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config.h
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#pragma once
#include "defines.h"
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// HARDWARE CONFIGURATION AND CONNECTIONS
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
#ifndef CONFIG_HAL_BOARD
#error CONFIG_HAL_BOARD must be defined to build ArduSub
#endif
// run at 400Hz on all systems
# define MAIN_LOOP_RATE 400
# define MAIN_LOOP_SECONDS 0.0025f
#ifndef SURFACE_DEPTH_DEFAULT
# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
#endif
//////////////////////////////////////////////////////////////////////////////
// PWM control
// default RC speed in Hz
#ifndef RC_SPEED_DEFAULT
# define RC_SPEED_DEFAULT 200
#endif
//////////////////////////////////////////////////////////////////////////////
// Circle Nav parameters
//
#ifndef CIRCLE_NAV_ENABLED
# define CIRCLE_NAV_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RPM
//
#ifndef RPM_ENABLED
# define RPM_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RCMAP
//
#ifndef RCMAP_ENABLED
# define RCMAP_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Rangefinder
//
#ifndef RANGEFINDER_ENABLED
# define RANGEFINDER_ENABLED ENABLED
#endif
#ifndef RANGEFINDER_HEALTH_MAX
# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
#endif
#ifndef RANGEFINDER_GAIN_DEFAULT
# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
#endif
#ifndef THR_SURFACE_TRACKING_VELZ_MAX
# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
#endif
#ifndef RANGEFINDER_TIMEOUT_MS
# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
#endif
#ifndef RANGEFINDER_WPNAV_FILT_HZ
# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
#endif
#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define RANGEFINDER_TILT_CORRECTION ENABLED
#endif
// Avoidance (relies on Proximity and Fence)
#ifndef AVOIDANCE_ENABLED
# define AVOIDANCE_ENABLED DISABLED
#endif
#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Proximity and Fence
# define PROXIMITY_ENABLED ENABLED
# define FENCE_ENABLED ENABLED
#endif
// Proximity sensor
//
#ifndef PROXIMITY_ENABLED
# define PROXIMITY_ENABLED DISABLED
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
#ifndef EKF_ORIGIN_MAX_DIST_M
# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
#endif
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// gripper
#ifndef GRIPPER_ENABLED
# define GRIPPER_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED
# define NAV_GUIDED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Flight mode definitions
//
// Acro Mode
#ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
#endif
#ifndef ACRO_YAW_P
# define ACRO_YAW_P 3.375f
#endif
#ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
#endif
#ifndef ACRO_BALANCE_ROLL
#define ACRO_BALANCE_ROLL 1.0f
#endif
#ifndef ACRO_BALANCE_PITCH
#define ACRO_BALANCE_PITCH 1.0f
#endif
#ifndef ACRO_EXPO_DEFAULT
#define ACRO_EXPO_DEFAULT 0.3f
#endif
// AUTO Mode
#ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_CORRECT_XTRACK
#endif
#ifndef AUTO_YAW_SLEW_RATE
# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before vehicle is aimed at ground course
#endif
//////////////////////////////////////////////////////////////////////////////
// Stabilize Rate Control
//
#ifndef ROLL_PITCH_INPUT_MAX
# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
#endif
#ifndef DEFAULT_ANGLE_MAX
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef POS_XY_P
# define POS_XY_P 1.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// PosHold parameter defaults
//
#ifndef POSHOLD_ENABLED
# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control gains
//
#ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
#endif
// default maximum vertical velocity and acceleration the pilot may request
#ifndef PILOT_VELZ_MAX
# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
#endif
#ifndef PILOT_ACCEL_Z_DEFAULT
# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
#endif
#ifndef AUTO_DISARMING_DELAY
# define AUTO_DISARMING_DELAY 0
#endif
//////////////////////////////////////////////////////////////////////////////
// Logging control
//
#ifndef LOGGING_ENABLED
# define LOGGING_ENABLED ENABLED
#endif
// Default logging bitmask
#ifndef DEFAULT_LOG_BITMASK
# define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_RCIN | \
MASK_LOG_IMU | \
MASK_LOG_CMD | \
MASK_LOG_CURRENT | \
MASK_LOG_RCOUT | \
MASK_LOG_OPTFLOW | \
MASK_LOG_COMPASS | \
MASK_LOG_CAMERA | \
MASK_LOG_MOTBATT
#endif
// Enable/disable Fence
#ifndef AC_FENCE
#define AC_FENCE ENABLED
#endif
#ifndef AC_RALLY
#define AC_RALLY DISABLED
#endif
#ifndef AC_TERRAIN
#define AC_TERRAIN DISABLED // Requires Rally enabled as well
#endif