#include "defines.h"
#include "APM_Config.h"

Macros
#define	HIL_MODE HIL_MODE_DISABLED
	/////////////////////////////////////////////////////////////////////////// More...

#define	MAGNETOMETER ENABLED

#define	ARMING_DELAY_SEC 2.0f

#define	FRAME_CONFIG MULTICOPTER_FRAME

#define	RC_FAST_SPEED 490

#define	RANGEFINDER_ENABLED ENABLED

#define	RANGEFINDER_HEALTH_MAX 3

#define	RANGEFINDER_GAIN_DEFAULT 0.8f

#define	THR_SURFACE_TRACKING_VELZ_MAX 150

#define	RANGEFINDER_TIMEOUT_MS 1000

#define	RANGEFINDER_WPNAV_FILT_HZ 0.25f

#define	RANGEFINDER_TILT_CORRECTION ENABLED

#define	RANGEFINDER_GLITCH_ALT_CM 200

#define	RANGEFINDER_GLITCH_NUM_SAMPLES 3

#define	PROXIMITY_ENABLED ENABLED

#define	MAV_SYSTEM_ID 1

#define	BOARD_VOLTAGE_MIN 4.3f

#define	BOARD_VOLTAGE_MAX 5.8f

#define	GPS_HDOP_GOOD_DEFAULT 140

#define	FS_GCS DISABLED

#define	FS_GCS_TIMEOUT_MS 5000

#define	FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000

#define	FS_RADIO_TIMEOUT_MS 500

#define	FS_TERRAIN_TIMEOUT_MS 5000

#define	PREARM_DISPLAY_PERIOD 30

#define	PREARM_MAX_ALT_DISPARITY_CM 100

#define	FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND

#define	FS_EKF_THRESHOLD_DEFAULT 0.8f

#define	EKF_ORIGIN_MAX_DIST_M 50000

#define	COMPASS_CAL_STICK_GESTURE_TIME 2.0f

#define	COMPASS_CAL_STICK_DELAY 5.0f

#define	OPTFLOW ENABLED

#define	VISUAL_ODOMETRY_ENABLED !HAL_MINIMIZE_FEATURES

#define	AUTOTUNE_ENABLED ENABLED

#define	SPRAYER !HAL_MINIMIZE_FEATURES

#define	PRECISION_LANDING ENABLED

#define	GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES

#define	WINCH_ENABLED !HAL_MINIMIZE_FEATURES

#define	RPM_ENABLED ENABLED

#define	PARACHUTE ENABLED

#define	ADSB_ENABLED !HAL_MINIMIZE_FEATURES

#define	NAV_GUIDED !HAL_MINIMIZE_FEATURES

#define	MODE_ACRO_ENABLED ENABLED

#define	MODE_AUTO_ENABLED ENABLED

#define	MODE_BRAKE_ENABLED ENABLED

#define	MODE_CIRCLE_ENABLED ENABLED

#define	MODE_DRIFT_ENABLED ENABLED

#define	MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES

#define	MODE_GUIDED_ENABLED ENABLED

#define	MODE_GUIDED_NOGPS_ENABLED ENABLED

#define	MODE_LOITER_ENABLED ENABLED

#define	MODE_POSHOLD_ENABLED ENABLED

#define	MODE_RTL_ENABLED ENABLED

#define	MODE_SMARTRTL_ENABLED ENABLED

#define	MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES

#define	MODE_THROW_ENABLED ENABLED

#define	BEACON_ENABLED !HAL_MINIMIZE_FEATURES

#define	FLIGHT_MODE_1 STABILIZE

#define	FLIGHT_MODE_2 STABILIZE

#define	FLIGHT_MODE_3 STABILIZE

#define	FLIGHT_MODE_4 STABILIZE

#define	FLIGHT_MODE_5 STABILIZE

#define	FLIGHT_MODE_6 STABILIZE

#define	FS_THR_VALUE_DEFAULT 975

#define	PILOT_TKOFF_ALT_DEFAULT 0

#define	LAND_SPEED 50

#define	LAND_REPOSITION_DEFAULT 1

#define	LAND_WITH_DELAY_MS 4000

#define	LAND_CANCEL_TRIGGER_THR 700

#define	LAND_RANGEFINDER_MIN_ALT_CM 200

#define	LAND_DETECTOR_TRIGGER_SEC 1.0f

#define	LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f

#define	LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f

#define	LAND_DETECTOR_ACCEL_MAX 1.0f

#define	CAMERA ENABLED

#define	MOUNT ENABLED

#define	ACRO_RP_P 4.5f

#define	ACRO_YAW_P 4.5f

#define	ACRO_LEVEL_MAX_ANGLE 3000

#define	ACRO_BALANCE_ROLL 1.0f

#define	ACRO_BALANCE_PITCH 1.0f

#define	ACRO_RP_EXPO_DEFAULT 0.3f

#define	ACRO_Y_EXPO_DEFAULT 0.0f

#define	ACRO_THR_MID_DEFAULT 0.0f

#define	RTL_ALT_FINAL 0

#define	RTL_ALT 1500

#define	RTL_ALT_MIN 200

#define	RTL_CLIMB_MIN_DEFAULT 0

#define	RTL_ABS_MIN_CLIMB 250

#define	RTL_CONE_SLOPE_DEFAULT 3.0f

#define	RTL_MIN_CONE_SLOPE 0.5f

#define	RTL_LOITER_TIME 5000

#define	WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL

#define	AUTO_YAW_SLEW_RATE 60

#define	YAW_LOOK_AHEAD_MIN_SPEED 100

#define	SUPER_SIMPLE_RADIUS 1000

#define	ROLL_PITCH_YAW_INPUT_MAX 4500

#define	DEFAULT_ANGLE_MAX 4500

#define	ANGLE_RATE_MAX 18000

#define	BRAKE_MODE_SPEED_Z 250

#define	BRAKE_MODE_DECEL_RATE 750

#define	POSHOLD_BRAKE_RATE_DEFAULT 8

#define	POSHOLD_BRAKE_ANGLE_DEFAULT 3000

#define	THR_DZ_DEFAULT 100

#define	PILOT_VELZ_MAX 250

#define	PILOT_ACCEL_Z_DEFAULT 250

#define	ALT_HOLD_INIT_MAX_OVERSHOOT 200

#define	ALT_HOLD_ACCEL_MAX 250

#define	AUTO_DISARMING_DELAY 10

#define	THROW_HIGH_SPEED 500.0f

#define	THROW_VERTICAL_SPEED 50.0f

#define	LOGGING_ENABLED ENABLED

#define	DEFAULT_LOG_BITMASK

#define	AC_FENCE ENABLED

#define	AC_RALLY ENABLED

#define	AC_TERRAIN ENABLED

#define	AC_AVOID_ENABLED ENABLED

#define	FRSKY_TELEM_ENABLED ENABLED

#define	ADVANCED_FAILSAFE DISABLED

#define	CH_MODE_DEFAULT 5

#define	TOY_MODE_ENABLED DISABLED

#define	STATS_ENABLED ENABLED

#define	DEVO_TELEM_ENABLED ENABLED

Macro Definition Documentation

◆ AC_AVOID_ENABLED

#define AC_AVOID_ENABLED ENABLED

◆ AC_FENCE

#define AC_FENCE ENABLED

◆ AC_RALLY

#define AC_RALLY ENABLED

◆ AC_TERRAIN

#define AC_TERRAIN ENABLED

◆ ACRO_BALANCE_PITCH

#define ACRO_BALANCE_PITCH 1.0f

◆ ACRO_BALANCE_ROLL

#define ACRO_BALANCE_ROLL 1.0f

◆ ACRO_LEVEL_MAX_ANGLE

#define ACRO_LEVEL_MAX_ANGLE 3000

◆ ACRO_RP_EXPO_DEFAULT

#define ACRO_RP_EXPO_DEFAULT 0.3f

◆ ACRO_RP_P

#define ACRO_RP_P 4.5f

◆ ACRO_THR_MID_DEFAULT

#define ACRO_THR_MID_DEFAULT 0.0f

◆ ACRO_Y_EXPO_DEFAULT

#define ACRO_Y_EXPO_DEFAULT 0.0f

◆ ACRO_YAW_P

#define ACRO_YAW_P 4.5f

◆ ADSB_ENABLED

#define ADSB_ENABLED !HAL_MINIMIZE_FEATURES

◆ ADVANCED_FAILSAFE

#define ADVANCED_FAILSAFE DISABLED

◆ ALT_HOLD_ACCEL_MAX

#define ALT_HOLD_ACCEL_MAX 250

◆ ALT_HOLD_INIT_MAX_OVERSHOOT

#define ALT_HOLD_INIT_MAX_OVERSHOOT 200

◆ ANGLE_RATE_MAX

#define ANGLE_RATE_MAX 18000

◆ ARMING_DELAY_SEC

#define ARMING_DELAY_SEC 2.0f

◆ AUTO_DISARMING_DELAY

#define AUTO_DISARMING_DELAY 10

◆ AUTO_YAW_SLEW_RATE

#define AUTO_YAW_SLEW_RATE 60

◆ AUTOTUNE_ENABLED

#define AUTOTUNE_ENABLED ENABLED

◆ BEACON_ENABLED

#define BEACON_ENABLED !HAL_MINIMIZE_FEATURES

◆ BOARD_VOLTAGE_MAX

#define BOARD_VOLTAGE_MAX 5.8f

◆ BOARD_VOLTAGE_MIN

#define BOARD_VOLTAGE_MIN 4.3f

◆ BRAKE_MODE_DECEL_RATE

#define BRAKE_MODE_DECEL_RATE 750

◆ BRAKE_MODE_SPEED_Z

#define BRAKE_MODE_SPEED_Z 250

◆ CAMERA

#define CAMERA ENABLED

◆ CH_MODE_DEFAULT

#define CH_MODE_DEFAULT 5

◆ COMPASS_CAL_STICK_DELAY

#define COMPASS_CAL_STICK_DELAY 5.0f

◆ COMPASS_CAL_STICK_GESTURE_TIME

#define COMPASS_CAL_STICK_GESTURE_TIME 2.0f

◆ DEFAULT_ANGLE_MAX

#define DEFAULT_ANGLE_MAX 4500

◆ DEFAULT_LOG_BITMASK

#define DEFAULT_LOG_BITMASK

Value:

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

◆ DEVO_TELEM_ENABLED

#define DEVO_TELEM_ENABLED ENABLED

◆ EKF_ORIGIN_MAX_DIST_M

#define EKF_ORIGIN_MAX_DIST_M 50000

◆ FLIGHT_MODE_1

#define FLIGHT_MODE_1 STABILIZE

◆ FLIGHT_MODE_2

#define FLIGHT_MODE_2 STABILIZE

◆ FLIGHT_MODE_3

#define FLIGHT_MODE_3 STABILIZE

◆ FLIGHT_MODE_4

#define FLIGHT_MODE_4 STABILIZE

◆ FLIGHT_MODE_5

#define FLIGHT_MODE_5 STABILIZE

◆ FLIGHT_MODE_6

#define FLIGHT_MODE_6 STABILIZE

◆ FRAME_CONFIG

#define FRAME_CONFIG MULTICOPTER_FRAME

◆ FRSKY_TELEM_ENABLED

#define FRSKY_TELEM_ENABLED ENABLED

◆ FS_EKF_ACTION_DEFAULT

#define FS_EKF_ACTION_DEFAULT FS_EKF_ACTION_LAND

◆ FS_EKF_THRESHOLD_DEFAULT

#define FS_EKF_THRESHOLD_DEFAULT 0.8f

◆ FS_GCS

#define FS_GCS DISABLED

◆ FS_GCS_TIMEOUT_MS

#define FS_GCS_TIMEOUT_MS 5000

◆ FS_RADIO_RC_OVERRIDE_TIMEOUT_MS

#define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000

◆ FS_RADIO_TIMEOUT_MS

#define FS_RADIO_TIMEOUT_MS 500

◆ FS_TERRAIN_TIMEOUT_MS

#define FS_TERRAIN_TIMEOUT_MS 5000

◆ FS_THR_VALUE_DEFAULT

#define FS_THR_VALUE_DEFAULT 975

◆ GPS_HDOP_GOOD_DEFAULT

#define GPS_HDOP_GOOD_DEFAULT 140

◆ GRIPPER_ENABLED

#define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES

◆ HIL_MODE

#define HIL_MODE HIL_MODE_DISABLED

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

DO NOT EDIT THIS INCLUDE - if you want to make a local change, make that change in your local copy of APM_Config.h.

◆ LAND_CANCEL_TRIGGER_THR

#define LAND_CANCEL_TRIGGER_THR 700

◆ LAND_DETECTOR_ACCEL_LPF_CUTOFF

#define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f

◆ LAND_DETECTOR_ACCEL_MAX

#define LAND_DETECTOR_ACCEL_MAX 1.0f

◆ LAND_DETECTOR_MAYBE_TRIGGER_SEC

#define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f

◆ LAND_DETECTOR_TRIGGER_SEC

#define LAND_DETECTOR_TRIGGER_SEC 1.0f

◆ LAND_RANGEFINDER_MIN_ALT_CM

#define LAND_RANGEFINDER_MIN_ALT_CM 200

◆ LAND_REPOSITION_DEFAULT

#define LAND_REPOSITION_DEFAULT 1

◆ LAND_SPEED

#define LAND_SPEED 50

◆ LAND_WITH_DELAY_MS

#define LAND_WITH_DELAY_MS 4000

◆ LOGGING_ENABLED

#define LOGGING_ENABLED ENABLED

◆ MAGNETOMETER

#define MAGNETOMETER ENABLED

◆ MAV_SYSTEM_ID

#define MAV_SYSTEM_ID 1

◆ MODE_ACRO_ENABLED

#define MODE_ACRO_ENABLED ENABLED

◆ MODE_AUTO_ENABLED

#define MODE_AUTO_ENABLED ENABLED

◆ MODE_BRAKE_ENABLED

#define MODE_BRAKE_ENABLED ENABLED

◆ MODE_CIRCLE_ENABLED

#define MODE_CIRCLE_ENABLED ENABLED

◆ MODE_DRIFT_ENABLED

#define MODE_DRIFT_ENABLED ENABLED

◆ MODE_FOLLOW_ENABLED

#define MODE_FOLLOW_ENABLED !HAL_MINIMIZE_FEATURES

◆ MODE_GUIDED_ENABLED

#define MODE_GUIDED_ENABLED ENABLED

◆ MODE_GUIDED_NOGPS_ENABLED

#define MODE_GUIDED_NOGPS_ENABLED ENABLED

◆ MODE_LOITER_ENABLED

#define MODE_LOITER_ENABLED ENABLED

◆ MODE_POSHOLD_ENABLED

#define MODE_POSHOLD_ENABLED ENABLED

◆ MODE_RTL_ENABLED

#define MODE_RTL_ENABLED ENABLED

◆ MODE_SMARTRTL_ENABLED

#define MODE_SMARTRTL_ENABLED ENABLED

◆ MODE_SPORT_ENABLED

#define MODE_SPORT_ENABLED !HAL_MINIMIZE_FEATURES

◆ MODE_THROW_ENABLED

#define MODE_THROW_ENABLED ENABLED

◆ MOUNT

#define MOUNT ENABLED

◆ NAV_GUIDED

#define NAV_GUIDED !HAL_MINIMIZE_FEATURES

◆ OPTFLOW

#define OPTFLOW ENABLED

◆ PARACHUTE

#define PARACHUTE ENABLED

◆ PILOT_ACCEL_Z_DEFAULT

#define PILOT_ACCEL_Z_DEFAULT 250

◆ PILOT_TKOFF_ALT_DEFAULT

#define PILOT_TKOFF_ALT_DEFAULT 0

◆ PILOT_VELZ_MAX

#define PILOT_VELZ_MAX 250

◆ POSHOLD_BRAKE_ANGLE_DEFAULT

#define POSHOLD_BRAKE_ANGLE_DEFAULT 3000

◆ POSHOLD_BRAKE_RATE_DEFAULT

#define POSHOLD_BRAKE_RATE_DEFAULT 8

◆ PREARM_DISPLAY_PERIOD

#define PREARM_DISPLAY_PERIOD 30

◆ PREARM_MAX_ALT_DISPARITY_CM

#define PREARM_MAX_ALT_DISPARITY_CM 100

◆ PRECISION_LANDING

#define PRECISION_LANDING ENABLED

◆ PROXIMITY_ENABLED

#define PROXIMITY_ENABLED ENABLED

◆ RANGEFINDER_ENABLED

#define RANGEFINDER_ENABLED ENABLED

◆ RANGEFINDER_GAIN_DEFAULT

#define RANGEFINDER_GAIN_DEFAULT 0.8f

◆ RANGEFINDER_GLITCH_ALT_CM

#define RANGEFINDER_GLITCH_ALT_CM 200

◆ RANGEFINDER_GLITCH_NUM_SAMPLES

#define RANGEFINDER_GLITCH_NUM_SAMPLES 3

◆ RANGEFINDER_HEALTH_MAX

#define RANGEFINDER_HEALTH_MAX 3

◆ RANGEFINDER_TILT_CORRECTION

#define RANGEFINDER_TILT_CORRECTION ENABLED

◆ RANGEFINDER_TIMEOUT_MS

#define RANGEFINDER_TIMEOUT_MS 1000

◆ RANGEFINDER_WPNAV_FILT_HZ

#define RANGEFINDER_WPNAV_FILT_HZ 0.25f

◆ RC_FAST_SPEED

#define RC_FAST_SPEED 490

◆ ROLL_PITCH_YAW_INPUT_MAX

#define ROLL_PITCH_YAW_INPUT_MAX 4500

◆ RPM_ENABLED

#define RPM_ENABLED ENABLED

◆ RTL_ABS_MIN_CLIMB

#define RTL_ABS_MIN_CLIMB 250

◆ RTL_ALT

#define RTL_ALT 1500

◆ RTL_ALT_FINAL

#define RTL_ALT_FINAL 0

◆ RTL_ALT_MIN

#define RTL_ALT_MIN 200

◆ RTL_CLIMB_MIN_DEFAULT

#define RTL_CLIMB_MIN_DEFAULT 0

◆ RTL_CONE_SLOPE_DEFAULT

#define RTL_CONE_SLOPE_DEFAULT 3.0f

◆ RTL_LOITER_TIME

#define RTL_LOITER_TIME 5000

◆ RTL_MIN_CONE_SLOPE

#define RTL_MIN_CONE_SLOPE 0.5f

◆ SPRAYER

#define SPRAYER !HAL_MINIMIZE_FEATURES

◆ STATS_ENABLED

#define STATS_ENABLED ENABLED

◆ SUPER_SIMPLE_RADIUS

#define SUPER_SIMPLE_RADIUS 1000

◆ THR_DZ_DEFAULT

#define THR_DZ_DEFAULT 100

◆ THR_SURFACE_TRACKING_VELZ_MAX

#define THR_SURFACE_TRACKING_VELZ_MAX 150

◆ THROW_HIGH_SPEED

#define THROW_HIGH_SPEED 500.0f

◆ THROW_VERTICAL_SPEED

#define THROW_VERTICAL_SPEED 50.0f

◆ TOY_MODE_ENABLED

#define TOY_MODE_ENABLED DISABLED

◆ VISUAL_ODOMETRY_ENABLED

#define VISUAL_ODOMETRY_ENABLED !HAL_MINIMIZE_FEATURES

◆ WINCH_ENABLED

#define WINCH_ENABLED !HAL_MINIMIZE_FEATURES

◆ WP_YAW_BEHAVIOR_DEFAULT

#define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL

◆ YAW_LOOK_AHEAD_MIN_SPEED

#define YAW_LOOK_AHEAD_MIN_SPEED 100

Macros