mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
Aaron Marburg
6eb0174bb5
If the sub is disarmed in many modes, the output "throttle" (vertical control) is set to 0.0, corresponding to full downward thrust. While this does not affect manual control, it can affect subsequent mode changes (e.g. to ALT_HOLD). Set to a constant NEUTRAL_THROTTLE, set to 0.5, instead.
239 lines
6.4 KiB
C
239 lines
6.4 KiB
C
#pragma once
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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 ArduSub
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#endif
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// run at 400Hz on all systems
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# define MAIN_LOOP_RATE 400
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#ifndef SURFACE_DEPTH_DEFAULT
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# define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
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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_SPEED_DEFAULT
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# define RC_SPEED_DEFAULT 200
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Circle Nav parameters
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//
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#ifndef CIRCLE_NAV_ENABLED
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# define CIRCLE_NAV_ENABLED 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RC
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//
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#ifndef AP_SUB_RC_ENABLED
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# define AP_SUB_RC_ENABLED 1
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#endif
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#ifndef RCMAP_ENABLED
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# define RCMAP_ENABLED AP_SUB_RC_ENABLED
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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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// Rangefinder
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//
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#ifndef RANGEFINDER_HEALTH_MAX
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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#endif
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#ifndef RANGEFINDER_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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#endif
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#ifndef RANGEFINDER_WPNAV_FILT_HZ
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# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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#endif
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define RANGEFINDER_TILT_CORRECTION 0
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#endif
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#ifndef RANGEFINDER_SIGNAL_MIN_DEFAULT
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# define RANGEFINDER_SIGNAL_MIN_DEFAULT 90 // rangefinder readings with signal quality below this value are ignored
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#endif
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#ifndef SURFTRAK_DEPTH_DEFAULT
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# define SURFTRAK_DEPTH_DEFAULT -50.0f // surftrak will try to keep the sub below this depth
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#endif
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// Avoidance (relies on Proximity and Fence)
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#ifndef AVOIDANCE_ENABLED
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# define AVOIDANCE_ENABLED 0
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#endif
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#if AVOIDANCE_ENABLED // Avoidance Library relies on Fence
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# define FENCE_ENABLED 1
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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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// Nav-Guided - allows external nav computer to control vehicle
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#ifndef NAV_GUIDED
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# define NAV_GUIDED 1
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Flight mode definitions
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//
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// Acro Mode
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#ifndef ACRO_RP_P
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# define ACRO_RP_P 4.5f
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#endif
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#ifndef ACRO_YAW_P
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# define ACRO_YAW_P 3.375f
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#endif
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#ifndef ACRO_LEVEL_MAX_ANGLE
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# define ACRO_LEVEL_MAX_ANGLE 3000
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#endif
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#ifndef ACRO_BALANCE_ROLL
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#define ACRO_BALANCE_ROLL 1.0f
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#endif
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#ifndef ACRO_BALANCE_PITCH
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#define ACRO_BALANCE_PITCH 1.0f
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#endif
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#ifndef ACRO_EXPO_DEFAULT
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#define ACRO_EXPO_DEFAULT 0.3f
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#endif
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// AUTO Mode
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#ifndef WP_YAW_BEHAVIOR_DEFAULT
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_CORRECT_XTRACK
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#endif
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#ifndef AUTO_YAW_SLEW_RATE
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# define AUTO_YAW_SLEW_RATE 60 // degrees/sec
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#endif
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#ifndef YAW_LOOK_AHEAD_MIN_SPEED
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# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before vehicle is aimed at ground course
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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 ROLL_PITCH_INPUT_MAX
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# define ROLL_PITCH_INPUT_MAX 4500 // roll, pitch input range
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#endif
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#ifndef DEFAULT_ANGLE_MAX
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# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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#ifndef POS_XY_P
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# define POS_XY_P 1.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PosHold parameter defaults
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//
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#ifndef POSHOLD_ENABLED
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# define POSHOLD_ENABLED 1 // PosHold flight mode enabled by default
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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 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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// default maximum velocities and acceleration the pilot may request
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#ifndef PILOT_VELZ_MAX
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# define PILOT_VELZ_MAX 500 // maximum vertical velocity in cm/s
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#endif
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#ifndef PILOT_SPEED_DEFAULT
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# define PILOT_SPEED_DEFAULT 200 // maximum horizontal velocity in cm/s while under pilot control
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#endif
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#ifndef PILOT_ACCEL_Z_DEFAULT
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# define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
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#endif
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#ifndef AUTO_DISARMING_DELAY
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# define AUTO_DISARMING_DELAY 0
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#endif
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#ifndef NEUTRAL_THROTTLE
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# define NEUTRAL_THROTTLE (0.5f) // Throttle output for "no vertical thrust"
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Logging control
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//
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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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//Default flight modes
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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::STABILIZE
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#endif
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#ifndef FLIGHT_MODE_4
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# define FLIGHT_MODE_4 Mode::Number::STABILIZE
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#endif
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#ifndef FLIGHT_MODE_5
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# define FLIGHT_MODE_5 Mode::Number::SURFACE
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#endif
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#ifndef FLIGHT_MODE_6
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# define FLIGHT_MODE_6 Mode::Number::SURFACE
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#endif
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