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  1. /etc # cat parameters.conf
  2. #/////////////////////////////////////////////////////////////
  3. #
  4. #        PARAMETERS FOR EVINRUDE CONFIG_MANAGER
  5. #
  6. #/////////////////////////////////////////////////////////////
  7.  
  8. M_PI_4                                          = 0.7853981633974483
  9.  
  10. #/////////////////////////////////////////////////////////////
  11. # GLOBAL
  12. GLOBAL_FMS_FREQ                                 = 200.0
  13. GLOBAL_LED_SLOW_BLINKING_PERIOD                 = 0.5
  14. GLOBAL_LED_FAST_BLINKING_PERIOD                 = 0.2
  15. GLOBAL_LED_FAST_BLINKING_TIME                   = 3.0
  16. GLOBAL_FIFO_SIZE                                = 5
  17. GLOBAL_MIN_GROUNDSPEED                          = 5.0
  18. # Airspeed under which the aircraft is not considered in flight.
  19. GLOBAL_MIN_INFLIGHT_AIRSPEED                    = 2.0
  20. GLOBAL_MAX_INFLIGHT_AIRSPEED                    = 20.0
  21. GLOBAL_CPU_LOAD_UPDATE_PERIOD_USEC              = 2000000
  22.  
  23. RADIO_MODE_AUTO                                 = 0
  24. RADIO_MODE_EASY_MANUAL                          = 1
  25. RADIO_MODE_MANUAL                               = 2
  26.  
  27. RC_MODE                                         = RADIO_MODE_AUTO
  28.  
  29. #/////////////////////////////////////////////////////////////
  30. # BATTERY
  31. BATTERY_FILTER_CO_HZ                            = 1.0
  32. VBAT_MIN                                        = 9.7
  33. VBAT_LOW                                        = 9.8
  34. VBAT_SHUTDOWN                                   = 9.0
  35. BATTERY_PERCENTAGE_TABLE_LENGTH                 = 15
  36. BATTERY_PERCENTAGE_TABLE_VOLTAGE                = 9.5, 11.04, 11.11, 11.21, 11.3, 11.4, 11.6, 11.9, 12.02, 12.11, 12.19, 12.26, 12.35, 12.45, 12.5
  37. BATTERY_PERCENTAGE_TABLE_PERCENTAGE             = 0, 5, 10, 15, 25, 45, 55, 79, 84, 88, 91, 94, 96, 98, 100
  38.  
  39. #/////////////////////////////////////////////////////////////
  40. # Acceleration
  41. IMU_FILTER_ACC_CO_HZ                            = 30.0
  42. IMU_LOW_ACC_THRESHOLD_MIN                       = 9.5
  43. IMU_LOW_ACC_THRESHOLD_MAX                       = 10.1
  44. # The actual value of accHorizontalityTest will be
  45. # ACC_HORIZONTALITY_TEST * DEG_TO_RAD * GRAVITY
  46. ACC_HORIZONTALITY_TEST                          = 30.0
  47.  
  48. #/////////////////////////////////////////////////////////////
  49. # IMU
  50. IMU_FILTER_GYRO_CO_HZ                           = 30.0
  51. IMU_FILTER_VAR_ERROR_CO_HZ                      = 1.6
  52. IMU_ENABLE_BIAIS_FOR_GYRO                       = true
  53. IMU_ENABLE_AIRSPEED_CENT_FORCE_COMP             = true
  54. IMU_ENABLE_COMPUTED_MEASUREMENT_ERROR           = true
  55. IMU_CONSECUTIVE_STABLE_DETECTION_THRESHOLD      = 100        # 0.5 * GLOBAL_FMS_FREQ
  56. IMU_GYRO_STABLE_THRESHOLD                       = 0.03
  57.  
  58. #/////////////////////////////////////////////////////////////
  59. # PITOT
  60. PITOT_FILTER_AIR_ACCELERATION_CO_HZ             = 0.8
  61. PITOT_FILTER_OFFSET_CO_HZ                       = 0.3165
  62. PITOT_CALIBRATION_GAIN                          = 0.9306
  63. PITOT_CALIBRATION_OFFSET                        = 22.9274
  64. PITOT_FILTER_DYN_PRESSURE_CO_HZ                 = 10.0
  65.  
  66. #/////////////////////////////////////////////////////////////
  67. # PRESSURE
  68. BARO_FILTER_CO_HZ                               = 0.6
  69. BARO_GLITCH_LIMITER                             = 100.0
  70.  
  71. #/////////////////////////////////////////////////////////////
  72. # ULTRA-SOUND
  73. US_TRANSIT_LOW_TO_HIGH                          = 1.5
  74. US_TRANSIT_HIGH_TO_LOW                          = 0.75
  75. US_TRANSIT_COUNT                                = 50
  76.  
  77. ULTRASOUND_CMD_NO_CMD                           = 0
  78. ULTRASOUND_CMD_SET_MODE                         = 1
  79. ULTRASOUND_CMD_SET_NB_PULSES                    = 2
  80. ULTRASOUND_CMD_SET_VOLTAGE_MODE                 = 4
  81. ULTRASOUND_CMD_SET_NB_PULSES_AND_TENSION_MODE   = 6
  82. ULTRASOUND_CMD_SET_FREQUENCY                    = 8
  83. ULTRASOUND_CMD_START                            = 16
  84. ULTRASOUND_CMD_STOP                             = 32
  85.  
  86. US_CMD                                          = ULTRASOUND_CMD_SET_MODE
  87.  
  88. #/////////////////////////////////////////////////////////////
  89. # ALTIMETER
  90. ALTI_FILTER_CO_HZ                               = 0.15
  91.  
  92. #/////////////////////////////////////////////////////////////
  93. # HEADING MAGNETOMETER
  94. HEADING_FILTER_CO_HZ                            = 5.5
  95. HEADING_MAG_DECLINAISON_DEG                     = -2.0
  96. HEADING_MAG_INCLINAISON_DEG                     = 64.0
  97. NOISE_MAGNETO_MEASUREMENT                                               = 20.0      # mG
  98. NOISE_PROCESS_MAG                                                               = 0.1       # mG
  99. NOISE_PROCESS_MAG_BIAS                                                  = 0.00001   # mG
  100. MAGNETO_ESTIMATOR_INIT_COV                                              = 100.0     # mG
  101. THRESHOLD_MAG_BIAS_COV                                                  = 0.6       # mG
  102. THRESHOLD_MAG_MEASUREMENT_COV                                   = 0.1       # mG
  103.  
  104. #/////////////////////////////////////////////////////////////
  105. # GPS
  106. THRESHOLD_POSITION_DEVIATION_ERROR_TO_FIX_GPS   = 10
  107. THRESHOLD_SPEED_DEVIATION_ERROR_TO_FIX_GPS              = 10
  108. COURSE_GPS_FILTER_CO_HZ                         = 5.0
  109.  
  110. #/////////////////////////////////////////////////////////////
  111. # WORKING-AREA
  112. # The distance beyond the security distance at which the plane starts to land.
  113. WORKING_AREA_RADIUS_MARGIN              = 100.0
  114. WORKING_AREA_CEILING                    = 150.0
  115. WORKING_AREA_CEILING_MARGIN             = 10.0
  116.  
  117. #/////////////////////////////////////////////////////////////
  118. # PREFLIGHT
  119. PREFLIGHT_BATTERY_LOW_LEVEL             = 10
  120. PREFLIGHT_MAX_ALLOWABLE_ATTITUDE_ANGLE  = 10.0
  121. PREFLIGHT_MAX_ACC_X                     = 2.5
  122. PREFLIGHT_MAX_ACC_Y                     = 2.5
  123. PREFLIGHT_MIN_ACC_Z                     = 9.0
  124. PREFLIGHT_MAX_ACC_Z                     = 10.6
  125. PREFLIGHT_MAX_ALLOWABLE_AIRSPEED        = 2.0
  126. PREFLIGHT_MAX_ALLOWABLE_HEIGHT          = 10.0
  127. PREFLIGHT_MAX_ALLOWABLE_ALTITUDE_SIGMA  = 4.0
  128. PREFLIGHT_SERVO_TEST_TIME               = 0.8
  129. PREFLIGHT_CONVENIENT_GPS_SAT_NB         = 7
  130.  
  131. #/////////////////////////////////////////////////////////////
  132. # SHAKE
  133. SHAKE_ACC_THRESHOLD                     = 70.0
  134. SHAKE_INIT_LAST_MOTION_TIME_SEC         = -5.0
  135. SHAKE_RESET_TIME_SEC_THRESHOLD          = 0.5
  136. SHAKE_LAST_SHAKE_TIME_SEC_THRESHOLD     = 1.0
  137. SHAKE_LAST_MOTION_TIME_SEC_THRESHOLD    = 0.1
  138. SHAKE_NB_MOTION_THRESHOLD               = 6
  139. SHAKE_ACC_FILTER_CO_HZ                  = 1.6
  140.  
  141. #/////////////////////////////////////////////////////////////
  142. # FLYING-LANDED
  143. FL_VERTICAL_SPEED_BARO_THRESHOLD        = 2.0
  144. FL_HEIGHT_BARO_THRESHOLD                = 10.0
  145. FL_SPEED3D_THRESHOLD                    = 2.0
  146. FL_CMD_THRUST_THRESHOLD                 = 0.8
  147. FL_TIME_SINCE_LANDED_THRESHOLD          = 0.5
  148.  
  149. #/////////////////////////////////////////////////////////////
  150. # TAKE-OFF
  151. TAKEOFF_USER_PITCH_MIN                  = 15.0
  152. TAKEOFF_USER_PITCH_MAX                  = 25.0
  153. TAKEOFF_USER_ROLL_MIN                   = -10.0
  154. TAKEOFF_USER_ROLL_MAX                   = 10.0
  155. TAKEOFF_TRANSITION_ALTITUDE             = 50.0
  156. TAKEOFF_TRACKING_HEADING                = false
  157. TAKEOFF_HEADING                         = 190.0
  158. TAKEOFF_HEADING_WAYPOINT_DISTANCE       = 100.0
  159. TAKEOFF_ALLOWED                         = false
  160. TAKEOFF_ALLOWED_TIME_SEC_THRESHOLD      = 300.0
  161. TAKEOFF_REACH_MIN_SPD_GOAL_PITCH_OFFSET = 10.0
  162. TAKEOFF_REACH_MIN_SPD_GOAL_PITCH_RANGE  = 20.0
  163. TAKEOFF_REACH_MIN_SPD_AIRSPEED_RANGE    = 7.0
  164. TAKEOFF_BEST_ANGLE_GOAL_PITCH           = 30.0
  165. TAKEOFF_BEST_ANGLE_TRANSIT_ALT_MARGIN   = 5.0
  166. TAKEOFF_TRANSIT_ALT_MARGIN              = 5.0
  167. TAKEOFF_TRANSIT_DELTA_ALT               = 5.0
  168. TAKEOFF_TRANSIT_AIRSPEED_THRESHOLD      = 12.0
  169. TAKEOFF_ABORT_GOAL_PITCH_GLIDE          = 10.0
  170. TAKEOFF_ABORT_GOAL_PITCH_CLIMB          = 30.0
  171. TAKEOFF_BEST_ANGLE_GOAL_PITCH_REDUCED   = 20.0
  172. TAKEOFF_BEST_ANGLE_GOAL_PITCH_COUNTER   = 1000
  173. TAKEOFF_START_ALTITUDE                  = 3.0
  174.  
  175. #/////////////////////////////////////////////////////////////
  176. # START WAYPOINT
  177. START_MISSION_AFTER_TAKEOFF             = true
  178. START_CLIMB_THRUST_CMD                  = 0.5
  179. START_TRANSIT_WAYPOINT_RADIUS           = 30.0
  180. # The altitude to which the aircraft climbs quickly after take-off.
  181. START_THRESHOLD_ALTITUDE                = 50.0
  182.  
  183. #/////////////////////////////////////////////////////////////
  184. # NORMAL_FLIGHT
  185. NORMAL_LANDING_SPEED                    = 9.5
  186. NORMAL_MIN_GROUNDSPEED                  = 5.0
  187. NORMAL_MAX_AIRSPEED                     = 20.0
  188. NORMAL_LOW_AIRSPEED_GOAL_PITCH_ANGLE    = 10.0
  189.  
  190. #/////////////////////////////////////////////////////////////
  191. # NAV
  192. NAV_DEFAULT_K_COURSE                                        = 0.5
  193. # Maximum turnrate allowed to be used by navigation controller
  194. NAV_DEFAULT_MAX_TURNRATE                                    = 35.0
  195.  
  196. # Distance from the home waypoint's circle beyond which the plane is considered far.
  197. NAV_CIRCLE_FAR_DISTANCE                                     = 30.0
  198. NAV_LINE_FOLLOW_TAU                                         = 15.0
  199.  
  200. # Approach angle to the line, if it is still further away than NAV_LINE_FOLLOW_TAU.
  201. NAV_WPT_CIRCLE_REACHED_MARGIN                               = 10.0
  202.  
  203. #  The max. course difference between aircraft's course and the course nedded to go to
  204. #  the next CIRCLE or LINE waypoint, starting from a CIRCLE waypoint. In [deg].
  205. NAV_WPT_MAXIMUM_COURSE_ERROR_MARGIN_FOR_CIRCLE_TRANSITION   = 10.0
  206. # The default precision to have for the airspeed at a waypoint in [m/s]
  207. NAV_WPT_DEFAULT_AIRSPEED_ERROR_MARGIN                       = 5.0
  208. # The default precision to have for the altitude at a waypoint in [m]
  209. NAV_WPT_DEFAULT_ALTITUDE_ERROR_MARGIN                       = 5.0
  210. # The default precision to have for the course at a waypoint in [deg]
  211. NAV_WPT_DEFAULT_COURSE_ERROR_MARGIN                         = 15.0
  212. # The default precision to be on the line of a line waypoint.
  213. NAV_WPT_DEFAULT_LINE_MARGIN                                 = 5.0
  214. # The precision to have when on a CIRCLE waypoint, distance from ideal radius [m]
  215. NAV_WPT_CIRCLE_REACHED_MARGIN                               = 10.0
  216. # The angle to anticipate the waypoint transition between circles.
  217. NAV_WPT_CIRCLE_WAYPOINT_TRANSITION_ANTICIPATION_ANGLE       = 15.0
  218. # Distance from the home waypoint's circle beyond which the plane is considered far.
  219. NAV_WPT_CIRCLE_FAR_DISTANCE                                 = 30.0
  220. # The pid parameters
  221. NAV_WPT_LINE_PID_KP                                         = -0.0076
  222. NAV_WPT_LINE_PID_KI                                         = -0.0035
  223. NAV_WPT_LINE_PID_KD                                         = 0.0
  224. NAV_WPT_LINE_ENTRY_ANGLE                                    = M_PI_4
  225. NAV_WPT_LINE_LPF_CO_HZ                                      = 39.0
  226. NAV_WPT_LINE_LPF_AWR                                        = 17.0
  227.  
  228. # Default radius for normal waypoints.
  229. NAV_DEFAULT_RADIUS                                          = 30.0
  230. NAV_DEFAULT_AIRSPEED                                        = 12.0
  231. # Default height above ground for normal waypoints.
  232. NAV_DEFAULT_ALTITUDE                                        = 50.0
  233. NAV_DEFAULT_TURN_DIRECTION_CLOCKWISE                        = false
  234.  
  235. NAV_DEFAULT_DESIRED_HEIGHT                                  = 50.0
  236. NAV_COURSE_DIFF_COEFF_PI                                    = 0.75
  237. NAV_DIST_TO_WPT_THRESHOLD                                   = 50.0
  238.  
  239. MISSION_END_BEHAVIOR_GO_HOME                                = 0
  240. MISSION_END_BEHAVIOR_LOOP                                   = 1
  241. MISSION_END_BEHAVIOR_GO_START                               = 2
  242. MISSION_END_BEHAVIOR_GO_LANDING                             = 3
  243.  
  244. MISSION_END_BEHAVIOR                                        = MISSION_END_BEHAVIOR_GO_LANDING
  245.  
  246. #/////////////////////////////////////////////////////////////
  247. # HOME
  248. # Default airspeed for the home waypoint.
  249. HOME_WAYPOINT_AIRSPEED                          = NAV_DEFAULT_AIRSPEED
  250. # Default height above ground for the home waypoint.
  251. HOME_WAYPOINT_ALTITUDE                          = NAV_DEFAULT_ALTITUDE
  252. # Default radius for normal waypoints.
  253. HOME_WAYPOINT_RADIUS                            = NAV_DEFAULT_RADIUS
  254.  
  255. #/////////////////////////////////////////////////////////////
  256. # LANDING
  257. # Default airspeed for the landing waypoint.
  258. LANDING_WAYPOINT_AIRSPEED                       = NAV_DEFAULT_AIRSPEED
  259. # Default height above ground for the landing waypoint.
  260. LANDING_WAYPOINT_ALTITUDE                       = NAV_DEFAULT_ALTITUDE
  261. # Default radius for normal waypoints.
  262. LANDING_WAYPOINT_RADIUS                         = NAV_DEFAULT_RADIUS
  263.  
  264. LANDING_TYPE_CIRCLE                             = 0
  265. LANDING_TYPE_LINEAR                             = 1
  266.  
  267. LANDING_TYPE                                    = LANDING_TYPE_CIRCLE
  268.  
  269. #/////////////////////////////////////////////////////////////
  270. # CIRCLE_LANDING
  271. # The default radius for the landing.
  272. CLDG_DEFAULT_LANDING_RADIUS                     = 30.0
  273. # The default altitude for the landing.
  274. CLDG_DEFAULT_LANDING_HEIGHT                     = 50.0
  275. # The default speed for the landing.
  276. CLDG_DEFAULT_LANDING_SPEED                      = 10.0
  277. # The default approach height
  278. CLDG_DEFAULT_APPROACH_HEIGHT                    = 25.0
  279. # The minimal approach height
  280. CLDG_MINIMAL_APPROACH_HEIGHT                    = 15.0
  281. # The angle per step.
  282. CLDG_DEFAULT_LANDING_SLOPE                      = 10.0
  283. CLDG_GO_AROUND_HEIGHT                           = 30.0
  284. CLDG_REMAINING_AIR_DISTANCE_MEAN_SPEED          = 12.0
  285. CLDG_STEP_SWEEP_ANGLE                           = 1.0
  286. CLDG_ABORT_CLIMB_PITCH_ANGLE                    = 30.0
  287. CLDG_DELTA_HEIGHT_FROM_WPT_TO_STABILIZE         = 20.0
  288. CLDG_APPROACH_HEIGHT_MARGIN                     = 10.0
  289. CLDG_FINAL_LANDING_MINIMAL_HEIGHT               = 10.0
  290. CLDG_WAYPOINT_LANDING_MIN_ANGULAR_SWEEP         = 540.0
  291.  
  292. #/////////////////////////////////////////////////////////////
  293. # LINEAR_LANDING
  294. # The default radius for the landing.
  295. LLDG_TERRAIN_HEIGHT_FILTER_CO_HZ                = 1.6
  296. LLDG_DESCENT_PID_CO_HZ                          = 0.318
  297. # The approach height for the landing.
  298. LLDG_APPROACH_HEIGHT                            = 50.0
  299. LLDG_INIT_APPROACH_SPAN                         = 20.0
  300. LLDG_APPROACH_SLOPE_ANGLE                       = 20.0
  301. LLDG_MIN_REQUIRED_DISTANCE                      = 20.0
  302. LLDG_ABORT_CLIMB_PICH_ANGLE                     = 30.0
  303. LLDG_DIST_TO_LANDING_SPOT_THRESHOLD             = 150.0
  304. LLDG_DIST_TO_TOUCHDOWN_THRESHOLD                = -150.0
  305. LLDG_REL_TO_PLANE_WIND_HEADING_THRESHOLD        = 70.0
  306. LLDG_WIND_SPEED_THRESHOLD                       = 1.5
  307. LLDG_INIT_LANDING_ALTITUDE                      = 2.0
  308. LLDG_DEFAULT_GOAL_AIRSPEED                      = 10.5
  309.  
  310. #/////////////////////////////////////////////////////////////
  311. # FAST_LANDING
  312. FLDG_DESCENT_MIN_GROUNDSPEED                    = 5.0
  313. FLDG_DESCENT_MAX_GROUNDSPEED                    = 10.0
  314. FLDG_DESCENT_MIN_GOAL_PITCH                     = -20.0
  315. FLDG_DESCENT_MAX_GOAL_PITCH                     = -10.0
  316. FLDG_ALT_2_PITCH_COEFF1                         = -10.0
  317. FLDG_ALT_2_PITCH_COEFF2                         = 25.0
  318. FLDG_DESCENT_GOAL_AIRSPEED                      = 11.0
  319. FLDG_BREAK_HEIGHT_INIT                          = 5.0
  320. FLDG_BREAK_COEFF                                = 5.0
  321. FLDG_BREAK_GOAL_PITCH_INIT                      = -10.0
  322. FLDG_BREAK_AIRSPEED_THRESHOLD                   = 8.0
  323. FLDG_TOUCHDOWN_GOAL_ELEVATOR                    = 0.9
  324. FLDG_MAX_DESCENT_PITCH                          = 10.0
  325. FLDG_MIN_DESCENT_PITCH                          = -5.0
  326. FLDG_HEIGHT_THRESHOLD                           = 4.0
  327. FLDG_BREAK_THRUST                               = -0.3
  328. FLDG_FINAL_PITCH                                = 10.0
  329.  
  330. # The possible reference point for the altitude.
  331. PARAM_ALTITUDE_ABOVE_TAKE_OFF                   = 0    # Altitude above take-off point.
  332. PARAM_ALTITUDE_WGS84                            = 1    # Altitude above WGS-84 elipsoid.
  333. PARAM_ALTITUDE_AMSL                             = 2    # Altitude above mean sea level.
  334. PARAM_ALTITUDE_AGL                              = 3    # Altitude above ground level.
  335.  
  336. LLDG_INIT_LANDING_ALTITUDE_REF                  = PARAM_ALTITUDE_ABOVE_TAKE_OFF
  337. LLDG_INIT_APPROACH_RADIUS                       = 30.0
  338. LLDG_INIT_INSERTION_RADIUS                      = 30.0
  339. LLDG_INIT_ABORT_RADIUS                          = 20.0
  340. LLDG_INIT_APPROACH_SLOPE_ANGLE                  = 20.0
  341. LLDG_INIT_GO_AROUND_HEIGHT                      = 40.0
  342. LLDG_INIT_BASE_WPT_MIN_ANGULAR_SWEEP            = 90.0
  343. LLDG_INIT_OVERHEAD_WPT_MIN_ANGULAR_SWEEP        = 90.0
  344.  
  345. #/////////////////////////////////////////////////////////////
  346. # LANDING_SLOPE
  347. # The expected slope during touch-down.
  348. LDGS_TOUCHDOWN_SLOPE                            = 30.0
  349. # The height to aim when optic-flow is not available.
  350. LDGS_FLARE_HEIGHT_NO_OPTIC_FLOW                 = 3.0
  351. # The height to aim when optic-flow is available.
  352. LDGS_FLARE_HEIGHT_OPTIC_FLOW                    = 3.0
  353. # The minimum number of measurements to consider the terrain recording as valid.
  354. LDGS_MIN_TERRAIN_MEASUREMENTS                   = 10
  355. # The semi height of the approach path
  356. LDGS_APPROACH_PATH_HEIGHT                       = 10.0
  357. LDGS_DELTA_MIN_MAX_FLOW_HEIGHT                  = 2.0
  358. LDGS_INIT_LANDING_HEIGHT                        = 0.0
  359. LDGS_INIT_LANDING_DIRECTION                     = 0.0
  360. LDGS_INIT_APPROACH_HEIGHT                       = 50.0
  361. LDGS_INIT_APPROACH_SPEED                        = 12.0
  362. LDGS_INIT_ENGAGE_DISTANCE                       = 20.0
  363. LDGS_INIT_DESCENT_SPEED                         = 12.0
  364. LDGS_INIT_DESCENT_ANGLE_OF_ATTACK               = 10.0
  365. LDGS_INIT_LIMITED_PITCH_HEIGHT                  = 10.0
  366. LDGS_INIT_LIMITED_PITCH_MIN                     = 0.0
  367. LDGS_INIT_EN_REV_DESCENT_SLOPE_ANGLE            = 20.0
  368. LDGS_INIT_EN_REV_FLARE_DISTANCE                 = 20.0
  369. LDGS_INIT_DESCENT_SLOPE_ANGLE                   = 12.0
  370. LDGS_INIT_FLARE_DISTANCE                        = 20.0
  371. LDGS_INIT_FLARE_SPEED                           = 11.0
  372. LDGS_INIT_FLARE_ANGLE_OF_ATTACK                 = 12.0
  373. LDGS_INIT_BREAK_DISTANCE                        = 15.0
  374. LDGS_INIT_BREAK_THRUST                          = -0.4
  375. LDGS_INIT_BREAK_SPEED                           = 8.5
  376. LDGS_INIT_BREAK_PITCH                           = 15.0
  377. LDGS_INIT_TOUCH_DOWN_ELEVATOR                   = 0.60
  378. LDGS_INIT_DESCENT_PID_KP                        = 2.5
  379. LDGS_INIT_DESCENT_PID_KI                        = 0.4
  380. LDGS_INIT_DESCENT_PID_KD                        = 2.5
  381. LDGS_INIT_DESCENT_PID_AWR                       = 30.0
  382. LDGS_INIT_DESCENT_PID_SAT_MIN                   = -40.0
  383. LDGS_INIT_DESCENT_PID_SAT_MAX                   = 30.0
  384. LDGS_INIT_OPTIMIZED_AIR_SLOPE_ANGLE             = 10.0
  385. LDGS_DESCENT_SPEED_INCREMENT                    = 0.5
  386. LDGS_DESCENT_SLOPE_ANGLE_LOWER_BND              = 5.0
  387. LDGS_DESCENT_SLOPE_ANGLE_UPPER_BND              = 45.0
  388. LDGS_NORMAL_TOUCH_WIND_COMP_LOWER_BND           = -10.0
  389. LDGS_NORMAL_TOUCH_WIND_COMP_UPPER_BND           = 30.0
  390. LDGS_NORMAL_TOUCH_NO_MOT_COMP_LOWER_BND         = -20.0
  391. LDGS_NORMAL_TOUCH_NO_MOT_COMP_UPPER_BND         = 50.0
  392. LDGS_NORMAL_SLOPE_DIST_TOTAL_LOWER_BND          = 20.0
  393. LDGS_BLIND_TOUCH_WIND_COMP_LOWER_BND            = -10.0
  394. LDGS_BLIND_TOUCH_WIND_COMP_UPPER_BND            = 30.0
  395. LDGS_BLIND_TOUCH_NO_MOT_COMP_LOWER_BND          = -20.0
  396. LDGS_BLIND_TOUCH_NO_MOT_COMP_UPPER_BND          = 50.0
  397. LDGS_TOUCHDOWN_HEIGHT_AGL_THRESHOLD             = 0.5
  398. LDGS_BLIND_LANDING_HEIGHT_BARO_THRESHOLD        = 40.0
  399.  
  400. #/////////////////////////////////////////////////////////////
  401. # EMERGENCY_FLARE
  402. EF_HEIGHT                                       = 5.0
  403. EF_TIME                                         = 0.6
  404. EF_HEIGHT_AGL_LIMIT_FOR_PITCH                   = 5.0
  405. EF_HEIGHT_AGL_LIMIT_FOR_THRUST                  = 2.0
  406. EF_GOAL_AIRSPEED_WHEN_FAR_FROM_GROUND           = 8.0
  407. EF_TIME_TO_IMPACT                               = 20.0
  408.  
  409. #/////////////////////////////////////////////////////////////
  410. # GROUND_AVOIDANCE
  411. # The number of loops before triggering a warning.
  412. GA_WARNING_NB_THRESHOLD                         = 20     # This value make an hysteresis to avoid switching too often
  413. # The maximum number of rotations.
  414. GA_MAX_NUMBER_OF_ROTATIONS                      = 5.0
  415. # The radius of the hold waypoint.
  416. GA_WAYPOINT_RADIUS                              = 30.0
  417. GA_MIN_TIME_FROM_TAKEOFF                        = 10.0
  418. GA_DELTA_HEIGHT_TO_GO_AROUND_HEIGHT             = 20.0
  419. GA_DELTA_HEIGHT_TO_WAYPOINT                     = 30.0
  420. GA_CLIMB_PITCH_ANGLE                            = 30.0
  421.  
  422. #/////////////////////////////////////////////////////////////
  423. # FAST_CLIMB
  424. FASTC_MAX_NUMBER_OF_ROTATIONS                   = 5.0
  425. FASTC_WAYPOINT_RADIUS                           = 30.0
  426. FASTC_DELTA_HEIGHT_TO_GO_AROUND_HEIGHT          = 20.0
  427. FASTC_DELTA_HEIGHT_TO_WAYPOINT                  = 30.0
  428. FASTC_CLIMB_PITCH_ANGLE                         = 30.0
  429.  
  430. #/////////////////////////////////////////////////////////////
  431. # FAST_DESCENT
  432. FASTD_EXIT_HEIGHT_STEP                          = 30.0
  433. FASTD_EXIT_HEIGHT_MIN                           = 30.0
  434.  
  435. #/////////////////////////////////////////////////////////////
  436. # HOLD
  437. HOLD_WAYPOINT_RADIUS                            = 30.0
  438. WPT_CIRCLE_CLOCKWISE                            = 0
  439. WPT_CIRCLE_COUNTER_CLOCKWISE                    = 1
  440.  
  441. HOLD_WAYPOINT_TURN_DIRECTION                    = WPT_CIRCLE_CLOCKWISE
  442. USE_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION         = true
  443.  
  444. #/////////////////////////////////////////////////////////////
  445. # SAFETY
  446. SAFETY_GROUND_PROXIMITY_CHECK_ENABLED           = true
  447. # Battery voltage below which a warning is emitted.
  448. SAFETY_LOW_BATTERY_VOLTAGE                      = 9.8
  449. # Battery voltage below which a critical failure is reported.
  450. SAFETY_CRITICAL_BATTERY_VOLTAGE                 = 9.6
  451. # Battery voltage above which a EMPTY BAT failure is cancelled
  452. SAFETY_UNCRITICAL_BATTERY_VOLTAGE               = 10.3
  453. # Battery voltage below which a warning is emitted.
  454. SAFETY_LOW_BATTERY_PERCENT                      = 10
  455. #Battery voltage below which a critical alert is emitted.
  456. SAFETY_CRITICAL_BATTERY_PERCENT                 = 0
  457. # The minimum distance that the path should have from the ceiling.
  458. SAFETY_MARGIN_TO_CEILING                        = 10.0
  459. # Fc for strong wind LPF
  460. SAFETY_STRONG_WIND_FILTER_CO_HZ                 = 0.8
  461. # Max allowed wind speed
  462. SAFETY_MAX_WIND_SPEED                           = 18.0
  463. SAFETY_STRONG_WIND_GROUNDSPEED_UPPER_BOUND      = 2.0
  464. SAFETY_STRONG_WIND_AIRSPEED_LOWER_BOUND         = 5.0
  465. SAFETY_STRONG_WIND_LPF_OUTPUT_THRESHOLD         = 0.8
  466. SAFETY_LOSS_OF_FIX_TIME_THRESHOLD               = 3.0
  467. SAFETY_EMERGENCY_TIME_MAX                       = 1.0
  468. SAFETY_SECURITY_ISSUE_TIME_MAX                  = 1.0
  469.  
  470. #/////////////////////////////////////////////////////////////
  471. # CRITICAL-ACTION
  472. CA_GPS_GOAL_AIRSPEED                            = 10.0
  473. CA_GPS_GOAL_TURNRATE                            = -30.0
  474.  
  475. #/////////////////////////////////////////////////////////////
  476. # EASY-MANUAL
  477. # Global
  478. EASY_INIT_LAST_HEIGHT                           = 50.0
  479. EASY_ENABLE_MANUAL_REVERSE_THRUST               = false
  480. EASY_DEFAULT_GOAL_AIRSPEED                      = 13.0
  481. EASY_GOAL_AIRSPEED_MAXIMAL_ERROR                = 3.0
  482. EASY_LIN_RANGE                                  = 6.0
  483. EASY_SPEED_CMD                                  = 9.5
  484. EASY_ANGLES_CMD_THRESHOLD                       = 0.09
  485. EASY_THROTTLE_CMD_THRESHOLD                                             = 0.1
  486. # Fly-by-Wire
  487. EASY_FBY_INIT_CMD_PITCH                         = 0.0
  488. EASY_FBY_INIT_CMD_ROLL                          = 0.0
  489. EASY_FBY_INIT_CMD_AIRSPEED                      = 11.0
  490. EASY_FBY_MAX_ROLL_RATE                          = 200.0
  491. EASY_FBY_MAX_PITCH_RATE                         = 150.0
  492. EASY_FBY_MAX_AIRSPEED_RATE                      = 5.0
  493. EASY_FBY_MAX_PITCH                              = 30.0
  494. EASY_FBY_MAX_ROLL                               = 60.0
  495. # Full
  496. EASY_FULL_VSPEED_GAIN                           = 15.0
  497. EASY_FULL_MAX_ROLL                              = 45.0
  498. # semi auto
  499. EASY_SEMI_MAX_DELTA_HEIGHT                      = 10.0
  500. EASY_MAX_DELTA_AIRSPEED                         = 12.5
  501. EASY_FULL_MAX_PITCH                             = 50.0
  502. #/////////////////////////////////////////////////////////////
  503. # IMMELMANN
  504. IMN_TRANSIT_HEIGHT                              = 60.0
  505. IMN_ELEVATOR                                    = 0.8
  506. IMN_GAIN                                        = 20.0
  507. IMN_INCREASE_SPEED_GOAL_PITCH                   = 10.0
  508. IMN_AIRSPEED_THRESHOLD_1                        = 14.0
  509. IMN_AIRSPEED_THRESHOLD_2                        = 14.0
  510. IMN_PITCH_ANGLE_THRESHOLD_1                     = 70.0
  511. IMN_PITCH_ANGLE_THRESHOLD_2                     = 80.0
  512. IMN_PITCH_ANGLE_THRESHOLD_3                     = 20.0
  513. IMN_PITCH_ANGLE_THRESHOLD_4                     = 10.0
  514. IMN_PITCH_ANGLE_LIMIT_MIN                       = 15.0
  515. IMN_ROLL_ANGLE_THRESHOLD_1                      = 100.0
  516. IMN_ROLL_ANGLE_THRESHOLD_2                      = 10.0
  517. IMN_GOAL_ROLL_FOR_REDUCING_PITCH                = 180.0
  518. IMN_GOAL_AIRSPEED_FOR_REDUCING_PITCH            = 15.0
  519. IMN_GOAL_PITCH_FOR_ROLL_BACK                    = 15.0
  520. IMN_GOAL_AIRSPEED_FOR_ROLL_BACK                 = 15.0
  521.  
  522. #/////////////////////////////////////////////////////////////
  523. # OPTIMAL_AIRSPEED
  524. # The cone on which we search the maximal relative speed in deg.
  525. OPTIMAL_AIRSPEED_ANGLE_THRESHOLD                = 30.0
  526. # The time delay to use when using the turn rate controller.
  527. OPTIMAL_AIRSPEED_TIME_DELAY                     = 2.0
  528. OPTIMAL_AIRSPEED_POWER_CURVE                    = 0.3415, -5.2863, 38.8209
  529. OPTIMAL_AIRSPEED_MIN_AIRSPEED                   = 10.5
  530. OPTIMAL_AIRSPEED_SATURATION_AIRSPEED            = 25.0
  531.  
  532. #/////////////////////////////////////////////////////////////
  533. # IAS
  534. # Air density.
  535. IAS_RHO                                         = 1.225
  536. # Minimal raw airspeed below which we convert to zero indicated airspeed.
  537. IAS_MIN_AIRSPEED                                = 1.5
  538. # Minimal calibrated airspeed above which we use the pitot calibration. Beyond this speed
  539. # we map linearly such as to intersect IAS_MIN_AIRSPEED.
  540. IAS_MIN_CALIBRATED_AIRSPEED                     = 7.0
  541. # IAS_CALIBRATION_GAIN_DEFAULT                    = 1.0
  542.  
  543. #/////////////////////////////////////////////////////////////
  544. # Barrel-Roll
  545. BR_ROLL_ANGLE_LIMIT_1                           = 150.0
  546. BR_ROLL_ANGLE_LIMIT_2                           = 120.0
  547. BR_ROLL_ANGLE_LIMIT_3                           = 10.0
  548. BR_MIN_HEIGH_BARO                               = 50.0
  549. BR_MAX_TIME_SEC                                 = 2.0
  550. BR_CMD_AILERON                                  = 1.0
  551.  
  552. PITCH_CMD_FILTER_CO_HZ                                          = 1.0
  553.  
  554. #/////////////////////////////////////////////////////////////
  555. # FLIGHT CONTROLLER
  556. FC_LIMIT_ELEVATOR_OUTPUT                            = false
  557. FC_ENABLE_REVERSE_THRUST                            = true
  558. FC_ALTITUDE_MAX_VERTICAL_SPEED                      = 4.0
  559. FC_TURN_RATE_MAX_ROLL_ANGLE                         = 45.0
  560. FC_TURN_RATE_LIMITED_MAX_ROLL_ANGLE                 = 20.0
  561. FC_TURN_RATE_LANDING_MAX_ROLL_ANGLE                 = 45.0
  562. FC_TURN_RATE_GAIN                                   = 0.6
  563. FC_MIN_THRUST                                       = 0.0
  564. FC_MAX_THRUST                                       = 1.0
  565. FC_PITCH_RATE_INS_APRIORI_GAIN                      = 0.4
  566. FC_REDUCED_MAX_ROLL_ANGLE                           = 30.0
  567. FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_1               = 50.0
  568. FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_2               = 80.0
  569. FC_HEIGHT_BARO_CONTROL_PID_APRIORI                  = 5.0
  570. FC_PITCH_OPTIMIZED_MIN                              = 10.0
  571. FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_1              = 6.0
  572. FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_2              = 9.0
  573. FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_1                  = 20.0
  574. FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_2                  = 50.0
  575. FC_PITCH_ANGLE_INV_CONTROL_PID_APRIORI              = 0.6
  576. FC_HEIGHT_AGL_CONTROL_PID_APRIORI                   = 10.0
  577. FC_DEFAULT_PITCH_AIRSPEED_CONTROL_GOAL              = 10.0
  578. FC_COEFF_AIRSPEED_GOAL_COMPLEMENT                   = 5.0
  579. FC_AIRSPEED_CONTROL_APRIORI_LIMIT_1                 = 6.0
  580. FC_AIRSPEED_CONTROL_APRIORI_LIMIT_2                 = 22.0
  581. FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_1           = 130.0
  582. FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_2           = 30.0
  583. FC_MINIMAL_GROUNDSPEED_COMMAND                      = 7.0
  584. FC_DEFAULT_THRUST_COMMAND_IF_GROUNDSPEED_INVALID    = 0.5
  585. FC_MINIMAL_THRUST_COMMAND                           = 0.35
  586. FC_PITCH_TO_THRUST_CMD_OFFSET                       = -10.0
  587. FC_PITCH_TO_THRUST_CMD_COEFF                        = 0.0142857    # = 1.0 / 70.0
  588. FC_MINIMAL_THRUST_CMD_THRESHOLD                     = 0.1
  589. FC_REVERSE_CHANGE_TIME_THRESHOLD                    = 1.5
  590. FC_REVERSE_CHANGE_CMD_THRESHOLD                     = 0.3
  591. FC_ALTITUDE_MDF_DMAX_1                              = FC_ALTITUDE_MAX_VERTICAL_SPEED
  592. FC_ALTITUDE_MDF_DMAX_2                              = 1.0
  593. FC_ALTITUDE_MDF_UPPER_BOUND                         = 8.0
  594. FC_ALTITUDE_MDF_LOWER_BOUND                         = -3.0
  595. FC_ALTITUDE_MDF_CONFIG_TIME                         = 5.0
  596. FC_TURN_RATE_MDF_DMAX_1                             = 80.0
  597. FC_TURN_RATE_MDF_DMAX_2                             = 0.0
  598. FC_THRUST_LPF_TAU                                   = 0.2
  599. FC_THRUST_CMD_LPF_TAU                               = 0.3
  600. FC_TURN_RATE_CONTROL_PID_KP                         = 1.0
  601. FC_TURN_RATE_CONTROL_PID_OUTPUT_MIN                 = -45.0
  602. FC_TURN_RATE_CONTROL_PID_OUTPUT_MAX                 = 45.0
  603. FC_ROLL_ANGLE_CONTROL_PID_KP                        = 0.016
  604. FC_ROLL_ANGLE_CONTROL_PID_KD                        = 0.0
  605. FC_ROLL_ANGLE_CONTROL_PID_KI                        = 0.012
  606. FC_ROLL_ANGLE_CONTROL_PID_AWR                       = 25.0
  607. FC_ROLL_ANGLE_CONTROL_PID_LPF_CO                    = 0.1
  608. FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MIN                = -1.0
  609. FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MAX                = 1.0
  610. FC_ANTI_TORQUE_CONTROL_PID_KP                       = -0.001
  611. FC_ANTI_TORQUE_CONTROL_PID_KD                       = 0.
  612. FC_ANTI_TORQUE_CONTROL_PID_KI                       = -0.03
  613. FC_ANTI_TORQUE_CONTROL_PID_AWR                      = 0.
  614. FC_ANTI_TORQUE_CONTROL_PID_LPF_CO                   = 0.005
  615. FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MIN               = -0.2
  616. FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MAX               = 0.005
  617. FC_YAW_RATE_CONTROL_PID_KP                          = 0.001
  618. FC_YAW_RATE_CONTROL_PID_KD                          = 0.
  619. FC_YAW_RATE_CONTROL_PID_KI                          = 0.
  620. FC_YAW_RATE_CONTROL_PID_AWR                         = 0.
  621. FC_YAW_RATE_CONTROL_PID_LPF_CO                      = 0.1
  622. FC_YAW_RATE_CONTROL_PID_OUTPUT_MIN                  = -0.2
  623. FC_YAW_RATE_CONTROL_PID_OUTPUT_MAX                  = 0.2
  624. FC_HEIGHT_BARO_CONTROL_PID_KP                       = 1.5
  625. FC_HEIGHT_BARO_CONTROL_PID_KD                       = 4.0
  626. FC_HEIGHT_BARO_CONTROL_PID_KI                       = 0.1
  627. FC_HEIGHT_BARO_CONTROL_PID_AWR                      = 25.0
  628. FC_HEIGHT_BARO_CONTROL_PID_LPF_CO                   = 0.5
  629. FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MIN               = -15.0
  630. FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MAX               = 35.0
  631. FC_PITCH_AIRSPEED_CONTROL_PID_KP                    = -3.0
  632. FC_PITCH_AIRSPEED_CONTROL_PID_KD                    = 0.0
  633. FC_PITCH_AIRSPEED_CONTROL_PID_KI                    = -3.0
  634. FC_PITCH_AIRSPEED_CONTROL_PID_AWR                   = 5.0
  635. FC_PITCH_AIRSPEED_CONTROL_PID_LPF_CO                = 0.1
  636. FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MIN            = 0.0
  637. FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MAX            = 10.0
  638. FC_PITCH_ANGLE_CONTROL_PID_KP                       = 0.02
  639. FC_PITCH_ANGLE_CONTROL_PID_KD                       = 0.0
  640. FC_PITCH_ANGLE_CONTROL_PID_KI                       = 0.02
  641. FC_PITCH_ANGLE_CONTROL_PID_AWR                      = 25.0
  642. FC_PITCH_ANGLE_CONTROL_PID_KP2                      = 0.02
  643. FC_PITCH_ANGLE_CONTROL_PID_KD2                      = 0.0
  644. FC_PITCH_ANGLE_CONTROL_PID_KI2                      = 0.02
  645. FC_PITCH_ANGLE_CONTROL_PID_AWR2                     = 25.0
  646. FC_PITCH_ANGLE_CONTROL_PID_LPF_CO                   = 0.1
  647. FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MIN               = -1.0
  648. FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MAX               = 1.0
  649. FC_HEIGHT_AGL_CONTROL_PID_KP                        = 5.0
  650. FC_HEIGHT_AGL_CONTROL_PID_KD                        = 5.0
  651. FC_HEIGHT_AGL_CONTROL_PID_KI                        = 0.4
  652. FC_HEIGHT_AGL_CONTROL_PID_AWR                       = 30.0
  653. FC_HEIGHT_AGL_CONTROL_PID_LPF_CO                    = 0.5
  654. FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MIN                = -40.0
  655. FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MAX                = 30.0
  656. FC_AIRSPEED_CONTROL_PID_KP                          = 0.1
  657. FC_AIRSPEED_CONTROL_PID_KI                          = 0.05
  658. FC_AIRSPEED_CONTROL_PID_AWR                         = 5.0
  659. FC_AIRSPEED_CONTROL_PID_OUTPUT_MIN                  = 0.0
  660. FC_AIRSPEED_CONTROL_PID_OUTPUT_MAX                  = 1.0
  661. FC_AIRSPEED_CONTROL_INTEG_INIT_VALUE                = 1.0
  662. FC_GROUNDSPEED_CONTROL_PID_KP                       = 0.1
  663. FC_GROUNDSPEED_CONTROL_PID_KI                       = 0.05
  664. FC_GROUNDSPEED_CONTROL_PID_AWR                      = 5.0
  665. FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MIN               = 0.0
  666. FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MAX               = 1.0
  667. FC_REVERSE_AIRSPEED_CONTROL_PID_KP                  = 0.2
  668. FC_REVERSE_AIRSPEED_CONTROL_PID_KI                  = 0.01
  669. FC_REVERSE_AIRSPEED_CONTROL_PID_AWR                 = 15.0
  670. FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MIN          = -1.0
  671. FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MAX          = 1.0
  672. FC_SERVO_AILERON_SATURATION_MIN                     = -1.0
  673. FC_SERVO_AILERON_SATURATION_MAX                     = 1.0
  674. FC_LIMITED_SERVO_ELEVATOR_SATURATION_MIN            = -0.25
  675. FC_LIMITED_SERVO_ELEVATOR_SATURATION_MAX            = 0.25
  676. FC_SERVO_ELEVATOR_SATURATION_MIN                    = -1.0
  677. FC_SERVO_ELEVATOR_SATURATION_MAX                    = 1.0
  678. FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MIN       = -1.0
  679. FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MAX       = 1.0
  680. FC_THRUST_SATURATION_MIN                            = -1.0
  681. FC_THRUST_SATURATION_MAX                            = 1.0
  682. FC_MAX_PITCH_RATE_A_PRIORI                          = 0.5
  683. FC_TURN_RATE_OFFSET_AIRSPEED                        = 6.0
  684. FC_TURN_RATE_OFFSET_GROUNDSPEED                     = 4.0
  685. FC_THRUST_FILTER_CO_HZ                              = 5.0
  686. FC_PITCH_EASY_SATURATION_MIN                        = -30.0
  687. FC_PITCH_EASY_SATURATION_MAX                        = 30.0
  688.  
  689. #/////////////////////////////////////////////////////////////
  690. # USER CONFIG
  691. USER_CONFIG_MAX_ALTITUDE                            = 150.0
  692. USER_CONFIG_MIN_ALTITUDE                            = 5.0
  693. USER_CONFIG_MAX_DISTANCE                            = 2000.0
  694. USER_CONFIG_NO_FLY_OVER_MAX_DISTANCE                = true
  695.  
  696. WPT_CIRCLE_CLOCKWISE                                = 0
  697. WPT_CIRCLE_COUNTER_CLOCKWISE                        = 1
  698.  
  699. USER_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION            = WPT_CIRCLE_CLOCKWISE
  700. USER_CONFIG_HOLD_WAYPOINT_HEIGHT                    = 50.0
  701.  
  702. PITCH_MODE_NORMAL                                   = 0
  703. PITCH_MODE_INVERTED                                 = 1
  704.  
  705. USER_CONFIG_PITCH_MODE_INVERTED                     = PITCH_MODE_NORMAL
  706.  
  707. FLAT_VIDEO_STAB_MODE                                = 0
  708. PARTIAL_FLAT_VIDEO_STAB_MODE                        = 1
  709. FILT_VIDEO_STAB_MODE                                = 2
  710.  
  711. USER_CONFIG_VIDEO_STABILIZATION_MODE                = PARTIAL_FLAT_VIDEO_STAB_MODE
  712.  
  713. RETURN_HOME_TYPE_TAKEOFF                            = 0
  714. RETURN_HOME_TYPE_PILOT                              = 1
  715.  
  716. USER_CONFIG_RETURN_HOME_TYPE                        = RETURN_HOME_TYPE_TAKEOFF
  717. USER_CONFIG_PREFERRED_RETURN_HOME_TYPE              = RETURN_HOME_TYPE_TAKEOFF
  718. USER_CONFIG_RETURN_HOME_DELAY                       = 10.0
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