//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero
//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
// User Hooks : For User Developed code that you wish to run
// @Description: This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land
// @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
# define FS_EKF_THRESHOLD_DEFAULT 0.8f // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
# 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 -25 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# 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
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
#endif
#ifndef LAND_WITH_DELAY_MS
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
#endif
#ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
#endif
#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
# 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)
#endif
#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
#endif
#ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
Jacob Walser
8 years ago
committed by
Randy Mackay