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835 lines
20 KiB
835 lines
20 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// |
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
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// |
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// DO NOT EDIT this file to adjust your configuration. Create your own |
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// APM_Config.h and use APM_Config.h.example as a reference. |
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// |
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING |
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/// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// |
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// Default and automatic configuration details. |
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// |
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// Notes for maintainers: |
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// |
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// - Try to keep this file organised in the same order as APM_Config.h.example |
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// |
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#include "defines.h" |
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/// |
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/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that |
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/// change in your local copy of APM_Config.h. |
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/// |
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#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER. |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// HARDWARE CONFIGURATION AND CONNECTIONS |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// APM HARDWARE |
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// |
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#ifndef CONFIG_APM_HARDWARE |
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# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// APM2 HARDWARE DEFAULTS |
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// |
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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# define CONFIG_IMU_TYPE CONFIG_IMU_MPU6000 |
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# define CONFIG_PUSHBUTTON DISABLED |
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# define CONFIG_RELAY DISABLED |
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD |
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN |
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# define MAGNETOMETER ENABLED |
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# ifdef APM2_BETA_HARDWARE |
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# define CONFIG_BARO AP_BARO_BMP085 |
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# else // APM2 Production Hardware (default) |
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# define CONFIG_BARO AP_BARO_MS5611 |
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# endif |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// FRAME_CONFIG |
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// |
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#ifndef FRAME_CONFIG |
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# define FRAME_CONFIG QUAD_FRAME |
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#endif |
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#ifndef FRAME_ORIENTATION |
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# define FRAME_ORIENTATION PLUS_FRAME |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// IMU Selection |
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// |
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#ifndef CONFIG_IMU_TYPE |
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# define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN |
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#endif |
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#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000 |
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# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN |
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# define CONFIG_MPU6000_CHIP_SELECT_PIN 53 |
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# endif |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// ADC Enable - used to eliminate for systems which don't have ADC. |
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// |
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#ifndef CONFIG_ADC |
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# if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN |
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# define CONFIG_ADC ENABLED |
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# else |
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# define CONFIG_ADC DISABLED |
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# endif |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// PWM control |
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// |
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#ifndef INSTANT_PWM |
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# define INSTANT_PWM DISABLED |
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#endif |
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// LED and IO Pins |
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// |
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 |
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# define A_LED_PIN 37 |
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# define B_LED_PIN 36 |
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# define C_LED_PIN 35 |
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# define LED_ON HIGH |
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# define LED_OFF LOW |
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# define SLIDE_SWITCH_PIN 40 |
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# define PUSHBUTTON_PIN 41 |
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# define USB_MUX_PIN -1 |
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# define CLI_SLIDER_ENABLED DISABLED |
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# define OPTFLOW_CS_PIN 34 |
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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# define A_LED_PIN 27 |
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# define B_LED_PIN 26 |
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# define C_LED_PIN 25 |
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# define LED_ON LOW |
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# define LED_OFF HIGH |
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# define SLIDE_SWITCH_PIN (-1) |
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# define PUSHBUTTON_PIN (-1) |
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# define CLI_SLIDER_ENABLED DISABLED |
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# define USB_MUX_PIN 23 |
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# define OPTFLOW_CS_PIN A6 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Pushbutton & Relay |
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// |
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#ifndef CONFIG_PUSHBUTTON |
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# define CONFIG_PUSHBUTTON ENABLED |
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#endif |
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#ifndef CONFIG_RELAY |
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# define CONFIG_RELAY ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Barometer |
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// |
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#ifndef CONFIG_BARO |
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# define CONFIG_BARO AP_BARO_BMP085 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Sonar |
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// |
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#ifndef CONFIG_SONAR_SOURCE |
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC |
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#endif |
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC && CONFIG_ADC == DISABLED |
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# warning Cannot use ADC for CONFIG_SONAR_SOURCE, becaude CONFIG_ADC is DISABLED |
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# warning Defaulting CONFIG_SONAR_SOURCE to ANALOG_PIN |
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# undef CONFIG_SONAR_SOURCE |
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN |
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#endif |
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
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# ifndef CONFIG_SONAR_SOURCE_ADC_CHANNEL |
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# define CONFIG_SONAR_SOURCE_ADC_CHANNEL 7 |
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# endif |
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN |
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN |
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN AN4 |
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# endif |
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#else |
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar |
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# undef SONAR_ENABLED |
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# define SONAR_ENABLED DISABLED |
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#endif |
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#ifndef CONFIG_SONAR |
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# define CONFIG_SONAR ENABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Acrobatics |
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// |
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#ifndef CH7_OPTION |
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# define CH7_OPTION CH7_SAVE_WP |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// HIL_MODE OPTIONAL |
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#ifndef HIL_MODE |
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#define HIL_MODE HIL_MODE_DISABLED |
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#endif |
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode |
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# undef GPS_PROTOCOL |
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE |
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#undef CONFIG_SONAR |
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#define CONFIG_SONAR DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// GPS_PROTOCOL |
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// |
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#ifndef GPS_PROTOCOL |
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# define GPS_PROTOCOL GPS_PROTOCOL_AUTO |
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#endif |
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#ifndef MAV_SYSTEM_ID |
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# define MAV_SYSTEM_ID 1 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Serial port speeds. |
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// |
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#ifndef SERIAL0_BAUD |
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# define SERIAL0_BAUD 115200 |
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#endif |
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#ifndef SERIAL3_BAUD |
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# define SERIAL3_BAUD 57600 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Battery monitoring |
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// |
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#ifndef BATTERY_EVENT |
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# define BATTERY_EVENT DISABLED |
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#endif |
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#ifndef LOW_VOLTAGE |
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# define LOW_VOLTAGE 9.6 |
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#endif |
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#ifndef VOLT_DIV_RATIO |
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# define VOLT_DIV_RATIO 3.56 |
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#endif |
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#ifndef CURR_AMP_PER_VOLT |
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# define CURR_AMP_PER_VOLT 27.32 |
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#endif |
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#ifndef CURR_AMPS_OFFSET |
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# define CURR_AMPS_OFFSET 0.0 |
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#endif |
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#ifndef HIGH_DISCHARGE |
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# define HIGH_DISCHARGE 1760 |
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#endif |
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#ifndef PIEZO |
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# define PIEZO ENABLED //Enables Piezo Code and beeps once on Startup to verify operation |
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#endif |
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#ifndef PIEZO_LOW_VOLTAGE |
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# define PIEZO_LOW_VOLTAGE ENABLED //Enables Tone on reaching low battery or current alert |
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#endif |
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#ifndef PIEZO_ARMING |
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# define PIEZO_ARMING ENABLED //Two tones on ARM, 1 Tone on disarm |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// INPUT_VOLTAGE |
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// |
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#ifndef INPUT_VOLTAGE |
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# define INPUT_VOLTAGE 5.0 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// MAGNETOMETER |
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#ifndef MAGNETOMETER |
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# define MAGNETOMETER ENABLED |
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#endif |
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#ifndef MAG_ORIENTATION |
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// CAMERA GAINS |
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#ifndef CAM_ROLL_GAIN |
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# define CAM_ROLL_GAIN 1.0 |
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#endif |
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#ifndef CAM_PITCH_GAIN |
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# define CAM_PITCH_GAIN 1.0 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// OPTICAL_FLOW |
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#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included |
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#define OPTFLOW_ENABLED |
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#endif |
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#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI) |
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# define OPTFLOW DISABLED |
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#endif |
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#ifndef OPTFLOW_ORIENTATION |
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# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD |
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#endif |
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#ifndef OPTFLOW_FOV |
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# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// RADIO CONFIGURATION |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// FLIGHT_MODE |
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// |
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#if !defined(FLIGHT_MODE_1) |
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# define FLIGHT_MODE_1 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_2) |
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# define FLIGHT_MODE_2 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_3) |
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# define FLIGHT_MODE_3 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_4) |
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# define FLIGHT_MODE_4 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_5) |
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# define FLIGHT_MODE_5 STABILIZE |
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#endif |
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#if !defined(FLIGHT_MODE_6) |
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# define FLIGHT_MODE_6 STABILIZE |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// THROTTLE_FAILSAFE |
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// THROTTLE_FS_VALUE |
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// THROTTLE_FAILSAFE_ACTION |
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// |
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#ifndef THROTTLE_FAILSAFE |
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# define THROTTLE_FAILSAFE DISABLED |
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#endif |
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#ifndef THROTTE_FS_VALUE |
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# define THROTTLE_FS_VALUE 975 |
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#endif |
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#ifndef THROTTLE_FAILSAFE_ACTION |
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# define THROTTLE_FAILSAFE_ACTION 2 |
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#endif |
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#ifndef MINIMUM_THROTTLE |
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# define MINIMUM_THROTTLE 130 |
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#endif |
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#ifndef MAXIMUM_THROTTLE |
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# define MAXIMUM_THROTTLE 1000 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// STARTUP BEHAVIOUR |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// GROUND_START_DELAY |
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// |
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#ifndef GROUND_START_DELAY |
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# define GROUND_START_DELAY 3 |
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#endif |
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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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////////////////////////////////////////////////////////////////////////////// |
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// Y6 Support |
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#ifndef TOP_BOTTOM_RATIO |
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# define TOP_BOTTOM_RATIO 1.00 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Attitude Control |
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// |
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// Alt Hold Mode |
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#ifndef ALT_HOLD_YAW |
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# define ALT_HOLD_YAW YAW_HOLD |
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#endif |
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#ifndef ALT_HOLD_RP |
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# define ALT_HOLD_RP ROLL_PITCH_STABLE |
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#endif |
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#ifndef ALT_HOLD_THR |
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# define ALT_HOLD_THR THROTTLE_HOLD |
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#endif |
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// AUTO Mode |
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#ifndef AUTO_YAW |
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# define AUTO_YAW YAW_AUTO |
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#endif |
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#ifndef AUTO_RP |
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# define AUTO_RP ROLL_PITCH_AUTO |
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#endif |
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#ifndef AUTO_THR |
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# define AUTO_THR THROTTLE_AUTO |
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#endif |
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// CIRCLE Mode |
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#ifndef CIRCLE_YAW |
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# define CIRCLE_YAW YAW_AUTO |
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#endif |
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#ifndef CIRCLE_RP |
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# define CIRCLE_RP ROLL_PITCH_AUTO |
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#endif |
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#ifndef CIRCLE_THR |
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# define CIRCLE_THR THROTTLE_HOLD |
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#endif |
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// LOITER Mode |
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#ifndef LOITER_YAW |
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# define LOITER_YAW YAW_HOLD |
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#endif |
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#ifndef LOITER_RP |
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# define LOITER_RP ROLL_PITCH_AUTO |
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#endif |
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#ifndef LOITER_THR |
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# define LOITER_THR THROTTLE_HOLD |
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#endif |
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// RTL Mode |
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#ifndef RTL_YAW |
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# define RTL_YAW YAW_HOLD |
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#endif |
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#ifndef RTL_RP |
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# define RTL_RP ROLL_PITCH_AUTO |
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#endif |
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#ifndef RTL_THR |
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# define RTL_THR THROTTLE_HOLD |
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#endif |
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#ifndef SUPER_SIMPLE |
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# define SUPER_SIMPLE DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Attitude Control |
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// |
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// Extra motor values that are changed from time to time by jani @ jDrones as software |
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// and charachteristics changes. |
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#ifdef MOTORS_JD880 |
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# define STABILIZE_ROLL_P 3.6 |
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# define STABILIZE_ROLL_I 0.0 |
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# define STABILIZE_ROLL_IMAX 40.0 // degrees |
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# define STABILIZE_PITCH_P 3.6 |
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# define STABILIZE_PITCH_I 0.0 |
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# define STABILIZE_PITCH_IMAX 40.0 // degrees |
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#endif |
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#ifdef MOTORS_JD850 |
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# define STABILIZE_ROLL_P 4.0 |
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# define STABILIZE_ROLL_I 0.0 |
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# define STABILIZE_ROLL_IMAX 40.0 // degrees |
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# define STABILIZE_PITCH_P 4.0 |
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# define STABILIZE_PITCH_I 0.0 |
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# define STABILIZE_PITCH_IMAX 40.0 // degrees |
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#endif |
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#ifndef STABILIZE_D |
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# define STABILIZE_D .2 |
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#endif |
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// Jasons default values that are good for smaller payload motors. |
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#ifndef STABILIZE_ROLL_P |
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# define STABILIZE_ROLL_P 4.6 |
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#endif |
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#ifndef STABILIZE_ROLL_I |
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# define STABILIZE_ROLL_I 0.02 |
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#endif |
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#ifndef STABILIZE_ROLL_IMAX |
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# define STABILIZE_ROLL_IMAX 40 // degrees |
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#endif |
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#ifndef STABILIZE_PITCH_P |
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# define STABILIZE_PITCH_P 4.6 |
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#endif |
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#ifndef STABILIZE_PITCH_I |
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# define STABILIZE_PITCH_I 0.02 |
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#endif |
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#ifndef STABILIZE_PITCH_IMAX |
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# define STABILIZE_PITCH_IMAX 40 // degrees |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Acro Rate Control |
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// |
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#ifndef ACRO_ROLL_P |
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# define ACRO_ROLL_P 0.155 |
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#endif |
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#ifndef ACRO_ROLL_I |
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# define ACRO_ROLL_I 0.0 |
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#endif |
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#ifndef ACRO_ROLL_IMAX |
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# define ACRO_ROLL_IMAX 15 // degrees |
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#endif |
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#ifndef ACRO_PITCH_P |
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# define ACRO_PITCH_P 0.155 |
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#endif |
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#ifndef ACRO_PITCH_I |
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# define ACRO_PITCH_I 0 //0.18 |
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#endif |
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#ifndef ACRO_PITCH_IMAX |
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# define ACRO_PITCH_IMAX 15 // degrees |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Stabilize Rate Control |
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// |
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#ifndef RATE_ROLL_P |
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# define RATE_ROLL_P 0.155 |
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#endif |
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#ifndef RATE_ROLL_I |
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# define RATE_ROLL_I 0.0 |
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#endif |
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#ifndef RATE_ROLL_IMAX |
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# define RATE_ROLL_IMAX 15 // degrees |
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#endif |
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#ifndef RATE_PITCH_P |
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# define RATE_PITCH_P 0.155 |
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#endif |
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#ifndef RATE_PITCH_I |
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# define RATE_PITCH_I 0 //0.18 |
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#endif |
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#ifndef RATE_PITCH_IMAX |
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# define RATE_PITCH_IMAX 15 // degrees |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// YAW Control |
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// |
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#ifndef STABILIZE_YAW_P |
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# define STABILIZE_YAW_P 7.5 // increase for more aggressive Yaw Hold, decrease if it's bouncy |
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#endif |
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#ifndef STABILIZE_YAW_I |
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# define STABILIZE_YAW_I 0.01 // set to .0001 to try and get over user's steady state error caused by poor balance |
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#endif |
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#ifndef STABILIZE_YAW_IMAX |
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# define STABILIZE_YAW_IMAX 8 // degrees * 100 |
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#endif |
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#ifndef RATE_YAW_P |
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# define RATE_YAW_P .13 // used to control response in turning |
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#endif |
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#ifndef RATE_YAW_I |
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# define RATE_YAW_I 0.0 |
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#endif |
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#ifndef RATE_YAW_IMAX |
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# define RATE_YAW_IMAX 50 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Navigation control gains |
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// |
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#ifndef LOITER_P |
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# define LOITER_P .25 // |
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#endif |
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#ifndef LOITER_I |
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# define LOITER_I 0.1 // Wind control |
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#endif |
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#ifndef LOITER_IMAX |
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# define LOITER_IMAX 30 // degrees° |
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#endif |
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#ifndef NAV_P |
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# define NAV_P 2.2 // 3 was causing rapid oscillations in Loiter |
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#endif |
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#ifndef NAV_I |
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# define NAV_I 0.15 // used in traverals |
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#endif |
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#ifndef NAV_IMAX |
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# define NAV_IMAX 30 // degrees |
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#endif |
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|
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#ifndef WAYPOINT_SPEED_MAX |
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# define WAYPOINT_SPEED_MAX 600 // for 6m/s error = 13mph |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Throttle control gains |
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// |
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#ifndef THROTTLE_CRUISE |
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# define THROTTLE_CRUISE 350 // |
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#endif |
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|
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#ifndef THR_HOLD_P |
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# define THR_HOLD_P 0.4 // |
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#endif |
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#ifndef THR_HOLD_I |
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# define THR_HOLD_I 0.01 // with 4m error, 12.5s windup |
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#endif |
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#ifndef THR_HOLD_IMAX |
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# define THR_HOLD_IMAX 300 |
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#endif |
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// RATE control |
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#ifndef THROTTLE_P |
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# define THROTTLE_P 0.5 // |
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#endif |
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#ifndef THROTTLE_I |
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# define THROTTLE_I 0.0 // |
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#endif |
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#ifndef THROTTLE_IMAX |
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# define THROTTLE_IMAX 300 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Crosstrack compensation |
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// |
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#ifndef CROSSTRACK_GAIN |
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# define CROSSTRACK_GAIN 1 |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// DEBUGGING |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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////////////////////////////////////////////////////////////////////////////// |
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// DEBUG_LEVEL |
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// |
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#ifndef DEBUG_LEVEL |
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# define DEBUG_LEVEL SEVERITY_LOW |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Dataflash logging control |
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// |
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// Logging must be disabled for 1280 build. |
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#if defined( __AVR_ATmega1280__ ) |
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# if LOGGING_ENABLED == ENABLED |
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// If logging was enabled in APM_Config or command line, warn the user. |
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# warning "Logging is not supported on ATmega1280" |
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# undef LOGGING_ENABLED |
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# endif |
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# ifndef LOGGING_ENABLED |
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# define LOGGING_ENABLED DISABLED |
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# endif |
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#elif !defined(LOGGING_ENABLED) |
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// Logging is enabled by default for all other builds. |
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# define LOGGING_ENABLED ENABLED |
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#endif |
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#ifndef LOG_ATTITUDE_FAST |
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# define LOG_ATTITUDE_FAST DISABLED |
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#endif |
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#ifndef LOG_ATTITUDE_MED |
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# define LOG_ATTITUDE_MED ENABLED |
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#endif |
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#ifndef LOG_GPS |
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# define LOG_GPS ENABLED |
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#endif |
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#ifndef LOG_PM |
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# define LOG_PM ENABLED |
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#endif |
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#ifndef LOG_CTUN |
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# define LOG_CTUN ENABLED |
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#endif |
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#ifndef LOG_NTUN |
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# define LOG_NTUN ENABLED |
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#endif |
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#ifndef LOG_MODE |
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# define LOG_MODE ENABLED |
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#endif |
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#ifndef LOG_RAW |
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# define LOG_RAW DISABLED |
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#endif |
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#ifndef LOG_CMD |
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# define LOG_CMD ENABLED |
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#endif |
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// current |
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#ifndef LOG_CUR |
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# define LOG_CUR DISABLED |
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#endif |
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// quad motor PWMs |
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#ifndef LOG_MOTORS |
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# define LOG_MOTORS DISABLED |
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#endif |
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// guess! |
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#ifndef LOG_OPTFLOW |
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# define LOG_OPTFLOW DISABLED |
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#endif |
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// calculate the default log_bitmask |
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#define LOGBIT(_s) (LOG_##_s ? MASK_LOG_##_s : 0) |
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#define DEFAULT_LOG_BITMASK \ |
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LOGBIT(ATTITUDE_FAST) | \ |
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LOGBIT(ATTITUDE_MED) | \ |
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LOGBIT(GPS) | \ |
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LOGBIT(PM) | \ |
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LOGBIT(CTUN) | \ |
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LOGBIT(NTUN) | \ |
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LOGBIT(MODE) | \ |
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LOGBIT(RAW) | \ |
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LOGBIT(CMD) | \ |
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LOGBIT(CUR) | \ |
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LOGBIT(MOTORS) | \ |
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LOGBIT(OPTFLOW) |
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// if we are using fast, Disable Medium |
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//#if LOG_ATTITUDE_FAST == ENABLED |
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// #undef LOG_ATTITUDE_MED |
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// #define LOG_ATTITUDE_MED DISABLED |
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//#endif |
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#ifndef DEBUG_PORT |
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# define DEBUG_PORT 0 |
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#endif |
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#if DEBUG_PORT == 0 |
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# define SendDebug_P(a) Serial.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial.println_P(PSTR(a)) |
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# define SendDebug Serial.print |
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# define SendDebugln Serial.println |
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#elif DEBUG_PORT == 1 |
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# define SendDebug_P(a) Serial1.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial1.println_P(PSTR(a)) |
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# define SendDebug Serial1.print |
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# define SendDebugln Serial1.println |
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#elif DEBUG_PORT == 2 |
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# define SendDebug_P(a) Serial2.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial2.println_P(PSTR(a)) |
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# define SendDebug Serial2.print |
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# define SendDebugln Serial2.println |
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#elif DEBUG_PORT == 3 |
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# define SendDebug_P(a) Serial3.print_P(PSTR(a)) |
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# define SendDebugln_P(a) Serial3.println_P(PSTR(a)) |
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# define SendDebug Serial3.print |
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# define SendDebugln Serial3.println |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Navigation defaults |
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// |
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#ifndef WP_RADIUS_DEFAULT |
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# define WP_RADIUS_DEFAULT 1 |
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#endif |
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#ifndef LOITER_RADIUS |
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# define LOITER_RADIUS 10 // meters for circle mode |
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#endif |
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#ifndef ALT_HOLD_HOME |
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# define ALT_HOLD_HOME 0 // height to return to Home, 0 = Maintain current altitude |
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#endif |
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#ifndef USE_CURRENT_ALT |
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# define USE_CURRENT_ALT FALSE |
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#endif |
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#ifndef AUTO_RESET_LOITER |
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# define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input. |
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#endif |
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#ifndef CUT_MOTORS |
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# define CUT_MOTORS 1 // do we cut the motors with no throttle? |
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#endif |
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#ifndef MOTOR_LEDS |
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# define MOTOR_LEDS 1 // 0 = off, 1 = on |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// RC override |
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// |
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#ifndef ALLOW_RC_OVERRIDE |
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# define ALLOW_RC_OVERRIDE DISABLED |
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#endif |
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////////////////////////////////////////////////////////////////////////////// |
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// Developer Items |
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// |
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// use this to completely disable the CLI |
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#ifndef CLI_ENABLED |
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# define CLI_ENABLED ENABLED |
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#endif |
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// use this to disable the CLI slider switch |
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#ifndef CLI_SLIDER_ENABLED |
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# define CLI_SLIDER_ENABLED ENABLED |
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#endif |
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// delay to prevent Xbee bricking, in milliseconds |
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#ifndef MAVLINK_TELEMETRY_PORT_DELAY |
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# define MAVLINK_TELEMETRY_PORT_DELAY 2000 |
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#endif
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