100
# 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
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
# 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
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
# elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
# 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
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
# elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define CONFIG_IMU_TYPE CONFIG_IMU_VRBRAIN
# define CONFIG_BARO AP_BARO_VRBRAIN
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define MAGNETOMETER ENABLED
# define OPTFLOW DISABLED
# define MAIN_LOOP_RATE 400
# endif
# if MAIN_LOOP_RATE == 400
# define MAIN_LOOP_SECONDS 0.0025
# define MAIN_LOOP_MICROS 2500
# else
# define MAIN_LOOP_SECONDS 0.01
# define MAIN_LOOP_MICROS 10000
# endif
//////////////////////////////////////////////////////////////////////////////
// FRAME_CONFIG
//
# ifndef FRAME_CONFIG
# define FRAME_CONFIG QUAD_FRAME
# endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
# if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define RATE_ROLL_D 0
# define RATE_PITCH_D 0
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
# define THR_MIN_DEFAULT 0
# define AUTOTUNE_ENABLED DISABLED
# 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
//////////////////////////////////////////////////////////////////////////////
// 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
# elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define LED_ON LOW
# define LED_OFF HIGH
# elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# 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 0.8 // 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_DO_NOTHING
# 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 CONFIG_SONAR
# define CONFIG_SONAR DISABLED
# endif
# ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
# endif
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
# ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
# endif
# ifndef SERIAL1_BAUD
# define SERIAL1_BAUD 57600
# endif
# ifndef SERIAL2_BAUD
# define SERIAL2_BAUD 57600
# endif
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
# ifndef FS_BATT_VOLTAGE_DEFAULT
# define FS_BATT_VOLTAGE_DEFAULT 10.5f // default battery voltage below which failsafe will be triggered
# endif
# ifndef FS_BATT_MAH_DEFAULT
# define FS_BATT_MAH_DEFAULT 0 // default battery capacity (in mah) below which failsafe will be triggered
# endif
# ifndef BOARD_VOLTAGE_MIN
# define BOARD_VOLTAGE_MIN 4.3f // min board voltage in volts for pre-arm checks
# endif
# ifndef BOARD_VOLTAGE_MAX
# define BOARD_VOLTAGE_MAX 5.8f // max board voltage in volts for pre-arm checks
# endif
// GPS failsafe
# 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
// pre-arm check max velocity
# ifndef PREARM_MAX_VELOCITY_CMS
# define PREARM_MAX_VELOCITY_CMS 50.0f // vehicle must be travelling under 50cm/s before arming
# endif
//////////////////////////////////////////////////////////////////////////////
// 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_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
# ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 330 // pre arm will fail if mag field > 544 or < 115
# endif
# else // PX4, SITL
# ifndef COMPASS_MAGFIELD_EXPECTED
# define COMPASS_MAGFIELD_EXPECTED 530 // pre arm will fail if mag field > 874 or < 185
# endif
# endif
// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
# ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
# ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 600 // PX4 onboard compass has high offsets
# endif
# else // APM1, APM2, SITL, FLYMAPLE, etc
# ifndef COMPASS_OFFSETS_MAX
# define COMPASS_OFFSETS_MAX 500
# endif
# endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
# ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW ENABLED
# 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
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
# ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Crop Sprayer
# ifndef SPRAYER
# define SPRAYER DISABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// EPM cargo gripper
# ifndef EPM_ENABLED
# define EPM_ENABLED DISABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
# ifndef PARACHUTE
# define PARACHUTE ENABLED
# 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
//
# ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975
# 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
# ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
# 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
//////////////////////////////////////////////////////////////////////////////
// Flight mode definitions
//
// Acro Mode
# ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
# endif
# ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
# endif
# ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
# endif
# ifndef ACRO_BALANCE_ROLL
# define ACRO_BALANCE_ROLL 1.0f
# endif
# ifndef ACRO_BALANCE_PITCH
# define ACRO_BALANCE_PITCH 1.0f
# endif
// Stabilize (angle controller) gains
# ifndef STABILIZE_ROLL_P
# define STABILIZE_ROLL_P 4.5f
# endif
# ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 4.5f
# endif
# ifndef STABILIZE_YAW_P
# define STABILIZE_YAW_P 4.5f
# 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_LOITER_TIME
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before begining final descent
# endif
// AUTO Mode
# ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
# endif
# ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
# 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
// Super Simple mode
# ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
# 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 ANGLE_RATE_MAX
# 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
# endif
//////////////////////////////////////////////////////////////////////////////
// Rate controller gains
//
# 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
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
# ifndef LOITER_POS_P
# define LOITER_POS_P 1.0f
# 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
//////////////////////////////////////////////////////////////////////////////
// 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_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
# ifndef THR_MAX_DEFAULT
# define THR_MAX_DEFAULT 1000 // maximum throttle sent to the motors
# endif
# ifndef THROTTLE_IN_DEADBAND
# define THROTTLE_IN_DEADBAND 100 // the throttle input channel's deadband in PWM
# endif
# ifndef ALT_HOLD_P
# define ALT_HOLD_P 1.0f
# endif
// RATE control
# ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 6.0f
# 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
# if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// APM1 & APM2 default logging
# 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_CMD | \
MASK_LOG_CURRENT
# else
// PX4, Pixhawk, FlyMaple default logging
# 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_COMPASS | \
MASK_LOG_CAMERA
# endif
//////////////////////////////////////////////////////////////////////////////
// AP_Limits Defaults
//
// Enable/disable AP_Limits
# ifndef AC_FENCE
# define AC_FENCE ENABLED
# endif
# ifndef AC_RALLY
# define AC_RALLY ENABLED
# endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
// use this to completely disable the CLI
# ifndef CLI_ENABLED
# define CLI_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__
