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pios_config.h
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1 
15 /*
16  * This program is free software; you can redistribute it and/or modify
17  * it under the terms of the GNU General Public License as published by
18  * the Free Software Foundation; either version 3 of the License, or
19  * (at your option) any later version.
20  *
21  * This program is distributed in the hope that it will be useful, but
22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
24  * for more details.
25  *
26  * You should have received a copy of the GNU General Public License along
27  * with this program; if not, see <http://www.gnu.org/licenses/>
28  *
29  * Additional note on redistribution: The copyright and license notices above
30  * must be maintained in each individual source file that is a derivative work
31  * of this source file; otherwise redistribution is prohibited.
32  */
33 
34 #ifndef PIOS_CONFIG_H
35 #define PIOS_CONFIG_H
36 
37 #include <pios_flight_config.h>
38 
39 /* Major features */
40 #define STABILIZATION_LQG
41 
42 /* Enable/Disable PiOS Modules */
43 #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION
44 
45 #define PIOS_INCLUDE_SPI
46 
47 /* Select the sensors to include */
48 #define PIOS_INCLUDE_MPU
49 
50 /* Com systems to include */
51 #define PIOS_INCLUDE_MAVLINK
52 #define PIOS_INCLUDE_LIGHTTELEMETRY
53 
54 
55 
56 /* Supported receiver interfaces */
57 #define PIOS_INCLUDE_PWM
58 
59 
60 /* Flags that alter behaviors */
61 #define AUTOTUNE_AVERAGING_DECIMATION 2
62 
63 /* Alarm Thresholds */
64 
65 /* Task stack sizes */
66 #define PIOS_EVENTDISPATCHER_STACK_SIZE 1024
67 
68 /*
69  * This has been calibrated 2014/02/21 using chibios @ b89da8ac379646ac421bb65a209210e637bba223.
70  * Calibration has been done by disabling the init task, breaking into debugger after
71  * approximately after 60 seconds, then doing the following math:
72  *
73  * IDLE_COUNTS_PER_SEC_AT_NO_LOAD = (uint32_t)((double)idleCounter / xTickCount * 1000 + 0.5)
74  *
75  * This has to be redone every time the toolchain, toolchain flags or RTOS
76  * configuration like number of task priorities or similar changes.
77  * A change in the cpu load calculation or the idle task handler will invalidate this as well.
78  */
79 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (2175780)
80 
81 //#define CAMERASTAB_POI_MODE
82 
83 #define PIOS_INCLUDE_FASTHEAP
84 
85 #endif /* PIOS_CONFIG_H */
86 
pios_flight_config.h