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config.h
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
//
// DO NOT EDIT this file to adjust your configuration. Create your own
// APM_Config.h and use APM_Config.h.example as a reference.
//
// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
///
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//
// Default and automatic configuration details.
//
// Notes for maintainers:
//
// - Try to keep this file organised in the same order as APM_Config.h.example
//
#include "defines.h"
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
#ifdef USE_CMAKE_APM_CONFIG
#include "APM_Config_cmake.h" // <== Prefer cmake config if it exists
#else
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
#endif
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifdef CONFIG_APM_HARDWARE
#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
//////////////////////////////////////////////////////////////////////////////
// FrSky telemetry support
//
#ifndef FRSKY_TELEM_ENABLED
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
# define FRSKY_TELEM_ENABLED ENABLED
#else
# define FRSKY_TELEM_ENABLED DISABLED
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// Optical flow sensor support
//
#ifndef OPTFLOW
#if AP_AHRS_NAVEKF_AVAILABLE
# define OPTFLOW ENABLED
#else
# define OPTFLOW DISABLED
#endif
#endif
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
# define RANGEFINDER_ENABLED ENABLED
#else
# define RANGEFINDER_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Radio channel limits
//
// Note that these are not called out in APM_Config.h.reference.
//
#ifndef CH5_MIN
# define CH5_MIN 1000
#endif
#ifndef CH5_MAX
# define CH5_MAX 2000
#endif
#ifndef CH6_MIN
# define CH6_MIN 1000
#endif
#ifndef CH6_MAX
# define CH6_MAX 2000
#endif
#ifndef CH7_MIN
# define CH7_MIN 1000
#endif
#ifndef CH7_MAX
# define CH7_MAX 2000
#endif
#ifndef CH8_MIN
# define CH8_MIN 1000
#endif
#ifndef CH8_MAX
# define CH8_MAX 2000
#endif
#ifndef FLAP_1_PERCENT
# define FLAP_1_PERCENT 0
#endif
#ifndef FLAP_1_SPEED
# define FLAP_1_SPEED 0
#endif
#ifndef FLAP_2_PERCENT
# define FLAP_2_PERCENT 0
#endif
#ifndef FLAP_2_SPEED
# define FLAP_2_SPEED 0
#endif
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE
// FLIGHT_MODE_CHANNEL
//
#ifndef FLIGHT_MODE_CHANNEL
# define FLIGHT_MODE_CHANNEL 8
#endif
#if (FLIGHT_MODE_CHANNEL != 5) && (FLIGHT_MODE_CHANNEL != 6) && (FLIGHT_MODE_CHANNEL != 7) && (FLIGHT_MODE_CHANNEL != 8)
# error XXX
# error XXX You must set FLIGHT_MODE_CHANNEL to 5, 6, 7 or 8
# error XXX
#endif
#if !defined(FLIGHT_MODE_1)
# define FLIGHT_MODE_1 RTL
#endif
#if !defined(FLIGHT_MODE_2)
# define FLIGHT_MODE_2 RTL
#endif
#if !defined(FLIGHT_MODE_3)
# define FLIGHT_MODE_3 FLY_BY_WIRE_A
#endif
#if !defined(FLIGHT_MODE_4)
# define FLIGHT_MODE_4 FLY_BY_WIRE_A
#endif
#if !defined(FLIGHT_MODE_5)
# define FLIGHT_MODE_5 MANUAL
#endif
#if !defined(FLIGHT_MODE_6)
# define FLIGHT_MODE_6 MANUAL
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_FAILSAFE
// THROTTLE_FS_VALUE
// SHORT_FAILSAFE_ACTION
// LONG_FAILSAFE_ACTION
#ifndef THROTTLE_FAILSAFE
# define THROTTLE_FAILSAFE ENABLED
#endif
#ifndef THROTTLE_FS_VALUE
# define THROTTLE_FS_VALUE 950
#endif
#ifndef SHORT_FAILSAFE_ACTION
# define SHORT_FAILSAFE_ACTION 0
#endif
#ifndef LONG_FAILSAFE_ACTION
# define LONG_FAILSAFE_ACTION 0
#endif
//////////////////////////////////////////////////////////////////////////////
// AUTO_TRIM
//
#ifndef AUTO_TRIM
# define AUTO_TRIM DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_OUT
//
#ifndef THROTTE_OUT
# define THROTTLE_OUT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 0
#endif
//////////////////////////////////////////////////////////////////////////////
// ENABLE ELEVON_MIXING
//
#ifndef ELEVON_MIXING
# define ELEVON_MIXING DISABLED
#endif
#ifndef ELEVON_REVERSE
# define ELEVON_REVERSE DISABLED
#endif
#ifndef ELEVON_CH1_REVERSE
# define ELEVON_CH1_REVERSE DISABLED
#endif
#ifndef ELEVON_CH2_REVERSE
# define ELEVON_CH2_REVERSE DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
// uses 1182 bytes of memory
#ifndef CAMERA
# define CAMERA ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
// uses 7726 bytes of memory on 2560 chips (all options are enabled)
#ifndef MOUNT
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
# define MOUNT ENABLED
#else
# define MOUNT DISABLED
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Altitude measurement and control.
//
#ifndef ALTITUDE_MIX
# define ALTITUDE_MIX 1
#endif
//////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE
//
#ifndef AIRSPEED_CRUISE
# define AIRSPEED_CRUISE 12 // 12 m/s
#endif
#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
//////////////////////////////////////////////////////////////////////////////
// MIN_GNDSPEED
//
#ifndef MIN_GNDSPEED
# define MIN_GNDSPEED 0 // m/s (0 disables)
#endif
#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
//////////////////////////////////////////////////////////////////////////////
// FLY_BY_WIRE_B airspeed control
//
#ifndef AIRSPEED_FBW_MIN
# define AIRSPEED_FBW_MIN 9
#endif
#ifndef AIRSPEED_FBW_MAX
# define AIRSPEED_FBW_MAX 22
#endif
#ifndef ALT_HOLD_FBW
# define ALT_HOLD_FBW 0
#endif
#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
//////////////////////////////////////////////////////////////////////////////
// Servo Mapping
//
#ifndef THROTTLE_MIN
# define THROTTLE_MIN 0 // percent
#endif
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 45
#endif
#ifndef THROTTLE_MAX
# define THROTTLE_MAX 75
#endif
//////////////////////////////////////////////////////////////////////////////
// Autopilot control limits
//
#ifndef HEAD_MAX
# define HEAD_MAX 45
#endif
#ifndef PITCH_MAX
# define PITCH_MAX 20
#endif
#ifndef PITCH_MIN
# define PITCH_MIN -25
#endif
#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
#ifndef RUDDER_MIX
# define RUDDER_MIX 0.5f
#endif
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// DEBUGGING
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_NTUN | \
MASK_LOG_CTUN | \
MASK_LOG_MODE | \
MASK_LOG_CMD | \
MASK_LOG_COMPASS | \
MASK_LOG_CURRENT | \
MASK_LOG_TECS | \
MASK_LOG_CAMERA | \
MASK_LOG_RC
#else
// other systems have plenty of space for full logs
#define DEFAULT_LOG_BITMASK 0xffff
#endif
//////////////////////////////////////////////////////////////////////////////
// Navigation defaults
//
#ifndef WP_RADIUS_DEFAULT
# define WP_RADIUS_DEFAULT 90
#endif
#ifndef LOITER_RADIUS_DEFAULT
# define LOITER_RADIUS_DEFAULT 60
#endif
#ifndef ALT_HOLD_HOME
# define ALT_HOLD_HOME 100
#endif
#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
#ifndef USE_CURRENT_ALT
# define USE_CURRENT_ALT FALSE
#endif
#ifndef INVERTED_FLIGHT_PWM
# define INVERTED_FLIGHT_PWM 1750
#endif
#ifndef PX4IO_OVERRIDE_PWM
# define PX4IO_OVERRIDE_PWM 1750
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
#ifndef SCALING_SPEED
# define SCALING_SPEED 15.0
#endif
// use this to completely disable the CLI. We now default the CLI to
// off on smaller boards.
#ifndef CLI_ENABLED
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
# define CLI_ENABLED ENABLED
#else
# define CLI_ENABLED DISABLE
#endif
#endif
// use this to disable geo-fencing
#ifndef GEOFENCE_ENABLED
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
# define GEOFENCE_ENABLED ENABLED
#else
# define GEOFENCE_ENABLED DISABLE
#endif
#endif
// pwm value on FENCE_CHANNEL to use to enable fenced mode
#ifndef FENCE_ENABLE_PWM
# define FENCE_ENABLE_PWM 1750
#endif
// a digital pin to set high when the geo-fence triggers. Defaults
// to -1, which means don't activate a pin
#ifndef FENCE_TRIGGERED_PIN
# define FENCE_TRIGGERED_PIN -1
#endif
// if RESET_SWITCH_CH is not zero, then this is the PWM value on
// that channel where we reset the control mode to the current switch
// position (to for example return to switched mode after failsafe or
// fence breach)
#ifndef RESET_SWITCH_CHAN_PWM
# define RESET_SWITCH_CHAN_PWM 1750
#endif
// OBC Failsafe enable
#ifndef OBC_FAILSAFE
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define OBC_FAILSAFE ENABLED
#else
# define OBC_FAILSAFE DISABLED
#endif
#endif
#if OBC_FAILSAFE == ENABLED && HAL_CPU_CLASS < HAL_CPU_CLASS_75
#define CLI_ENABLED DISABLED
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds
*/
#ifndef GIT_VERSION
#define FIRMWARE_STRING THISFIRMWARE
#else
#define FIRMWARE_STRING THISFIRMWARE " (" GIT_VERSION ")"
#endif