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435 lines
16 KiB
435 lines
16 KiB
// CONFIG FILE FOR APM_Rover project by Jean-Louis Naudin |
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// |
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#define GCS_PORT 3 |
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK // QGroundControl protocol |
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//#define GCS_PROTOCOL GCS_PROTOCOL_NONE // No GCS protocol to save memory |
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#define HIL_MODE HIL_MODE_DISABLED |
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#define MAV_SYSTEM_ID 1 |
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// Add a ground start delay in seconds |
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//#define GROUND_START_DELAY 1 |
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#define AIRSPEED_SENSOR DISABLED |
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#if LITE == DISABLED |
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#define MAGNETOMETER ENABLED |
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#define LOGGING_ENABLED ENABLED |
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#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD |
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#define PARAM_DECLINATION 0.18 // Paris |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Serial port speeds. |
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// |
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#define SERIAL0_BAUD 115200 |
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#define SERIAL3_BAUD 115200 |
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////////////////////////////////////////////////////////////////////////////// |
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// GPS_PROTOCOL |
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#define GPS_PROTOCOL GPS_PROTOCOL_AUTO |
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#define CH7_OPTION CH7_SAVE_WP |
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#define TUNING_OPTION TUN_NONE |
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#define FLIGHT_MODE_1 AUTO // pos 0 --- |
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#define FLIGHT_MODE_2 AUTO // pos 1 |
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#define FLIGHT_MODE_3 STABILIZE // pos 2 |
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#define FLIGHT_MODE_4 STABILIZE // pos 3 --- |
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#define FLIGHT_MODE_5 MANUAL // pos 4 |
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#define FLIGHT_MODE_6 MANUAL // pos 5 --- |
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#define ENABLE_AIR_START DISABLED |
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#define MANUAL_LEVEL DISABLED |
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#define TURN_GAIN 5 |
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#define CLOSED_LOOP_NAV ENABLED // set to ENABLED if closed loop navigation else set to DISABLED (Return To Lauch) |
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#define AUTO_WP_RADIUS ENABLED |
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#define MAX_DIST 50 //300 // max distance (in m) for the HEADALT mode |
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#define SARSEC_BRANCH 50 // Long branch of the SARSEC pattern |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// FLIGHT AND NAVIGATION CONTROL |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// AIRSPEED_CRUISE OPTIONAL |
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// |
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// The speed in metres per second to maintain during cruise. The default |
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// is 10m/s, which is a conservative value suitable for relatively small, |
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// light aircraft. |
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// |
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#define AIRSPEED_CRUISE 3 |
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#define GSBOOST 0 |
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#define NUDGE_OFFSET 0 |
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#define MIN_GNDSPEED 3 |
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////////////////////////////////////////////////////////////////////////////// |
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// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO) |
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// |
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// AIRSPEED_FBW_MIN OPTIONAL |
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// AIRSPEED_FBW_MAX OPTIONAL |
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// |
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// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode. |
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// The defaults are 6 and 30 metres per second. |
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// |
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// 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. |
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// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle |
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// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control. |
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// |
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#define AIRSPEED_FBW_MIN 6 |
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#define AIRSPEED_FBW_MAX 35 |
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// |
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////////////////////////////////////////////////////////////////////////////// |
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// Servo mapping |
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// |
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// THROTTLE_MIN OPTIONAL |
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// |
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// The minimum throttle setting to which the autopilot will reduce the |
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// throttle while descending. The default is zero, which is |
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// suitable for aircraft with a steady power-off glide. Increase this |
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// value if your aircraft needs throttle to maintain a stable descent in |
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// level flight. |
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// |
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// THROTTLE_CRUISE OPTIONAL |
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// |
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// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight. |
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// The default is 45%, which is reasonable for a modestly powered aircraft. |
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// |
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// THROTTLE_MAX OPTIONAL |
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// |
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// The maximum throttle setting the autopilot will apply. The default is 75%. |
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// Reduce this value if your aicraft is overpowered, or has complex flight |
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// characteristics at high throttle settings. |
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// |
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#define THROTTLE_MIN 0 // percent |
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#define THROTTLE_CRUISE 3 // 40 |
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#define THROTTLE_MAX 100 |
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////////////////////////////////////////////////////////////////////////////// |
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// AUTO_TRIM OPTIONAL |
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// |
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// ArduPilot Mega can update its trim settings by looking at the |
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// radio inputs when switching out of MANUAL mode. This allows you to |
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// manually trim your aircraft before switching to an assisted mode, but it |
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// also means that you should avoid switching out of MANUAL while you have |
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// any control stick deflection. |
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// |
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// The default is to enable AUTO_TRIM. |
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// |
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#define AUTO_TRIM ENABLED |
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#define THROTTLE_FAILSAFE DISABLED |
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//#define ENABLE_AIR_START 0 |
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////////////////////////////////////////////////////////////////////////////// |
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// Autopilot control limits |
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// |
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// HEAD_MAX OPTIONAL |
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// |
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// The maximum commanded bank angle in either direction. |
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// The default is 45 degrees. Decrease this value if your aircraft is not |
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// stable or has difficulty maintaining altitude in a steep bank. |
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// |
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// PITCH_MAX OPTIONAL |
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// |
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// The maximum commanded pitch up angle. |
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// The default is 15 degrees. Care should be taken not to set this value too |
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// large, as the aircraft may stall. |
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// |
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// PITCH_MIN |
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// |
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// The maximum commanded pitch down angle. Note that this value must be |
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// negative. The default is -25 degrees. Care should be taken not to set |
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// this value too large as it may result in overspeeding the aircraft. |
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// |
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// PITCH_TARGET |
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// |
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// The target pitch for cruise flight. When the APM measures this pitch |
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// value, the pitch error will be calculated to be 0 for the pitch PID |
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// control loop. |
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// |
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#define HEAD_MAX 80 |
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#define PITCH_MAX 15 |
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#define PITCH_MIN -20 //-25 |
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#define PITCH_TARGET 0 |
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////////////////////////////////////////////////////////////////////////////// |
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// Attitude control gains |
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// |
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// Tuning values for the attitude control PID loops. |
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// |
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// The P term is the primary tuning value. This determines how the control |
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// deflection varies in proportion to the required correction. |
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// |
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// The I term is used to help control surfaces settle. This value should |
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// normally be kept low. |
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// |
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// The D term is used to control overshoot. Avoid using or adjusting this |
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// term if you are not familiar with tuning PID loops. It should normally |
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// be zero for most aircraft. |
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// |
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// Note: When tuning these values, start with changes of no more than 25% at |
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// a time. |
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// |
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// SERVO_ROLL_P OPTIONAL |
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// SERVO_ROLL_I OPTIONAL |
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// SERVO_ROLL_D OPTIONAL |
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// |
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// P, I and D terms for roll control. Defaults are 0.4, 0, 0. |
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// |
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// SERVO_ROLL_INT_MAX OPTIONAL |
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// |
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// Maximum control offset due to the integral. This prevents the control |
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// output from being overdriven due to a persistent offset (e.g. crosstracking). |
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// Default is 5 degrees. |
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// |
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// ROLL_SLEW_LIMIT EXPERIMENTAL |
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// |
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// Limits the slew rate of the roll control in degrees per second. If zero, |
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// slew rate is not limited. Default is to not limit the roll control slew rate. |
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// (This feature is currently not implemented.) |
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// |
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// SERVO_PITCH_P OPTIONAL |
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// SERVO_PITCH_I OPTIONAL |
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// SERVO_PITCH_D OPTIONAL |
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// |
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// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0. |
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// |
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// SERVO_PITCH_INT_MAX OPTIONAL |
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// |
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// Maximum control offset due to the integral. This prevents the control |
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// output from being overdriven due to a persistent offset (e.g. native flight |
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// AoA). If you find this value is insufficient, consider adjusting the AOA |
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// parameter. |
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// Default is 5 degrees. |
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// |
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// PITCH_COMP OPTIONAL |
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// |
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// Adds pitch input to compensate for the loss of lift due to roll control. |
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// Default is 0.20 (20% of roll control also applied to pitch control). |
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// |
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// SERVO_YAW_P OPTIONAL |
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// SERVO_YAW_I OPTIONAL |
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// SERVO_YAW_D OPTIONAL |
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// |
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// P, I and D terms for the YAW control. Defaults are 0., 0., 0. |
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// Note units of this control loop are unusual. PID input is in m/s**2. |
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// |
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// SERVO_YAW_INT_MAX OPTIONAL |
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// |
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// Maximum control offset due to the integral. This prevents the control |
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// output from being overdriven due to a persistent offset (e.g. crosstracking). |
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// Default is 0. |
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// |
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// RUDDER_MIX OPTIONAL |
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// |
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// Roll to yaw mixing. This allows for co-ordinated turns. |
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// Default is 0.50 (50% of roll control also applied to yaw control.) |
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// |
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#define SERVO_ROLL_P 0.0 |
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#define SERVO_ROLL_I 0.0 |
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#define SERVO_ROLL_D 0.0 |
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#define SERVO_ROLL_INT_MAX 5 |
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#define ROLL_SLEW_LIMIT 0 |
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#define SERVO_PITCH_P 0.0 |
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#define SERVO_PITCH_I 0.0 |
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#define SERVO_PITCH_D 0.0 |
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#define SERVO_PITCH_INT_MAX 5 |
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#define PITCH_COMP 0.0 |
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#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5 |
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#define SERVO_YAW_I 0.0 |
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#define SERVO_YAW_D 0.0 |
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#define SERVO_YAW_INT_MAX 5 |
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#define RUDDER_MIX 0.0 |
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// |
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////////////////////////////////////////////////////////////////////////////// |
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// Navigation control gains |
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// |
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// Tuning values for the navigation control PID loops. |
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// |
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// The P term is the primary tuning value. This determines how the control |
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// deflection varies in proportion to the required correction. |
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// |
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// The I term is used to control drift. |
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// |
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// The D term is used to control overshoot. Avoid adjusting this term if |
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// you are not familiar with tuning PID loops. |
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// |
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// Note: When tuning these values, start with changes of no more than 25% at |
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// a time. |
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// |
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// NAV_ROLL_P OPTIONAL |
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// NAV_ROLL_I OPTIONAL |
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// NAV_ROLL_D OPTIONAL |
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// |
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// P, I and D terms for navigation control over roll, normally used for |
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// controlling the aircraft's course. The P term controls how aggressively |
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// the aircraft will bank to change or hold course. |
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// Defaults are 0.7, 0.0, 0.02. |
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// |
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// NAV_ROLL_INT_MAX OPTIONAL |
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// |
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// Maximum control offset due to the integral. This prevents the control |
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// output from being overdriven due to a persistent offset (e.g. crosstracking). |
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// Default is 5 degrees. |
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// |
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// NAV_PITCH_ASP_P OPTIONAL |
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// NAV_PITCH_ASP_I OPTIONAL |
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// NAV_PITCH_ASP_D OPTIONAL |
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// |
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// P, I and D terms for pitch adjustments made to maintain airspeed. |
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// Defaults are 0.65, 0, 0. |
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// |
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// NAV_PITCH_ASP_INT_MAX OPTIONAL |
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// |
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// Maximum pitch offset due to the integral. This limits the control |
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// output from being overdriven due to a persistent offset (eg. inability |
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// to maintain the programmed airspeed). |
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// Default is 5 degrees. |
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// |
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// NAV_PITCH_ALT_P OPTIONAL |
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// NAV_PITCH_ALT_I OPTIONAL |
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// NAV_PITCH_ALT_D OPTIONAL |
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// |
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// P, I and D terms for pitch adjustments made to maintain altitude. |
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// Defaults are 0.65, 0, 0. |
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// |
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// NAV_PITCH_ALT_INT_MAX OPTIONAL |
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// |
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// Maximum pitch offset due to the integral. This limits the control |
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// output from being overdriven due to a persistent offset (eg. inability |
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// to maintain the programmed altitude). |
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// Default is 5 meters. |
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// |
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#define NAV_ROLL_P 0.7 |
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#define NAV_ROLL_I 0.001 |
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#define NAV_ROLL_D 0.06 |
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#define NAV_ROLL_INT_MAX 5 |
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#define NAV_PITCH_ASP_P 0.0 |
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#define NAV_PITCH_ASP_I 0.0 |
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#define NAV_PITCH_ASP_D 0.0 |
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#define NAV_PITCH_ASP_INT_MAX 5 |
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#define NAV_PITCH_ALT_P 0.0 |
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#define NAV_PITCH_ALT_I 0.0 |
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#define NAV_PITCH_ALT_D 0.0 |
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#define NAV_PITCH_ALT_INT_MAX 5 |
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////////////////////////////////////////////////////////////////////////////// |
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// Energy/Altitude control gains |
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// |
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// The Energy/altitude control system uses throttle input to control aircraft |
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// altitude. |
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// |
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// The P term is the primary tuning value. This determines how the throttle |
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// setting varies in proportion to the required correction. |
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// |
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// The I term is used to compensate for small offsets. |
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// |
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// The D term is used to control overshoot. Avoid adjusting this term if |
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// you are not familiar with tuning PID loops. |
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// |
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// Note units of this control loop are unusual. PID input is in m**2/s**2. |
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// |
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// THROTTLE_TE_P OPTIONAL |
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// THROTTLE_TE_I OPTIONAL |
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// THROTTLE_TE_D OPTIONAL |
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// |
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// P, I and D terms for throttle adjustments made to control altitude. |
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// Defaults are 0.5, 0, 0. |
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// |
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// THROTTLE_TE_INT_MAX OPTIONAL |
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// |
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// Maximum throttle input due to the integral term. This limits the |
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// throttle from being overdriven due to a persistent offset (e.g. |
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// inability to maintain the programmed altitude). |
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// Default is 20%. |
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// |
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// THROTTLE_SLEW_LIMIT OPTIONAL |
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// |
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// Limits the slew rate of the throttle, in percent per second. Helps |
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// avoid sudden throttle changes, which can destabilise the aircraft. |
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// A setting of zero disables the feature. |
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// Default is zero (disabled). |
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// |
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// P_TO_T OPTIONAL |
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// |
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// Pitch to throttle feed-forward gain. Default is 0. |
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// |
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// T_TO_P OPTIONAL |
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// |
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// Throttle to pitch feed-forward gain. Default is 0. |
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// |
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#define THROTTLE_TE_P 0.1 |
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#define THROTTLE_TE_I 0.0 |
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#define THROTTLE_TE_D 0.0 |
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#define THROTTLE_TE_INT_MAX 20 |
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#define THROTTLE_SLEW_LIMIT 0 |
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#define P_TO_T 0.0 |
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#define T_TO_P 0 |
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////////////////////////////////////////////////////////////////////////////// |
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// Crosstrack compensation |
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// |
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// XTRACK_GAIN OPTIONAL |
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// |
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// Crosstrack compensation in degrees per metre off track. |
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// Default value is 1.0 degrees per metre. Values lower than 0.001 will |
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// disable crosstrack compensation. |
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// |
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// XTRACK_ENTRY_ANGLE OPTIONAL |
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// |
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// Maximum angle used to correct for track following. |
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// Default value is 30 degrees. |
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// |
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#define XTRACK_GAIN 1 // deg/m |
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#define XTRACK_ENTRY_ANGLE 20 // deg |
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///////////////////////////////////////////////////////////////////////////// |
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// Navigation defaults |
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// |
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// WP_RADIUS_DEFAULT OPTIONAL |
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// |
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// When the user performs a factory reset on the APM, set the waypoint radius |
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// (the radius from a target waypoint within which the APM will consider |
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// itself to have arrived at the waypoint) to this value in meters. This is |
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// mainly intended to allow users to start using the APM without running the |
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// WaypointWriter first. |
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// |
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// LOITER_RADIUS_DEFAULT OPTIONAL |
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// |
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// When the user performs a factory reset on the APM, set the loiter radius |
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// (the distance the APM will attempt to maintain from a waypoint while |
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// loitering) to this value in meters. This is mainly intended to allow |
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// users to start using the APM without running the WaypointWriter first. |
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// |
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// USE_CURRENT_ALT OPTIONAL |
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// ALT_HOLD_HOME OPTIONAL |
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// |
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// When the user performs a factory reset on the APM, set the flag for weather |
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// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch. |
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// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow |
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// users to start using the APM without running the WaypointWriter first. |
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// |
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#define WP_RADIUS_DEFAULT 5 // meters |
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#define LOITER_RADIUS_DEFAULT 10 // 60 |
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#define USE_CURRENT_ALT TRUE |
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#define ALT_HOLD_HOME 0 |
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////////////////////////////////////////////////////////////////////////////// |
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// INPUT_VOLTAGE OPTIONAL |
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// |
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// In order to have accurate pressure and battery voltage readings, this |
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// value should be set to the voltage measured on the 5V rail on the oilpan. |
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// |
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// See the manual for more details. The default value should be close. |
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// |
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#define INPUT_VOLTAGE 5.2 |
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//
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