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pios_config.h
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1 
14 /*
15  * This program is free software; you can redistribute it and/or modify
16  * it under the terms of the GNU General Public License as published by
17  * the Free Software Foundation; either version 3 of the License, or
18  * (at your option) any later version.
19  *
20  * This program is distributed in the hope that it will be useful, but
21  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
22  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
23  * for more details.
24  *
25  * You should have received a copy of the GNU General Public License along
26  * with this program; if not, see <http://www.gnu.org/licenses/>
27  */
28 
29 #ifndef PIOS_CONFIG_H
30 #define PIOS_CONFIG_H
31 
32 #include <pios_flight_config.h>
33 
34 /* Major features */
35 #define STABILIZATION_LQG
36 
37 /* Enable/Disable PiOS Modules */
38 #define PIOS_INCLUDE_DMA_CB_SUBSCRIBING_FUNCTION
39 
40 #define PIOS_INCLUDE_I2C
41 
42 /* Select the sensors to include */
43 #define PIOS_INCLUDE_MPU
44 #define PIOS_INCLUDE_MPU_MAG
45 #define PIOS_INCLUDE_MS5611
46 #define PIOS_INCLUDE_HMC5883
47 #define PIOS_INCLUDE_HMC5983_I2C
48 
49 /* Com systems to include */
50 #define PIOS_INCLUDE_MAVLINK
51 #define PIOS_INCLUDE_LIGHTTELEMETRY
52 
53 /* Supported receiver interfaces */
54 #define PIOS_INCLUDE_PWM
55 
56 /* Flags that alter behaviors */
57 #define AUTOTUNE_AVERAGING_DECIMATION 2
58 
59 #undef PIOS_INCLUDE_HSUM
60 #undef PIOS_INCLUDE_HOTT
61 #undef PIOS_INCLUDE_STORM32BGC
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 PIOS_INCLUDE_FASTHEAP
82 
83 #endif /* PIOS_CONFIG_H */
84 
pios_flight_config.h