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87 lines
2.6 KiB
87 lines
2.6 KiB
/* |
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* BoatGeneric.h |
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* |
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* Created on: May 1, 2011 |
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* Author: jgoppert |
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* |
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*/ |
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#ifndef BOATGENERIC_H_ |
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#define BOATGENERIC_H_ |
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// vehicle options |
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static const apo::vehicle_t vehicle = apo::VEHICLE_BOAT; |
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static const apo::halMode_t halMode = apo::MODE_LIVE; |
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static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280; |
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static const uint8_t heartBeatTimeout = 3; |
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// algorithm selection |
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#define CONTROLLER_CLASS ControllerBoat |
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#define GUIDE_CLASS MavlinkGuide |
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#define NAVIGATOR_CLASS DcmNavigator |
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#define COMMLINK_CLASS MavlinkComm |
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// hardware selection |
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#define ADC_CLASS AP_ADC_ADS7844 |
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#define COMPASS_CLASS AP_Compass_HMC5843 |
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#define BARO_CLASS APM_BMP085_Class |
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#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL |
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// baud rates |
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static const uint32_t debugBaud = 57600; |
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static const uint32_t telemBaud = 57600; |
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static const uint32_t gpsBaud = 38400; |
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static const uint32_t hilBaud = 57600; |
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// optional sensors |
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static const bool gpsEnabled = false; |
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static const bool baroEnabled = false; |
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static const bool compassEnabled = true; |
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static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD; |
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// compass orientation: See AP_Compass_HMC5843.h for possible values |
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// battery monitoring |
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static const bool batteryMonitorEnabled = true; |
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static const uint8_t batteryPin = 0; |
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static const float batteryVoltageDivRatio = 6; |
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static const float batteryMinVolt = 10.0; |
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static const float batteryMaxVolt = 12.4; |
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static const bool rangeFinderFrontEnabled = false; |
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static const bool rangeFinderBackEnabled = false; |
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static const bool rangeFinderLeftEnabled = false; |
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static const bool rangeFinderRightEnabled = false; |
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static const bool rangeFinderUpEnabled = false; |
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static const bool rangeFinderDownEnabled = false; |
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// loop rates |
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static const float loopRate = 150; // attitude nav |
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static const float loop0Rate = 50; // controller |
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static const float loop1Rate = 5; // pos nav/ gcs fast |
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static const float loop2Rate = 1; // gcs slow |
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static const float loop3Rate = 0.1; |
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// gains |
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static const float steeringP = 0.1; |
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static const float steeringI = 0.0; |
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static const float steeringD = 0.1; |
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static const float steeringIMax = 0.0; |
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static const float steeringYMax = 1; |
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static const float steeringDFCut = 25.0; |
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static const float throttleP = 0.1; |
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static const float throttleI = 0.0; |
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static const float throttleD = 0.0; |
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static const float throttleIMax = 0.0; |
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static const float throttleYMax = 1; |
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static const float throttleDFCut = 0.0; |
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// guidance |
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static const float velCmd = 5; |
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static const float xt = 10; |
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static const float xtLim = 90; |
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#include "ControllerBoat.h" |
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#endif /* BOATGENERIC_H_ */ |
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// vim:ts=4:sw=4:expandtab
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