/* This file is part of AutoQuad. AutoQuad is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. AutoQuad is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with AutoQuad. If not, see . Copyright © 2011-2014 Bill Nesbitt */ #define DEFAULT_CONFIG_VERSION 1 #define DEFAULT_RADIO_TYPE -1 // depreciated - will be removed #define DEFAULT_RADIO_SETUP 80 // 0 = NONE, 1 == Spektrum 11bit, 2 == Spektrum 10bit, 3 == SBUS, 4 == PPM, 5 == SUMD, 6 == M-Link, 7 == Deltang, 80 == Sumd on M4 r4+ #define DEFAULT_RADIO_THRO_CH 0 #define DEFAULT_RADIO_ROLL_CH 1 #define DEFAULT_RADIO_PITC_CH 2 #define DEFAULT_RADIO_RUDD_CH 3 #define DEFAULT_RADIO_GEAR_CH 4 #define DEFAULT_RADIO_FLAP_CH 5 #define DEFAULT_RADIO_AUX2_CH 6 #define DEFAULT_RADIO_AUX3_CH 7 #define DEFAULT_RADIO_AUX4_CH 8 #define DEFAULT_RADIO_AUX5_CH 9 #define DEFAULT_RADIO_AUX6_CH 10 #define DEFAULT_RADIO_AUX7_CH 11 #define DEFAULT_PPM_SCALER 3 // good for FrSky & Graupner HOTT #define DEFAULT_PPM_THROT_LOW 1090 // throttle value at low stick #define DEFAULT_PPM_CHAN_MID 1512 // middle of the stick range #define DEFAULT_SIG_LED_1_PRT 4 // External Led(1) port, 0 to disable #define DEFAULT_SIG_LED_2_PRT 3 // External Led(2) port, 0 to disable #define DEFAULT_SIG_BEEP_PRT 0 // negative sign before port number when using a piezo speaker, no sign when using a piezo buzzer #define DEFAULT_SIG_PWM_PRT 0 // External PWM-controlled signaling port, 0 to disable #define DEFAULT_DIMU_PROM_EN 1 // Disable (1) DIMU EEProm read IMU params #define DEFAULT_CTRL_PID_TYPE 0 // 0 == parallel TILT/RATE PIDs, 1 == cascading TILT/RATE PIDs #define DEFAULT_CTRL_FACT_THRO 0.7f // user throttle multiplier #define DEFAULT_CTRL_FACT_PITC 0.075f // user pitch multiplier #define DEFAULT_CTRL_FACT_ROLL 0.075f // user roll multiplier #define DEFAULT_CTRL_MAN_YAW_RT 360.0f // deg/s #define DEFAULT_CTRL_DEAD_BAND 40.0f // rc control dead band (for pitch, roll, & rudder control) #define DEFAULT_CTRL_DBAND_THRO 100.0f // rc control dead band (for throttle channel only) #define DEFAULT_CTRL_MIN_THROT 20.0f // minimum user throttle to activate motors #define DEFAULT_CTRL_MAX 1446.0f // maximum control applied to motors +- throttle #define DEFAULT_CTRL_NAV_YAW_RT 30.0f // maximum navigation yaw rate deg/s // TILT rate PID #define DEFAULT_CTRL_TLT_RTE_P 0.0f #define DEFAULT_CTRL_TLT_RTE_I 0.0f #define DEFAULT_CTRL_TLT_RTE_D 17000.0f #define DEFAULT_CTRL_TLT_RTE_F 0.25f #define DEFAULT_CTRL_TLT_RTE_PM 9999.0f #define DEFAULT_CTRL_TLT_RTE_IM 9999.0f #define DEFAULT_CTRL_TLT_RTE_DM 9999.0f #define DEFAULT_CTRL_TLT_RTE_OM 2000.0f // YAW rate PID #define DEFAULT_CTRL_YAW_RTE_P 1445.0f #define DEFAULT_CTRL_YAW_RTE_I 0.725f #define DEFAULT_CTRL_YAW_RTE_D 240.0f #define DEFAULT_CTRL_YAW_RTE_F 0.25f #define DEFAULT_CTRL_YAW_RTE_PM 400.0f #define DEFAULT_CTRL_YAW_RTE_IM 400.0f #define DEFAULT_CTRL_YAW_RTE_DM 400.0f #define DEFAULT_CTRL_YAW_RTE_OM 1500.0f // TILT angle PID #define DEFAULT_CTRL_TLT_ANG_P 360.0f #define DEFAULT_CTRL_TLT_ANG_I 0.0024f #define DEFAULT_CTRL_TLT_ANG_D 7000.0f #define DEFAULT_CTRL_TLT_ANG_F 0.25f #define DEFAULT_CTRL_TLT_ANG_PM 1000.0f #define DEFAULT_CTRL_TLT_ANG_IM 360.0f #define DEFAULT_CTRL_TLT_ANG_DM 1000.0f #define DEFAULT_CTRL_TLT_ANG_OM 2000.0f // YAW angle PID #define DEFAULT_CTRL_YAW_ANG_P 0.05f #define DEFAULT_CTRL_YAW_ANG_I 0.00002f #define DEFAULT_CTRL_YAW_ANG_D 0.0f #define DEFAULT_CTRL_YAW_ANG_F 0.0f #define DEFAULT_CTRL_YAW_ANG_PM 1.25f #define DEFAULT_CTRL_YAW_ANG_IM 0.04f #define DEFAULT_CTRL_YAW_ANG_DM 0.0f #define DEFAULT_CTRL_YAW_ANG_OM 1.25f #define DEFAULT_MOT_CANL 0 // 1 - 16 #define DEFAULT_MOT_CANH 0 // 17 - 32 #define DEFAULT_MOT_FRAME 9.5067745208787478e-039 // used as hint for frame config GUI #define DEFAULT_MOT_ARM 975 #define DEFAULT_MOT_MIN 1000 #define DEFAULT_MOT_START 1050 #define DEFAULT_MOT_MAX 1950 #define DEFAULT_MOT_VALUE2T_A1 0.145804308f #define DEFAULT_MOT_VALUE2T_A2 0.000292844f #define DEFAULT_MOT_VALUE_SCAL 950.0f #define DEFAULT_MOT_ESC_CALI 0 #define DEFAULT_MOT_ESC_TYPE 0 // ESC Type; 0=standard, 1=onboard_m4, 2=ESC32 #define DEFAULT_MOT_PWRD_01_T +0.000000 #define DEFAULT_MOT_PWRD_01_P +0.000000 #define DEFAULT_MOT_PWRD_01_R +0.000000 #define DEFAULT_MOT_PWRD_01_Y +0.000000 #define DEFAULT_MOT_PWRD_02_T +0.000000 #define DEFAULT_MOT_PWRD_02_P +0.000000 #define DEFAULT_MOT_PWRD_02_R +0.000000 #define DEFAULT_MOT_PWRD_02_Y +0.000000 #define DEFAULT_MOT_PWRD_03_T +0.000000 #define DEFAULT_MOT_PWRD_03_P +0.000000 #define DEFAULT_MOT_PWRD_03_R +0.000000 #define DEFAULT_MOT_PWRD_03_Y +0.000000 #define DEFAULT_MOT_PWRD_04_T +0.000000 #define DEFAULT_MOT_PWRD_04_P +0.000000 #define DEFAULT_MOT_PWRD_04_R +0.000000 #define DEFAULT_MOT_PWRD_04_Y +0.000000 #define DEFAULT_MOT_PWRD_05_T +1.000000 #define DEFAULT_MOT_PWRD_05_P +2.828427 #define DEFAULT_MOT_PWRD_05_R +2.828427 #define DEFAULT_MOT_PWRD_05_Y -0.250000 #define DEFAULT_MOT_PWRD_06_T +1.000000 #define DEFAULT_MOT_PWRD_06_P -2.828427 #define DEFAULT_MOT_PWRD_06_R +2.828427 #define DEFAULT_MOT_PWRD_06_Y +0.250000 #define DEFAULT_MOT_PWRD_07_T +1.000000 #define DEFAULT_MOT_PWRD_07_P -2.828427 #define DEFAULT_MOT_PWRD_07_R -2.828427 #define DEFAULT_MOT_PWRD_07_Y -0.250000 #define DEFAULT_MOT_PWRD_08_T +1.000000 #define DEFAULT_MOT_PWRD_08_P +2.828427 #define DEFAULT_MOT_PWRD_08_R -2.828427 #define DEFAULT_MOT_PWRD_08_Y +0.250000 #define DEFAULT_MOT_PWRD_09_T +0.000000 #define DEFAULT_MOT_PWRD_09_P +0.000000 #define DEFAULT_MOT_PWRD_09_R +0.000000 #define DEFAULT_MOT_PWRD_09_Y +0.000000 #define DEFAULT_MOT_PWRD_10_T +0.000000 #define DEFAULT_MOT_PWRD_10_P +0.000000 #define DEFAULT_MOT_PWRD_10_R +0.000000 #define DEFAULT_MOT_PWRD_10_Y +0.000000 #define DEFAULT_MOT_PWRD_11_T +0.000000 #define DEFAULT_MOT_PWRD_11_P +0.000000 #define DEFAULT_MOT_PWRD_11_R +0.000000 #define DEFAULT_MOT_PWRD_11_Y +0.000000 #define DEFAULT_MOT_PWRD_12_T +0.000000 #define DEFAULT_MOT_PWRD_12_P +0.000000 #define DEFAULT_MOT_PWRD_12_R +0.000000 #define DEFAULT_MOT_PWRD_12_Y +0.000000 #define DEFAULT_MOT_PWRD_13_T +0.000000 #define DEFAULT_MOT_PWRD_13_P +0.000000 #define DEFAULT_MOT_PWRD_13_R +0.000000 #define DEFAULT_MOT_PWRD_13_Y +0.000000 #define DEFAULT_MOT_PWRD_14_T +0.000000 #define DEFAULT_MOT_PWRD_14_P +0.000000 #define DEFAULT_MOT_PWRD_14_R +0.000000 #define DEFAULT_MOT_PWRD_14_Y +0.000000 #define DEFAULT_MOT_PWRD_15_T +0.000000 #define DEFAULT_MOT_PWRD_15_P +0.000000 #define DEFAULT_MOT_PWRD_15_R +0.000000 #define DEFAULT_MOT_PWRD_15_Y +0.000000 #define DEFAULT_MOT_PWRD_16_T +0.000000 #define DEFAULT_MOT_PWRD_16_P +0.000000 #define DEFAULT_MOT_PWRD_16_R +0.000000 #define DEFAULT_MOT_PWRD_16_Y +0.000000 #define DEFAULT_COMM_BAUD1 115200 #define DEFAULT_COMM_BAUD2 230400 #define DEFAULT_COMM_BAUD3 19200 #define DEFAULT_COMM_BAUD4 460800 #define DEFAULT_COMM_BAUD5 115200 // CAN UART stream ID 1 #define DEFAULT_COMM_BAUD6 115200 // CAN UART stream ID 2 #define DEFAULT_COMM_BAUD7 115200 // CAN UART stream ID 3 #define DEFAULT_COMM_STREAM_TYP1 COMM_STREAM_TYPE_MAVLINK #define DEFAULT_COMM_STREAM_TYP2 0 #define DEFAULT_COMM_STREAM_TYP3 0 #define DEFAULT_COMM_STREAM_TYP4 0 #define DEFAULT_COMM_STREAM_TYP5 COMM_STREAM_TYPE_MAVLINK // CAN UART stream ID 1 #define DEFAULT_COMM_STREAM_TYP6 0 // CAN UART stream ID 2 #define DEFAULT_COMM_STREAM_TYP7 0 // CAN UART stream ID 3 #define DEFAULT_TELEMETRY_RATE 20 // loops between reports #define DEFAULT_TELEMETRY_HOTT 800 // Enable HoTT telemetry with # in uS delay (HoTT receivers fw> oct'13 use 800, HoTT light receivers 1000) #define DEFAULT_TELEMETRY_LOG 1 #define DEFAULT_NAV_MAX_SPEED 5.0f // m/s #define DEFAULT_NAV_MAX_DECENT 1.5f // m/s #define DEFAULT_NAV_CEILING 0.0f // m relative to home alt. Maximum altitude in alt/pos/mission/dvh modes #define DEFAULT_NAV_SIMPLEFENCE 200.0f // simple circular horizontal fence around home position in m #define DEFAULT_NAV_POLYFENCE 0.0f // future use #define DEFAULT_NAV_HDFRE_CHAN 0.0f // radio channel for heading-free mode; set to zero to disable #define DEFAULT_NAV_LANDING_VEL 1.0f // m/s #define DEFAULT_NAV_WPREC_CHAN 4.0f // radio channel for waypoint recording; set to zero to disable #define DEFAULT_RADIO_HOTT_CH 11 // quick next button channel instead of transmitter next key // speed => tilt PID #define DEFAULT_NAV_SPEED_P 10.5f #define DEFAULT_NAV_SPEED_I 0.0075f #define DEFAULT_NAV_SPEED_PM 20.0f #define DEFAULT_NAV_SPEED_IM 20.0f #define DEFAULT_NAV_SPEED_OM 30.0f // distance => speed PID #define DEFAULT_NAV_DIST_P 0.5f #define DEFAULT_NAV_DIST_I 0.0f #define DEFAULT_NAV_DIST_PM 999.0f #define DEFAULT_NAV_DIST_IM 0.0f #define DEFAULT_NAV_DIST_OM 999.0f // Altitude hold Speed PID #define DEFAULT_NAV_ALT_SPED_P 200.0f #define DEFAULT_NAV_ALT_SPED_I 1.78f #define DEFAULT_NAV_ALT_SPED_PM 250.0f #define DEFAULT_NAV_ALT_SPED_IM 700.0f #define DEFAULT_NAV_ALT_SPED_OM 700.0f // Altitude hold Position PID #define DEFAULT_NAV_ALT_POS_P 0.20f #define DEFAULT_NAV_ALT_POS_I 0.0f #define DEFAULT_NAV_ALT_POS_PM 2.5f #define DEFAULT_NAV_ALT_POS_IM 0.0f #define DEFAULT_NAV_ALT_POS_OM 2.5f #define DEFAULT_IMU_ROT -90 // degrees to rotate the IMU to align with the frame #define DEFAULT_IMU_FLIP 0 // flip DIMU: 0 == none, 1 == around x axis, 2 == around y axis #define DEFAULT_IMU_MAG_INCL -69.124122152286 // 0.000000101047 -0.000000002381 #define DEFAULT_IMU_MAG_DECL 0.25f #define DEFAULT_IMU_PRESS_SENSE 0.0f // 0 == sensor #1, 1 == sensor #2, 2 == both #define DEFAULT_GMBL_PITCH_PORT 0 // Gimbal pitch stabilization output port. 0 == disabled #define DEFAULT_GMBL_TILT_PORT 0 // Gimbal manual/PoI tilt control output port (can be same as PITCH_PORT to combine the 2 functions). 0 == disabled #define DEFAULT_GMBL_ROLL_PORT 0 // Gimbal roll stabilization output port. 0 == disabled #define DEFAULT_GMBL_PWM_MAX_RL 2250 #define DEFAULT_GMBL_PWM_MIN_RL 750 #define DEFAULT_GMBL_PWM_MAX_PT 2250 #define DEFAULT_GMBL_PWM_MIN_PT 750 #define DEFAULT_GMBL_PWM_FREQ 200 #define DEFAULT_GMBL_NTRL_PITCH 1575 #define DEFAULT_GMBL_NTRL_ROLL 1442 #define DEFAULT_GMBL_SCAL_PITCH (1.0f / 91.0f) #define DEFAULT_GMBL_SCAL_ROLL (1.0f / 70.0f) #define DEFAULT_GMBL_SLEW_RATE 0.005f #define DEFAULT_GMBL_ROLL_EXPO 0.0f #define DEFAULT_GMBL_TRIG_PORT 0 // Triggering output port. 0 == disabled #define DEFAULT_GMBL_TRIG_CH_NEU 0 // Trigger radio channel AQ value at neutral position (to allow automated triggering) #define DEFAULT_GMBL_TRIG_ON_PWM 2100 // PWM output of trigger at full-press (on) position (for automated triggering) #define DEFAULT_GMBL_TRIG_ON_TIM 1000 // Time to keep shutter at on position, in ms #define DEFAULT_GMBL_TRIG_DIST 0.0f // Activate trigger every this many meters. 0 == disabled #define DEFAULT_GMBL_TRIG_TIME 0 // Activate trigger every this many seconds. 0 == disabled #define DEFAULT_GMBL_PSTHR_CHAN 0 // Pure passthrough radio channel (eg. camera zoom, pan axis, lights, etc). 0 == disabled #define DEFAULT_GMBL_PSTHR_PORT 0 // Pure passthrough output port. 0 == disabled #define DEFAULT_SPVR_LOW_BAT1 3.3f // cell volts #define DEFAULT_SPVR_LOW_BAT2 3.2f // cell volts #define DEFAULT_SPVR_BAT_CRV1 0 #define DEFAULT_SPVR_BAT_CRV2 0 #define DEFAULT_SPVR_BAT_CRV3 0 #define DEFAULT_SPVR_BAT_CRV4 0 #define DEFAULT_SPVR_BAT_CRV5 0 #define DEFAULT_SPVR_BAT_CRV6 0 #define DEFAULT_SPVR_FS_RAD_ST1 0 // radio failsafe stage 1 action (0 = position hold) #define DEFAULT_SPVR_FS_RAD_ST2 0 // radio failsafe stage 2 action (0 = land, 1 = RTH, land, 2 = Ascend if needed, RTH, land) #define DEFAULT_SPVR_FS_ADD_ALT 0.0f // meters to add to home alt. for falisafe stg.2 action == 2 #define DEFAULT_SPVR_CUR_OFFSET 0.0f /* Currentsensor offset voltage @0A: for ACS758 0.5*ADC_REF_VOLTAGE with some cable loss, calibrate for real values */ #define DEFAULT_SPVR_CUR_RES (20.0f/1000.0f) /* Currentsensor AutoPilot resolution, adjust after calibration */ #define DEFAULT_QUATOS_J_ROLL 0.00109903 #define DEFAULT_QUATOS_J_PITCH 0.00240544 #define DEFAULT_QUATOS_J_YAW 0.00319596 #define DEFAULT_QUATOS_AM1 -8.0f // 20.0f #define DEFAULT_QUATOS_AM2 -30.0f //-35.0f #define DEFAULT_QUATOS_PROP_K1 30.0f //250.0f #define DEFAULT_QUATOS_M_TLT_RT 12.0f // rads/s #define DEFAULT_QUATOS_M_YAW_RT 6.0f // rads/s #define DEFAULT_QUATOS_MAX_OUT 0.2f // total moment demand allowed (n_a + n_b) #define DEFAULT_QUATOS_QUAT_TAU 0.05f #define DEFAULT_QUATOS_L1_ASP -10.0f #define DEFAULT_QUATOS_L1_K1 10.0f //22.5f//15.0f #define DEFAULT_QUATOS_AM1_KNOB 8.0f // AM1 #define DEFAULT_QUATOS_AM2_KNOB 9.0f // AM2 #define DEFAULT_QUATOS_K1_KNOB 7.0f // L1_K1 #define DEFAULT_QUATOS_PT_KNOB 0.0f // prop torque #define DEFAULT_QUATOS_MM_R01 +0.000000 #define DEFAULT_QUATOS_MM_P01 +0.000000 #define DEFAULT_QUATOS_MM_Y01 +0.000000 #define DEFAULT_QUATOS_MM_R02 +0.000000 #define DEFAULT_QUATOS_MM_P02 +0.000000 #define DEFAULT_QUATOS_MM_Y02 +0.000000 #define DEFAULT_QUATOS_MM_R03 +0.000000 #define DEFAULT_QUATOS_MM_P03 +0.000000 #define DEFAULT_QUATOS_MM_Y03 +0.000000 #define DEFAULT_QUATOS_MM_R04 +0.000000 #define DEFAULT_QUATOS_MM_P04 +0.000000 #define DEFAULT_QUATOS_MM_Y04 +0.000000 #define DEFAULT_QUATOS_MM_R05 +0.088388 #define DEFAULT_QUATOS_MM_P05 +0.088388 #define DEFAULT_QUATOS_MM_Y05 -1.000000 #define DEFAULT_QUATOS_MM_R06 +0.088388 #define DEFAULT_QUATOS_MM_P06 -0.088388 #define DEFAULT_QUATOS_MM_Y06 +1.000000 #define DEFAULT_QUATOS_MM_R07 -0.088388 #define DEFAULT_QUATOS_MM_P07 -0.088388 #define DEFAULT_QUATOS_MM_Y07 -1.000000 #define DEFAULT_QUATOS_MM_R08 -0.088388 #define DEFAULT_QUATOS_MM_P08 +0.088388 #define DEFAULT_QUATOS_MM_Y08 +1.000000 #define DEFAULT_QUATOS_MM_R09 +0.000000 #define DEFAULT_QUATOS_MM_P09 +0.000000 #define DEFAULT_QUATOS_MM_Y09 +0.000000 #define DEFAULT_QUATOS_MM_R10 +0.000000 #define DEFAULT_QUATOS_MM_P10 +0.000000 #define DEFAULT_QUATOS_MM_Y10 +0.000000 #define DEFAULT_QUATOS_MM_R11 +0.000000 #define DEFAULT_QUATOS_MM_P11 +0.000000 #define DEFAULT_QUATOS_MM_Y11 +0.000000 #define DEFAULT_QUATOS_MM_R12 +0.000000 #define DEFAULT_QUATOS_MM_P12 +0.000000 #define DEFAULT_QUATOS_MM_Y12 +0.000000 #define DEFAULT_QUATOS_MM_R13 +0.000000 #define DEFAULT_QUATOS_MM_P13 +0.000000 #define DEFAULT_QUATOS_MM_Y13 +0.000000 #define DEFAULT_QUATOS_MM_R14 +0.000000 #define DEFAULT_QUATOS_MM_P14 +0.000000 #define DEFAULT_QUATOS_MM_Y14 +0.000000 #define DEFAULT_QUATOS_MM_R15 +0.000000 #define DEFAULT_QUATOS_MM_P15 +0.000000 #define DEFAULT_QUATOS_MM_Y15 +0.000000 #define DEFAULT_QUATOS_MM_R16 +0.000000 #define DEFAULT_QUATOS_MM_P16 +0.000000 #define DEFAULT_QUATOS_MM_Y16 +0.000000 #define DEFAULT_LIC_KEY1 4944.0f #define DEFAULT_LIC_KEY2 0.0f #define DEFAULT_LIC_KEY3 0.0f