MAV::conf_t MAV::default_config(uint8_t sysid) { conf_t conf = {}; conf.state_config = State::default_config(); conf.data_logging_continuous_config = Data_logging::default_config(); conf.data_logging_continuous_config.continuous_write = true; conf.data_logging_continuous_config.log_data = 0; conf.data_logging_stat_config = Data_logging::default_config(); conf.data_logging_stat_config.continuous_write = false; conf.data_logging_stat_config.log_data = 0; conf.scheduler_config = Scheduler::default_config(); conf.waypoint_handler_config = Mavlink_waypoint_handler::default_config(); conf.mission_planner_config = Mission_planner::default_config(); conf.mission_handler_landing_config = Mission_handler_landing::default_config(); conf.ahrs_ekf_config = AHRS_ekf::default_config(); conf.qfilter_config = AHRS_qfilter::default_config(); conf.ins_complementary_config = INS_complementary::default_config(); conf.manual_control_config = Manual_control::default_config(); conf.remote_config = remote_default_config(); conf.safety_geofence_config = Geofence_cylinder::default_config(); conf.emergency_geofence_config = Geofence_cylinder::default_config(); conf.emergency_geofence_config.radius = 1000.0f; conf.emergency_geofence_config.height = 500.0f; /* Mavlink communication config */ conf.mavlink_communication_config = Mavlink_communication::default_config(sysid); conf.mavlink_communication_config.handler.debug = false; conf.mavlink_communication_config.parameters.debug = true; conf.mavlink_communication_config.mavlink_stream.debug = false; return conf; };
Central_data::conf_t Central_data::default_config(uint8_t sysid) { conf_t conf = {}; conf.state_config = State::default_config(); conf.data_logging_continuous_config = data_logging_default_config(); conf.data_logging_stat_config = data_logging_default_config(); conf.scheduler_config = Scheduler::default_config(); conf.navigation_config = Navigation::default_config(); conf.waypoint_handler_config = Mavlink_waypoint_handler::default_config(); conf.qfilter_config = qfilter_default_config(); conf.ahrs_ekf_config = Ahrs_ekf::default_config(); conf.position_estimation_config = Position_estimation::default_config(); conf.stabilisation_copter_config = stabilisation_copter_default_config(); conf.servos_mix_quadcopter_diag_config = servos_mix_quadcopter_diag_default_config(); conf.manual_control_config = Manual_control::default_config(); conf.remote_config = remote_default_config(); conf.attitude_controller_config = attitude_controller_default_config(); conf.velocity_controller_copter_config = velocity_controller_copter_default_config(); /* Mavlink communication config */ Mavlink_communication::conf_t mavlink_communication_config = Mavlink_communication::default_config(sysid); mavlink_communication_config.message_handler_config.debug = false; mavlink_communication_config.onboard_parameters_config.debug = true; mavlink_communication_config.mavlink_stream_config.debug = false; conf.mavlink_communication_config = mavlink_communication_config; return conf; };