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Rover: removed obsolete files

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Andrew Tridgell 12 years ago
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  1. 954
      APMrover2/APM_Config.h.reference
  2. 416
      APMrover2/APM_Config_HILmode.h
  3. 424
      APMrover2/APM_Config_Rover.h
  4. 31
      APMrover2/APM_Config_mavlink_hil.h

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APMrover2/APM_Config.h.reference
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//
// Example and reference ArduPilot Mega configuration file
// =======================================================
//
// This file contains documentation and examples for configuration options
// supported by the ArduPilot Mega software.
//
// Most of these options are just that - optional. You should create
// the APM_Config.h file and use this file as a reference for options
// that you want to change. Don't copy this file directly; the options
// described here and their default values may change over time.
//
// Each item is marked with a keyword describing when you should set it:
//
// REQUIRED
// You must configure this in your APM_Config.h file. The
// software will not compile if the option is not set.
//
// OPTIONAL
// The option has a sensible default (which will be described
// here), but you may wish to override it.
//
// EXPERIMENTAL
// You should configure this option unless you are prepared
// to deal with potential problems. It may relate to a feature
// still in development, or which is not yet adequately tested.
//
// DEBUG
// The option should only be set if you are debugging the
// software, or if you are gathering information for a bug
// report.
//
// NOTE:
// Many of these settings are considered 'factory defaults', and the
// live value is stored and managed in the ArduPilot Mega EEPROM.
// Use the setup 'factoryreset' command after changing options in
// your APM_Config.h file.
//
// Units
// -----
//
// Unless indicated otherwise, numeric quantities use the following units:
//
// Measurement | Unit
// ------------+-------------------------------------
// angle | degrees
// distance | metres
// speed | metres per second
// servo angle | microseconds
// voltage | volts
// times | seconds
// throttle | percent
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL REQUIRED
//
// GPS configuration, must be one of:
//
// GPS_PROTOCOL_AUTO Auto detect GPS type (must be a supported GPS)
// GPS_PROTOCOL_NONE No GPS attached
// GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU.
// GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4
// GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9
// GPS_PROTOCOL_UBLOX UBLOX GPS
// GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED
// GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?)
//
//#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
//
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_SENSOR OPTIONAL
// AIRSPEED_RATIO OPTIONAL
//
// Set AIRSPEED_SENSOR to ENABLED if you have an airspeed sensor attached.
// Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed
// sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s
//
// The default assumes that an airspeed sensor is connected.
//
//#define AIRSPEED_SENSOR ENABLED
//#define AIRSPEED_RATIO 1.9936
//
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER OPTIONAL
// MAG_ORIENTATION OPTIONAL
//
// Set MAGNETOMETER to ENABLED if you have a magnetometer attached.
// Set MAG_ORIENTATION to reflect the orientation you have the magnetometer mounted with respect to ArduPilotMega
//
// The default assumes that a magnetometer is not connected.
//
//#define MAGNETOMETER DISABLED
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//
//////////////////////////////////////////////////////////////////////////////
// HIL_PROTOCOL OPTIONAL
// HIL_MODE OPTIONAL
// HIL_PORT OPTIONAL
//
// Configuration for Hardware-in-the-loop simulation. In these modes,
// APM is connected via one or more interfaces to simulation software
// running on another system.
//
// HIL_PROTOCOL_XPLANE Configure for the X-plane HIL interface.
// HIL_PROTOCOL_MAVLINK Configure for HIL over MAVLink.
//
// HIL_MODE_DISABLED Configure for standard flight.
// HIL_MODE_ATTITUDE Simulator provides attitude and position information.
// HIL_MODE_SENSORS Simulator provides raw sensor values.
//
// Note that currently HIL_PROTOCOL_XPLANE requires HIL_MODE_ATTITUDE.
// Note that currently HIL_PROTOCOL_MAVLINK requires HIL_MODE_SENSORS.
//
//#define HIL_MODE HIL_MODE_DISABLED
//#define HIL_PORT 0
//#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
//
//////////////////////////////////////////////////////////////////////////////
// GCS_PROTOCOL OPTIONAL
// GCS_PORT OPTIONAL
// MAV_SYSTEM_ID OPTIONAL
//
// The GCS_PROTOCOL option determines which (if any) ground control station
// protocol will be used. Must be one of:
//
// GCS_PROTOCOL_NONE No GCS output
// GCS_PROTOCOL_MAVLINK QGroundControl protocol
//
// The GCS_PORT option determines which serial port will be used by the
// GCS protocol. The usual values are 0 for the console/USB port,
// or 3 for the telemetry port on the oilpan. Note that some protocols
// will ignore this value and always use the console port.
//
// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1.
// If you will be flying multiple UAV's each should be assigned a different ID so
// that ground stations can tell them apart.
//
//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
//#define GCS_PORT 3
//#define MAV_SYSTEM_ID 1
//
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
// SERIAL0_BAUD OPTIONAL
//
// Baudrate for the console port. Default is 115200bps.
//
// SERIAL3_BAUD OPTIONAL
//
// Baudrate for the telemetry port. Default is 57600bps.
//
//#define SERIAL0_BAUD 115200
//#define SERIAL3_BAUD 57600
//
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring OPTIONAL
//
// See the manual for details on selecting divider resistors for battery
// monitoring via the oilpan.
//
// BATTERY_EVENT OPTIONAL
//
// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings.
// The default is DISABLED.
//
// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set.
//
// Value in volts at which ArduPilot Mega should consider the
// battery to be "low".
//
// VOLT_DIV_RATIO OPTIONAL
//
// See the manual for details. The default value corresponds to the resistors
// recommended by the manual.
//
// CURR_AMPS_PER_VOLT OPTIONAL
// CURR_AMPS_OFFSET OPTIONAL
//
// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM
// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset
//
//
// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set.
//
// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of
// battery capacity.
//
//#define BATTERY_EVENT DISABLED
//#define LOW_VOLTAGE 9.6
//#define VOLT_DIV_RATIO 3.56
//#define CURR_AMPS_PER_VOLT 27.32
//#define CURR_AMPS_OFFSET 0.0
//#define HIGH_DISCHARGE 1760
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
//
// In order to have accurate pressure and battery voltage readings, this
// value should be set to the voltage measured at the processor.
//
// See the manual for more details. The default value should be close if you are applying 5 volts to the servo rail.
//
//#define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE OPTIONAL
// FLIGHT_MODE_CHANNEL OPTIONAL
//
// Flight modes assigned to the control channel, and the input channel that
// is read for the control mode.
//
// Use a servo tester, or the ArduPilotMega_demo test program to check your
// switch settings.
//
// ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and
// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option
// uses channel numbers 1-8 (and defaults to 8).
//
// If you only have a three-position switch or just want three modes, set your
// switch to produce 1165, 1425, and 1815 microseconds and configure
// FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default.
//
// If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control
// channel connected to input channel 8, the hardware failsafe mode will
// activate for any control input over 1750ms.
//
// For more modes (up to six), set your switch(es) to produce any of 1165,
// 1295, 1425, 1555, 1685, and 1815 microseconds.
//
// Flight mode | Switch Setting (ms)
// ------------+---------------------
// 1 | 1165
// 2 | 1295
// 3 | 1425
// 4 | 1555
// 5 | 1685
// 6 | 1815 (FAILSAFE if using channel 8)
//
// The following standard flight modes are available:
//
// Name | Description
// -----------------+--------------------------------------------
// |
// MANUAL | Full manual control via software.
// |
// LEARNING | Full manual control, used for live waypoint definition via Ch7 toggle.
// |
// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle.
// |
// FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle.
// |
// RTL | Returns to the Home location and then LOITERs at a safe altitude.
// |
// AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter
// | application or your Ground Control System to edit and upload
// | waypoints and other commands.
// |
//air
//
// The following non-standard modes are EXPERIMENTAL:
//
// Name | Description
// -----------------+--------------------------------------------
// |
// LOITER | Flies in a circle around the current location.
// |
// CIRCLE | Flies in a stabilized 'dumb' circle.
// |
//
//
// If you are using channel 8 for mode switching then FLIGHT_MODE_5 and
// FLIGHT_MODE_6 should be MANUAL.
//
//
//#define FLIGHT_MODE_CHANNEL 8
//
//#define FLIGHT_MODE_1 RTL
//#define FLIGHT_MODE_2 RTL
//#define FLIGHT_MODE_3 LEARNING
//#define FLIGHT_MODE_4 LEARNING
//#define FLIGHT_MODE_5 MANUAL
//#define FLIGHT_MODE_6 MANUAL
//
//////////////////////////////////////////////////////////////////////////////
// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed
// then the flap position shall be flap_1_percent. If the speed setpoint is below flap_2_speed
// then the flap position shall be flap_2_percent. Speed setpoint is the current value of
// airspeed_cruise (if airspeed sensor enabled) or throttle_cruise (if no airspeed sensor)
// FLAP_1_PERCENT OPTIONAL
// FLAP_1_SPEED OPTIONAL
// FLAP_2_PERCENT OPTIONAL
// FLAP_2_SPEED OPTIONAL
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_FAILSAFE OPTIONAL
// THROTTLE_FS_VALUE OPTIONAL
//
// The throttle failsafe allows you to configure a software failsafe activated
// by a setting on the throttle input channel (channel 3). Enabling this failsafe
// also enables "short failsafe" conditions (see below) based on loss of
// rc override control from the GCS
//
// This can be used to achieve a failsafe override on loss of radio control
// without having to sacrifice one of your FLIGHT_MODE settings, as the
// throttle failsafe overrides the switch-selected mode.
//
// Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default
// is for it to be enabled.
//
// If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value
// below which the failsafe engages. The default is 975ms, which is a very low
// throttle setting. Most transmitters will let you trim the manual throttle
// position up so that you cannot engage the failsafe with a regular stick movement.
//
// Configure your receiver's failsafe setting for the throttle channel to the
// absolute minimum, and use the ArduPilotMega_demo program to check that
// you cannot reach that value with the throttle control. Leave a margin of
// at least 50 microseconds between the lowest throttle setting and
// THROTTLE_FS_VALUE.
//
//#define THROTTLE_FAILSAFE ENABLED
//#define THROTTLE_FS_VALUE 950
//
//////////////////////////////////////////////////////////////////////////////
// GCS_HEARTBEAT_FAILSAFE OPTIONAL
// SHORT_FAILSAFE_ACTION OPTIONAL
// LONG_FAILSAFE_ACTION OPTIONAL
// There are two basic conditions which can trigger a failsafe. One is a loss of control signal.
// Normally this means a loss of the radio control RC signal. However if rc override from the
// GCS is in use then this can mean a loss of communication with the GCS. Such a failsafe will be
// classified as either short (greater than 1.5 seconds but less than 20) or long (greater than 20).
// Also, if GCS_HEARTBEAT_FAILSAFE is enabled and a heartbeat signal from the GCS has not been received
// in the preceeding 20 seconds then this will also trigger a "long" failsafe.
//
// The SHORT_FAILSAFE_ACTION and LONG_FAILSAFE_ACTION settings determines what APM will do when
// a failsafe mode is entered while flying in AUTO or LOITER mode. This is important in order to avoid
// accidental failsafe behaviour when flying waypoints that take the aircraft
// out of radio range.
//
// If SHORT_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
// the aircraft will head for home in RTL mode. If the failsafe condition is
// resolved, it will return to AUTO or LOITER mode.
// If LONG_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
// the aircraft will head for home in RTL mode. If the failsafe condition is
// resolved the aircraft will not be returned to AUTO or LOITER mode, but will continue home
// If XX_FAILSAFE_ACTION is 0 and the applicable failsafe occurs while in AUTO or LOITER
// mode the aircraft will continue in that mode ignoring the failsafe condition.
// Note that for Manual, Stabilize, and Fly-By-Wire (A and B) modes the aircraft will always
// enter a circling mode for short failsafe conditions and will be switched to RTL for long
// failsafe conditions. RTL mode is unaffected by failsafe conditions.
//
// The default is to have GCS Heartbeat failsafes DISABLED
// The default behaviour is to ignore failsafes in AUTO and LOITER modes.
//
//#define GCS_HEARTBEAT_FAILSAFE DISABLED
//#define SHORT_FAILSAFE_ACTION 0
//#define LONG_FAILSAFE_ACTION 0
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM OPTIONAL
//
// ArduPilot Mega can update its trim settings by looking at the
// radio inputs when switching out of MANUAL mode. This allows you to
// manually trim your aircraft before switching to an assisted mode, but it
// also means that you should avoid switching out of MANUAL while you have
// any control stick deflection.
//
// The default is to disable AUTO_TRIM.
//
//#define AUTO_TRIM DISABLED
//
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_REVERSE OPTIONAL
//
// A few speed controls require the throttle servo signal be reversed. Setting
// this to ENABLED will reverse the throttle output signal. Ensure that your
// throttle needs to be reversed by using the hardware failsafe and the
// ArduPilotMega_demo program before setting this option.
//
// The default is to not reverse the signal.
//
//#define THROTTLE_REVERSE DISABLED
//
//////////////////////////////////////////////////////////////////////////////
// ENABLE_STICK_MIXING OPTIONAL
//
// If this option is set to ENABLED, manual control inputs are are respected
// while in the autopilot modes (AUTO, RTL, LOITER, CIRCLE etc.)
//
// The default is to enable stick mixing, allowing the pilot to take
// emergency action without switching modes.
//
//#define ENABLE_STICK_MIXING ENABLED
//
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_OUT DEBUG
//
// When debugging, it can be useful to disable the throttle output. Set
// this option to DISABLED to disable throttle output signals.
//
// The default is to not disable throttle output.
//
//#define THROTTLE_OUT ENABLED
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY OPTIONAL
//
// If configured, inserts a delay between power-up and the beginning of IMU
// calibration during a ground start.
//
// Use this setting to give you time to position the aircraft horizontally
// for the IMU calibration.
//
// The default is to begin IMU calibration immediately at startup.
//
//#define GROUND_START_DELAY 0
//
//////////////////////////////////////////////////////////////////////////////
// ENABLE_AIR_START OPTIONAL
//
// If air start is disabled then you will get a ground start (including IMU
// calibration) every time the AP is powered up. This means that if you get
// a power glitch or reboot for some reason in the air, you will probably
// crash, but it prevents a lot of problems on the ground like unintentional
// motor start-ups, etc.
//
// If air start is enabled then you will get an air start at power up and a
// ground start will be performed if the speed is near zero when we get gps
// lock.
//
// The default is to disable air start.
//
//#define ENABLE_AIR_START 0
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Altitude measurement and control.
//
// ALT_EST_GAIN OPTIONAL
//
// The gain of the altitude estimation function; a lower number results
// in slower error correction and smoother output. The default is a
// reasonable starting point.
//
//#define ALT_EST_GAIN 0.01
//
// ALTITUDE_MIX OPTIONAL
//
// Configures the blend between GPS and pressure altitude.
// 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.
//
// The default is to use only pressure altitude.
//
//#define ALTITUDE_MIX 1
//
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE OPTIONAL
//
// The speed in metres per second to maintain during cruise. The default
// is 10m/s, which is a conservative value suitable for relatively small,
// light aircraft.
//
//#define AIRSPEED_CRUISE 12
//
//////////////////////////////////////////////////////////////////////////////
// MIN_GNDSPEED OPTIONAL
//
// The minimum ground speed in metres per second to maintain during
// cruise. A value of 0 will disable any attempt to maintain a minumum
// speed over ground.
//
#define MIN_GNDSPEED 0
//
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
//
// AIRSPEED_FBW_MIN OPTIONAL
// AIRSPEED_FBW_MAX OPTIONAL
//
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
// The defaults are 6 and 30 metres per second.
//
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
//
//#define AIRSPEED_FBW_MIN 6
//#define AIRSPEED_FBW_MAX 22
//
//////////////////////////////////////////////////////////////////////////////
// Servo mapping
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
//#define THROTTLE_MIN 0 // percent
//#define THROTTLE_CRUISE 45
//#define THROTTLE_MAX 75
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// HEAD_MAX OPTIONAL
//
// The maximum commanded bank angle in either direction.
// The default is 45 degrees. Decrease this value if your aircraft is not
// stable or has difficulty maintaining altitude in a steep bank.
//
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 15 degrees. Care should be taken not to set this value too
// large, as the aircraft may stall.
//
// PITCH_MIN
//
// The maximum commanded pitch down angle. Note that this value must be
// negative. The default is -25 degrees. Care should be taken not to set
// this value too large as it may result in overspeeding the aircraft.
//
// PITCH_TARGET
//
// The target pitch for cruise flight. When the APM measures this pitch
// value, the pitch error will be calculated to be 0 for the pitch PID
// control loop.
//
//#define HEAD_MAX 45
//#define PITCH_MAX 15
//#define PITCH_MIN -25
//#define PITCH_TARGET 0
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
// Tuning values for the attitude control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA).
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
// Note units of this control loop are unusual. PID input is in m/s**2.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 0.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
//#define SERVO_ROLL_P 0.4
//#define SERVO_ROLL_I 0.0
//#define SERVO_ROLL_D 0.0
//#define SERVO_ROLL_INT_MAX 5
//#define ROLL_SLEW_LIMIT 0
//#define SERVO_PITCH_P 0.6
//#define SERVO_PITCH_I 0.0
//#define SERVO_PITCH_D 0.0
//#define SERVO_PITCH_INT_MAX 5
//#define PITCH_COMP 0.2
//#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
//#define SERVO_YAW_I 0.0
//#define SERVO_YAW_D 0.0
//#define SERVO_YAW_INT_MAX 5
//#define RUDDER_MIX 0.5
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.0, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 meters.
//
//#define NAV_ROLL_P 0.7
//#define NAV_ROLL_I 0.01
//#define NAV_ROLL_D 0.02
//#define NAV_ROLL_INT_MAX 5
//#define NAV_PITCH_ASP_P 0.65
//#define NAV_PITCH_ASP_I 0.0
//#define NAV_PITCH_ASP_D 0.0
//#define NAV_PITCH_ASP_INT_MAX 5
//#define NAV_PITCH_ALT_P 0.65
//#define NAV_PITCH_ALT_I 0.0
//#define NAV_PITCH_ALT_D 0.0
//#define NAV_PITCH_ALT_INT_MAX 5
//
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note units of this control loop are unusual. PID input is in m**2/s**2.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature. Range 1 to 100.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Default is 0.
//
// T_TO_P OPTIONAL
//
// Throttle to pitch feed-forward gain. Default is 0.
//
//#define THROTTLE_TE_P 0.50
//#define THROTTLE_TE_I 0.0
//#define THROTTLE_TE_D 0.0
//#define THROTTLE_TE_INT_MAX 20
//#define THROTTLE_SLEW_LIMIT 0
//#define P_TO_T 0
//#define T_TO_P 0
//
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
// XTRACK_GAIN OPTIONAL
//
// Crosstrack compensation in degrees per metre off track.
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
// disable crosstrack compensation.
//
// XTRACK_ENTRY_ANGLE OPTIONAL
//
// Maximum angle used to correct for track following.
// Default value is 30 degrees.
//
//#define XTRACK_GAIN 1 // deg/m
//#define XTRACK_ENTRY_ANGLE 30 // deg
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
// Each of these logging options may be set to ENABLED to enable, or DISABLED
// to disable the logging of the respective data.
//
// LOG_ATTITUDE_FAST DEBUG
//
// Logs basic attitude info to the dataflash at 50Hz (uses more space).
// Defaults to DISABLED.
//
// LOG_ATTITUDE_MED OPTIONAL
//
// Logs basic attitude info to the dataflash at 10Hz (uses less space than
// LOG_ATTITUDE_FAST). Defaults to ENABLED.
//
// LOG_GPS OPTIONAL
//
// Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED.
//
// LOG_PM OPTIONAL
//
// Logs IMU performance monitoring info every 20 seconds.
// Defaults to DISABLED.
//
// LOG_CTUN OPTIONAL
//
// Logs control loop tuning info at 10 Hz. This information is useful for tuning
// servo control loop gain values. Defaults to DISABLED.
//
// LOG_NTUN OPTIONAL
//
// Logs navigation tuning info at 10 Hz. This information is useful for tuning
// navigation control loop gain values. Defaults to DISABLED.
//
// LOG_ MODE OPTIONAL
//
// Logs changes to the flight mode upon occurrence. Defaults to ENABLED.
//
// LOG_RAW DEBUG
//
// Logs raw accelerometer and gyro data at 50 Hz (uses more space).
// Defaults to DISABLED.
//
// LOG_CMD OPTIONAL
//
// Logs new commands when they process.
// Defaults to ENABLED.
//
//#define LOG_ATTITUDE_FAST DISABLED
//#define LOG_ATTITUDE_MED ENABLED
//#define LOG_GPS ENABLED
//#define LOG_PM ENABLED
//#define LOG_CTUN DISABLED
//#define LOG_NTUN DISABLED
//#define LOG_MODE ENABLED
//#define LOG_RAW DISABLED
//#define LOG_CMD ENABLED
//#define LOG_CUR DISABLED
//
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
// WP_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the waypoint radius
// (the radius from a target waypoint within which the APM will consider
// itself to have arrived at the waypoint) to this value in meters. This is
// mainly intended to allow users to start using the APM without running the
// WaypointWriter first.
//
// LOITER_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the loiter radius
// (the distance the APM will attempt to maintain from a waypoint while
// loitering) to this value in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first.
//
// USE_CURRENT_ALT OPTIONAL
// ALT_HOLD_HOME OPTIONAL
//
// When the user performs a factory reset on the APM, set the flag for weather
// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.
// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow
// users to start using the APM without running the WaypointWriter first.
//
//#define WP_RADIUS_DEFAULT 30
//#define LOITER_RADIUS_DEFAULT 60
//#define USE_CURRENT_ALT FALSE
//#define ALT_HOLD_HOME 100
//
//////////////////////////////////////////////////////////////////////////////
// Debugging interface
//
// DEBUG_PORT OPTIONAL
//
// The APM will periodically send messages reporting what it is doing; this
// variable determines to which serial port they will be sent. Port 0 is the
// USB serial port on the shield, port 3 is the telemetry port.
//
//#define DEBUG_PORT 0
//
//
// Do not remove - this is to discourage users from copying this file
// and using it as-is rather than editing their own.
//
#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.

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APMrover2/APM_Config_HILmode.h
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE ORIGINAL X-PLANE INTERFACE
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
#define FLIGHT_MODE_CHANNEL 8
#define X_PLANE ENABLED
//#define HIL_PROTOCOL HIL_PROTOCOL_XPLANE
//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define GCS_PORT 3
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
//#define HIL_MODE HIL_MODE_DISABLED
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER DISABLED
#define LOGGING_ENABLED DISABLED
#define TURN_GAIN 5
#define CH7_OPTION CH7_SAVE_WP
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define MANUAL_LEVEL DISABLED
#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode
#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern
#define BOOSTER 2 // booster factor x2
#define AUTO_WP_RADIUS DISABLED
#define AIRSPEED_CRUISE 3 // 4m/s
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE OPTIONAL
//
// The speed in metres per second to maintain during cruise. The default
// is 10m/s, which is a conservative value suitable for relatively small,
// light aircraft.
//
#define GSBOOST 0 // 60 // boost the throttle if ground speed is too low in case of windy conditions // 100
#define NUDGE_OFFSET 0 //1603 // nudge_offset to get a good sustained speed in autonomous flight
#define MIN_GNDSPEED 3
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
//
// AIRSPEED_FBW_MIN OPTIONAL
// AIRSPEED_FBW_MAX OPTIONAL
//
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
// The defaults are 6 and 30 metres per second.
//
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
//
#define AIRSPEED_FBW_MIN 6
#define AIRSPEED_FBW_MAX 35
//
//////////////////////////////////////////////////////////////////////////////
// Servo mapping
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
#define THROTTLE_MIN 0 // percent
#define THROTTLE_CRUISE 1 // 40
#define THROTTLE_MAX 100
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM OPTIONAL
//
// ArduPilot Mega can update its trim settings by looking at the
// radio inputs when switching out of MANUAL mode. This allows you to
// manually trim your aircraft before switching to an assisted mode, but it
// also means that you should avoid switching out of MANUAL while you have
// any control stick deflection.
//
// The default is to enable AUTO_TRIM.
//
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// HEAD_MAX OPTIONAL
//
// The maximum commanded bank angle in either direction.
// The default is 45 degrees. Decrease this value if your aircraft is not
// stable or has difficulty maintaining altitude in a steep bank.
//
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 15 degrees. Care should be taken not to set this value too
// large, as the aircraft may stall.
//
// PITCH_MIN
//
// The maximum commanded pitch down angle. Note that this value must be
// negative. The default is -25 degrees. Care should be taken not to set
// this value too large as it may result in overspeeding the aircraft.
//
// PITCH_TARGET
//
// The target pitch for cruise flight. When the APM measures this pitch
// value, the pitch error will be calculated to be 0 for the pitch PID
// control loop.
//
#define HEAD_MAX 80
#define PITCH_MAX 15
#define PITCH_MIN -20 //-25
#define PITCH_TARGET 0
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
// Tuning values for the attitude control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA). If you find this value is insufficient, consider adjusting the AOA
// parameter.
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
// Note units of this control loop are unusual. PID input is in m/s**2.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 0.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
#define SERVO_ROLL_P 0.0
#define SERVO_ROLL_I 0.0
#define SERVO_ROLL_D 0.0
#define SERVO_ROLL_INT_MAX 5
#define ROLL_SLEW_LIMIT 0
#define SERVO_PITCH_P 0.0
#define SERVO_PITCH_I 0.0
#define SERVO_PITCH_D 0.0
#define SERVO_PITCH_INT_MAX 5
#define PITCH_COMP 0.0
#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
#define SERVO_YAW_I 0.0
#define SERVO_YAW_D 0.0
#define SERVO_YAW_INT_MAX 5
#define RUDDER_MIX 0.0
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.0, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 meters.
//
#define NAV_ROLL_P 0.7
#define NAV_ROLL_I 0.001
#define NAV_ROLL_D 0.06
#define NAV_ROLL_INT_MAX 5
#define NAV_PITCH_ASP_P 0.0
#define NAV_PITCH_ASP_I 0.0
#define NAV_PITCH_ASP_D 0.0
#define NAV_PITCH_ASP_INT_MAX 5
#define NAV_PITCH_ALT_P 0.0
#define NAV_PITCH_ALT_I 0.0
#define NAV_PITCH_ALT_D 0.0
#define NAV_PITCH_ALT_INT_MAX 5
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note units of this control loop are unusual. PID input is in m**2/s**2.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Default is 0.
//
// T_TO_P OPTIONAL
//
// Throttle to pitch feed-forward gain. Default is 0.
//
#define THROTTLE_TE_P 0.1
#define THROTTLE_TE_I 0.0
#define THROTTLE_TE_D 0.0
#define THROTTLE_TE_INT_MAX 20
#define P_TO_T 0.0
#define T_TO_P 0
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
// XTRACK_GAIN OPTIONAL
//
// Crosstrack compensation in degrees per metre off track.
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
// disable crosstrack compensation.
//
// XTRACK_ENTRY_ANGLE OPTIONAL
//
// Maximum angle used to correct for track following.
// Default value is 30 degrees.
//
#define XTRACK_GAIN 1 // deg/m
#define XTRACK_ENTRY_ANGLE 20 // deg
/////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
// WP_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the waypoint radius
// (the radius from a target waypoint within which the APM will consider
// itself to have arrived at the waypoint) to this value in meters. This is
// mainly intended to allow users to start using the APM without running the
// WaypointWriter first.
//
#define WP_RADIUS_DEFAULT 1 // meters
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
//
// In order to have accurate pressure and battery voltage readings, this
// value should be set to the voltage measured on the 5V rail on the oilpan.
//
// See the manual for more details. The default value should be close.
//
#define INPUT_VOLTAGE 5.2
//

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APMrover2/APM_Config_Rover.h
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// CONFIG FILE FOR APM_Rover project by Jean-Louis Naudin
//
#define GCS_PORT 3
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK // QGroundControl protocol
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE // No GCS protocol to save memory
#define HIL_MODE HIL_MODE_DISABLED
#define MAV_SYSTEM_ID 1
// Add a ground start delay in seconds
//#define GROUND_START_DELAY 1
#define AIRSPEED_SENSOR DISABLED
#define SONAR_ENABLED DISABLED
#define SONAR_TRIGGER 200 // trigger distance in cm
#if LITE == DISABLED
#define LOGGING_ENABLED ENABLED
#endif
// for an accurate navigation a magnetometer must be used with the APM1
#define MAGNETOMETER ENABLED
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
//#define PARAM_DECLINATION 0.18 // Paris
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#define SERIAL0_BAUD 115200
#define SERIAL3_BAUD 57600
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#define CH7_OPTION CH7_SAVE_WP
#define FLIGHT_MODE_1 AUTO // pos 0 ---
#define FLIGHT_MODE_2 AUTO // pos 1
#define FLIGHT_MODE_3 LEARNING // pos 2
#define FLIGHT_MODE_4 LEARNING // pos 3 ---
#define FLIGHT_MODE_5 MANUAL // pos 4
#define FLIGHT_MODE_6 MANUAL // pos 5 ---
#define MANUAL_LEVEL DISABLED
#define TURN_GAIN 5
#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode
#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern
/*
During straight lines if the speed booster is enabled, after passing the Wp,
the speed is multplied by a speed factor ROV_BOOSTER = 2
(i.e. this is my tested value... so the required speed will be 2 x 4 = 8 m/s in straight lines),
the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)...
This feature works only if the ROV_AWPR_NAV is set to 0
*/
#define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
#define AUTO_WP_RADIUS DISABLED
#define AIRSPEED_CRUISE 4 // 4m/s
#define THROTTLE_SLEW_LIMIT 2 // set to 2 for a smooth acceleration by 0.2 step
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE OPTIONAL
//
// The speed in metres per second to maintain during cruise. The default
// is 10m/s, which is a conservative value suitable for relatively small,
// light aircraft.
//
#define GSBOOST 0
#define NUDGE_OFFSET 0
#define MIN_GNDSPEED 3
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
//
// AIRSPEED_FBW_MIN OPTIONAL
// AIRSPEED_FBW_MAX OPTIONAL
//
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
// The defaults are 6 and 30 metres per second.
//
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
//
#define AIRSPEED_FBW_MIN 6
#define AIRSPEED_FBW_MAX 35
//
//////////////////////////////////////////////////////////////////////////////
// Servo mapping
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
#define THROTTLE_MIN 0 // percent
#define THROTTLE_CRUISE 3 // 40
#define THROTTLE_MAX 100
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM OPTIONAL
//
// ArduPilot Mega can update its trim settings by looking at the
// radio inputs when switching out of MANUAL mode. This allows you to
// manually trim your aircraft before switching to an assisted mode, but it
// also means that you should avoid switching out of MANUAL while you have
// any control stick deflection.
//
// The default is to enable AUTO_TRIM.
//
#define AUTO_TRIM ENABLED
#define THROTTLE_FAILSAFE DISABLED
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
// HEAD_MAX OPTIONAL
//
// The maximum commanded bank angle in either direction.
// The default is 45 degrees. Decrease this value if your aircraft is not
// stable or has difficulty maintaining altitude in a steep bank.
//
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 15 degrees. Care should be taken not to set this value too
// large, as the aircraft may stall.
//
// PITCH_MIN
//
// The maximum commanded pitch down angle. Note that this value must be
// negative. The default is -25 degrees. Care should be taken not to set
// this value too large as it may result in overspeeding the aircraft.
//
// PITCH_TARGET
//
// The target pitch for cruise flight. When the APM measures this pitch
// value, the pitch error will be calculated to be 0 for the pitch PID
// control loop.
//
#define HEAD_MAX 80
#define PITCH_MAX 15
#define PITCH_MIN -20 //-25
#define PITCH_TARGET 0
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
// Tuning values for the attitude control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA). If you find this value is insufficient, consider adjusting the AOA
// parameter.
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
// Note units of this control loop are unusual. PID input is in m/s**2.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 0.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
#define SERVO_ROLL_P 0.0
#define SERVO_ROLL_I 0.0
#define SERVO_ROLL_D 0.0
#define SERVO_ROLL_INT_MAX 5
#define ROLL_SLEW_LIMIT 0
#define SERVO_PITCH_P 0.0
#define SERVO_PITCH_I 0.0
#define SERVO_PITCH_D 0.0
#define SERVO_PITCH_INT_MAX 5
#define PITCH_COMP 0.0
#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
#define SERVO_YAW_I 0.0
#define SERVO_YAW_D 0.0
#define SERVO_YAW_INT_MAX 5
#define RUDDER_MIX 0.0
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.0, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 meters.
//
#define NAV_ROLL_P 0.7
#define NAV_ROLL_I 0.001
#define NAV_ROLL_D 0.06
#define NAV_ROLL_INT_MAX 5
#define NAV_PITCH_ASP_P 0.0
#define NAV_PITCH_ASP_I 0.0
#define NAV_PITCH_ASP_D 0.0
#define NAV_PITCH_ASP_INT_MAX 5
#define NAV_PITCH_ALT_P 0.0
#define NAV_PITCH_ALT_I 0.0
#define NAV_PITCH_ALT_D 0.0
#define NAV_PITCH_ALT_INT_MAX 5
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// Note units of this control loop are unusual. PID input is in m**2/s**2.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Default is 0.
//
// T_TO_P OPTIONAL
//
// Throttle to pitch feed-forward gain. Default is 0.
//
#define THROTTLE_TE_P 0.1
#define THROTTLE_TE_I 0.0
#define THROTTLE_TE_D 0.0
#define THROTTLE_TE_INT_MAX 20
#define P_TO_T 0.0
#define T_TO_P 0
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
// XTRACK_GAIN OPTIONAL
//
// Crosstrack compensation in degrees per metre off track.
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
// disable crosstrack compensation.
//
// XTRACK_ENTRY_ANGLE OPTIONAL
//
// Maximum angle used to correct for track following.
// Default value is 30 degrees.
//
#define XTRACK_GAIN 1 // deg/m
#define XTRACK_ENTRY_ANGLE 20 // deg
/////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
// WP_RADIUS_DEFAULT OPTIONAL
//
// When the user performs a factory reset on the APM, set the waypoint radius
// (the radius from a target waypoint within which the APM will consider
// itself to have arrived at the waypoint) to this value in meters. This is
// mainly intended to allow users to start using the APM without running the
// WaypointWriter first.
//
#define WP_RADIUS_DEFAULT 1 // meters
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
//
// In order to have accurate pressure and battery voltage readings, this
// value should be set to the voltage measured on the 5V rail on the oilpan.
//
// See the manual for more details. The default value should be close.
//
#define INPUT_VOLTAGE 5.2
//

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APMrover2/APM_Config_mavlink_hil.h
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
// Enable Autopilot Flight Mode
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 LEARNING
#define FLIGHT_MODE_6 MANUAL
// HIL_MODE SELECTION
//
// Mavlink supports
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
// 2. HIL_MODE_SENSORS: full sensor simulation
#define HIL_MODE HIL_MODE_ATTITUDE
// Sensors
// All sensors are supported in all modes.
// The magnetometer is not used in
// HIL_MODE_ATTITUDE but you may leave it
// enabled if you wish.
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED
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