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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Blimp/config.h
Views: 1798
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//

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#pragma once

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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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//

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#include "defines.h"

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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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#ifndef CONFIG_HAL_BOARD

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#error CONFIG_HAL_BOARD must be defined to build Blimp

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#endif

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#ifndef ARMING_DELAY_SEC

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# define ARMING_DELAY_SEC 2.0f

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#endif

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//////////////////////////////////////////////////////////////////////////////

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// PWM control

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// default RC speed in Hz

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#ifndef RC_FAST_SPEED

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#   define RC_FAST_SPEED 490

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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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// prearm GPS hdop check

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#ifndef GPS_HDOP_GOOD_DEFAULT

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# define GPS_HDOP_GOOD_DEFAULT         140     // minimum hdop that represents a good position.  used during pre-arm checks if fence is enabled

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#endif

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// Radio failsafe while using RC_override

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#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS

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# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS  1000    // RC Radio failsafe triggers after 1 second while using RC_override from ground station

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#endif

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// Radio failsafe

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#ifndef FS_RADIO_TIMEOUT_MS

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#define FS_RADIO_TIMEOUT_MS            500     // RC Radio Failsafe triggers after 500 milliseconds with No RC Input

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#endif

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// missing terrain data failsafe

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#ifndef FS_TERRAIN_TIMEOUT_MS

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#define FS_TERRAIN_TIMEOUT_MS          5000     // 5 seconds of missing terrain data will trigger failsafe (RTL)

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#endif

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// pre-arm baro vs inertial nav max alt disparity

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#ifndef PREARM_MAX_ALT_DISPARITY_CM

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# define PREARM_MAX_ALT_DISPARITY_CM       100     // barometer and inertial nav altitude must be within this many centimeters

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#endif

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//////////////////////////////////////////////////////////////////////////////

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//  EKF Failsafe

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#ifndef FS_EKF_ACTION_DEFAULT

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# define FS_EKF_ACTION_DEFAULT         FS_EKF_ACTION_LAND  // EKF failsafe triggers land by default

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#endif

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#ifndef FS_EKF_THRESHOLD_DEFAULT

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# define FS_EKF_THRESHOLD_DEFAULT      0.8f    // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered

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#endif

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#ifndef EKF_ORIGIN_MAX_DIST_M

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# define EKF_ORIGIN_MAX_DIST_M         50000   // EKF origin and waypoints (including home) must be within 50km

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#endif

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//////////////////////////////////////////////////////////////////////////////

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// FLIGHT_MODE

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//

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#ifndef FLIGHT_MODE_1

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# define FLIGHT_MODE_1                  Mode::Number::MANUAL

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#endif

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#ifndef FLIGHT_MODE_2

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# define FLIGHT_MODE_2                  Mode::Number::MANUAL

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#endif

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#ifndef FLIGHT_MODE_3

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# define FLIGHT_MODE_3                  Mode::Number::MANUAL

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#endif

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#ifndef FLIGHT_MODE_4

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# define FLIGHT_MODE_4                  Mode::Number::MANUAL

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#endif

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#ifndef FLIGHT_MODE_5

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# define FLIGHT_MODE_5                  Mode::Number::MANUAL

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#endif

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#ifndef FLIGHT_MODE_6

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# define FLIGHT_MODE_6                  Mode::Number::MANUAL

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#endif

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//////////////////////////////////////////////////////////////////////////////

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// Throttle Failsafe

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//

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#ifndef FS_THR_VALUE_DEFAULT

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# define FS_THR_VALUE_DEFAULT             975

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#endif

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//////////////////////////////////////////////////////////////////////////////

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// Throttle control defaults

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//

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#ifndef THR_DZ_DEFAULT

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# define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter

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#endif

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#ifndef AUTO_DISARMING_DELAY

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# define AUTO_DISARMING_DELAY  10

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#endif

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// Default logging bitmask

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#ifndef DEFAULT_LOG_BITMASK

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# define DEFAULT_LOG_BITMASK \

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    MASK_LOG_ATTITUDE_MED | \

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    MASK_LOG_GPS | \

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    MASK_LOG_PM | \

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    MASK_LOG_CTUN | \

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    MASK_LOG_NTUN | \

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    MASK_LOG_RCIN | \

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    MASK_LOG_IMU | \

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    MASK_LOG_CMD | \

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    MASK_LOG_CURRENT | \

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    MASK_LOG_RCOUT | \

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    MASK_LOG_OPTFLOW | \

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    MASK_LOG_COMPASS | \

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    MASK_LOG_CAMERA | \

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    MASK_LOG_MOTBATT

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#endif

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#ifndef CH_MODE_DEFAULT

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# define CH_MODE_DEFAULT   5

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#endif

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#ifndef HAL_FRAME_TYPE_DEFAULT

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#define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH

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#endif

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