config.h
APM_Config.h
Before analizing the Config.h, it would be useful to comment the APM_Config.h file, which also stores configuration matters.
The APM_Config.h file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from their default values, place the appropriate #define statements here.
So the APM_Config.h funtion is to deal with your parameters and configuration choice.
On the other hand, Config.h contains default and automatic configuration details. As you will see there are many warnings alont the file to avoid changes that can lead to desconfiguration.
Config.h
It is important to do a Config.hanalysis, because here you can find all the variables initialization value.From these init-values you can extract how they should advance/change.
The Config.h defines default configuration so, as you can see, it starts with a warning:
// -*- 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.
///
#include "APM_Config.h" // <== THIS INCLUDE, DO NOT EDIT IT. EVER.
///
/// DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that
/// change in your local copy of APM_Config.h.
///
...
The defines.h contains internal definitions, that should be included in the configuration.
As commented above, the APM_config.h file includes the local configuration details.
#if defined( __AVR_ATmega1280__ )
// default choices for a 1280. We can't fit everything in, so we
// make some popular choices by default
#define LOGGING_ENABLED DISABLED
#ifndef MOUNT
# define MOUNT DISABLED
#endif
#ifndef CAMERA
# define CAMERA DISABLED
#endif
#endif
...
This slice of code defines the default status of the Camera and the mount disabled. In order to enable it when really connecting them.
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
...
I would remark this slice of code. Enabled is defined with the binary value 1 and Disabled with the 0. It is important to note that 1 and 0 refer the binary values of these numbers. In electronics, generally, the binary value 1 refers something working (like a closed switch) and the value 0 the oposite (like a open switch). This concep will appear frecuently with dealing with electronic devices.
//////////////////////////////////////////////////////////////////////////////
// sensor types
#define CONFIG_INS_TYPE HAL_INS_DEFAULT
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
#ifdef HAL_SERIAL0_BAUD_DEFAULT
# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
#endif
...
Here four types of sensors are configures: barometer, compass data sensor, serial sensor and ins type sensor.
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
#undef CONFIG_BARO
#define CONFIG_BARO HAL_BARO_HIL
#undef CONFIG_INS_TYPE
#define CONFIG_INS_TYPE HAL_INS_HIL
#undef CONFIG_COMPASS
#define CONFIG_COMPASS HAL_COMPASS_HIL
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define BATTERY_PIN_1 0
# define CURRENT_PIN_1 1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
# define BATTERY_PIN_1 20
# define CURRENT_PIN_1 19
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1
#endif
...
This slice of code stablish the parameters of the HIL mode (Hardware in the loop), for development and testing of embedded real-time complex systems.First check if the HIL mode is enabled and after that defines and initialize the corresponding variables.
For example deactivate the CONFIG_BARO and enables the CONFIG_BARO HAL_BARO_HIL, which is used in the HIL mode.
Also defines the battery and input pins, depending on the type of board.
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
#ifndef HIL_MODE
#define HIL_MODE HIL_MODE_DISABLED
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif
...
This configuration opf the HIL mode is optional and stablish the MAV_SYSTEM_ID.
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//
#ifndef SERIAL0_BAUD
# define SERIAL0_BAUD 115200
#endif
#ifndef SERIAL1_BAUD
# define SERIAL1_BAUD 57600
#endif
#ifndef SERIAL2_BAUD
# define SERIAL2_BAUD 57600
#endif
#ifndef CH7_OPTION
# define CH7_OPTION CH7_SAVE_WP
#endif
#ifndef TUNING_OPTION
# define TUNING_OPTION TUN_NONE
#endif
...
Here the serial ports speed is stablished through the number of bauds.Baud is the unit of symbol rate, also known as baud or modulation rate; the number of distinct symbol changes (signaling events) made to the transmission medium per second in a digitally modulated signal or a line code.
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//
#ifndef INPUT_VOLTAGE
# define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
#endif
...
This slice of code defines the INPUT_VOLTAGEfor making it work.
//////////////////////////////////////////////////////////////////////////////
// MAGNETOMETER
#ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED
#endif
...
MAGNETOMETERis enabled here fot its later use in other code files.
//////////////////////////////////////////////////////////////////////////////
// MODE
// MODE_CHANNEL
//
#ifndef MODE_CHANNEL
# define MODE_CHANNEL 8
#endif
#if (MODE_CHANNEL != 5) && (MODE_CHANNEL != 6) && (MODE_CHANNEL != 7) && (MODE_CHANNEL != 8)
# error XXX
# error XXX You must set MODE_CHANNEL to 5, 6, 7 or 8
# error XXX
#endif
#if !defined(MODE_1)
# define MODE_1 LEARNING
#endif
#if !defined(MODE_2)
# define MODE_2 LEARNING
#endif
#if !defined(MODE_3)
# define MODE_3 LEARNING
#endif
#if !defined(MODE_4)
# define MODE_4 LEARNING
#endif
#if !defined(MODE_5)
# define MODE_5 LEARNING
#endif
#if !defined(MODE_6)
# define MODE_6 MANUAL
#endif
...
This slice of code defines six modes for channel input/output.The first 5th are LEARNINGmodes, whilehe 6th one is MANUAL.
//////////////////////////////////////////////////////////////////////////////
// failsafe defaults
#ifndef THROTTLE_FAILSAFE
# define THROTTLE_FAILSAFE ENABLED
#endif
#ifndef THROTTLE_FS_VALUE
# define THROTTLE_FS_VALUE 950
#endif
#ifndef LONG_FAILSAFE_ACTION
# define LONG_FAILSAFE_ACTION 0
#endif
#ifndef GCS_HEARTBEAT_FAILSAFE
# define GCS_HEARTBEAT_FAILSAFE DISABLED
#endif
///////////////////
...
The failsafe default events configuration is made here.For example defines and enables the THROTTLE_FAILSAFE in case the there is any problem with the throttle.
//////////////////////////////////////////////////////////////////////////////
// THROTTLE_OUT
//
#ifndef THROTTLE_OUT
# define THROTTLE_OUT ENABLED
#endif
...
Here the THROTTLE_OUTis defined and enabled.
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
Now comes the STARTUP BEHAVIOUR configuration.
//////////////////////////////////////////////////////////////////////////////
// GROUND_START_DELAY
//
#ifndef GROUND_START_DELAY
# define GROUND_START_DELAY 0
#endif
...
This slice of code defines and initialize the delay in 0 ms.
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA control
//
#ifndef CAMERA
# define CAMERA ENABLED
#endif
...
Here the MOUNTand the CAMERA are enabled, in case they are defined (it means they exist/are connected).
/////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE
//
#ifndef SPEED_CRUISE
# define SPEED_CRUISE 3 // 3 m/s
#endif
#ifndef GSBOOST
# define GSBOOST 0
#endif
#ifndef GSBOOST
# define GSBOOST 0
#endif
#ifndef NUDGE_OFFSET
# define NUDGE_OFFSET 0
#endif
#ifndef E_GLIDER
# define E_GLIDER ENABLED
#endif
#ifndef TURN_GAIN
# define TURN_GAIN 5
#endif
...
This slice of code stablish the value of the variables related to the measure of the air-speed.
//////////////////////////////////////////////////////////////////////////////
// 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 100
#endif
...
This slice of code defines the min, max and cruise values for the throttle.
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
//
#ifndef SERVO_STEER_P
# define SERVO_STEER_P 0.4
#endif
#ifndef SERVO_STEER_I
# define SERVO_STEER_I 0.0
#endif
#ifndef SERVO_STEER_D
# define SERVO_STEER_D 0.0
#endif
#ifndef SERVO_STEER_INT_MAX
# define SERVO_STEER_INT_MAX 5
#endif
#define SERVO_STEER_INT_MAX_CENTIDEGREE SERVO_STEER_INT_MAX*100
...
Here the gains when controlling the attitude are stablished.
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
//
#ifndef XTRACK_GAIN
# define XTRACK_GAIN 1 // deg/m
#endif
#ifndef XTRACK_ENTRY_ANGLE
# define XTRACK_ENTRY_ANGLE 50 // deg
#endif
# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
...
This slice of code stablish the angular gain and the entry angle for cosstrack compensation.
//////////////////////////////////////////////////////////////////////////////
// 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_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_MODE | \
MASK_LOG_CMD | \
MASK_LOG_SONAR | \
MASK_LOG_COMPASS | \
MASK_LOG_CURRENT | \
MASK_LOG_STEERING | \
MASK_LOG_CAMERA
#else
// other systems have plenty of space for full logs
#define DEFAULT_LOG_BITMASK 0xffff
#endif
...
This slice of code enables the logging to the Dataflash and if the board is one of the specified, then defines default logs.
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
#ifndef STANDARD_SPEED
# define STANDARD_SPEED 3.0
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
#endif
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
// use this to enable servos in HIL mode
#ifndef HIL_SERVOS
# define HIL_SERVOS DISABLED
#endif
// use this to completely disable the CLI
#ifndef CLI_ENABLED
# define CLI_ENABLED ENABLED
#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
#ifndef BOOSTER
# define BOOSTER 2 // booster factor x1 = 1 or x2 = 2
#endif
#ifndef SONAR_ENABLED
# define SONAR_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
This slice of code, first defines the standard speed values, then the HIL MODE servos,then enables the command line (CMI), enables the sonar and the filmeware.Also, implements a RESET_SWITCH function for reseting the control mode to the current switch position.