config.h

00001 // file containing configuration values
00002 
00003 #ifndef HARP_CONFIG_H
00004 #define HARP_CONFIG_H
00005 
00006 #define WAIT_FOR_LOCK   0 // set to 1 to not open log file until gps lock
00007 #define UNLOCK_ON_FALL  1 // set to 1 to not signal parachute untill falling
00008 #define RELEASE_AT_ALT  1 // set to 1 for release at target altitude (must also set UNLOCK_ON_FALL to 1)
00009 #define ALARM           1 // set to 1 to key alarm on descent, 0 = no alarm 
00010 #define WATCHDOG        0 // set to 1 to enable watchdog
00011 
00012 const float target_lat = 39.684303;    // for setting the target location!
00013 const float target_lon = -104.470882;
00014 
00015 const float course_fudge = 15.0; // if -course_fudge < course > course_fudge then don't turn
00016 const float neg_course_fudge = -15.0;
00017 
00018 const float distance_fudge_km = 0.1; // stop turning if within distance_fudge km
00019 
00020 const float BAT_GPS_MUL = 16.14; // values for calculating battery voltage
00021 const float BAT_MBED_MUL = 10.35;
00022 
00023 const float SERVO_L_MAX = 0.0008; // servo calibration
00024 const float SERVO_L_MIN = -0.0012; // servo calibration
00025 const float SERVO_R_MAX = 0.0006; // servo calibration
00026 const float SERVO_R_MIN = -0.0015; // servo calibration
00027 
00028 const float SERVO_RELEASE_MIN = -0.0011;
00029 const float SERVO_RELEASE_MAX = 0.0004;
00030 
00031 const int RELEASE_ALT = 4572; // 15k ft in meeters
00032 const int ALARM_ALT = 1981; // altitude to key alarm on descent (6500ft)
00033 
00034 const int test_length = 20;
00035 const float test_right[test_length] = {0.2, 0.0, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.6, 0.0, 0.0, 0.0, 0.8, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0};
00036 const float test_left[test_length] = {1.0, 1.0, 0.8, 1.0, 1.0, 1.0, 0.6, 1.0, 1.0, 1.0, 0.4, 1.0, 1.0, 1.0, 0.2, 1.0, 1.0, 1.0, 0.0, 1.0};
00037 
00038 #endif