hwdef Defines that Change Param Defaults¶

Many parameters have their default value set by a define in the board’s hwdef.dat file. This lets a board ship with the correct battery monitor pins, serial port protocols, heater target, etc. already configured, without requiring a separate defaults.parm file entry.

The tables below list the hwdef defines that change a parameter’s default, the parameter they affect, and the “Normal Default” value the parameter takes if the board’s hwdef does not set the define. Where the normal default depends on the vehicle or board features, the conditions are noted.

Note

Serial port baud rate defines (DEFAULT_SERIALn_BAUD) use the same units as the parameter (e.g. 57 for 57600 baud) except DEFAULT_SERIAL0_BAUD, which is given in bits per second (e.g. 115200).

Note

Defines that only enable or disable a feature (*_ENABLED) are not listed here. They determine whether a parameter exists at all, rather than its default value.

For more information on creating hwdef files, see Porting to a new flight controller board.

Serial Ports¶

Define	Parameter	Normal Default	Notes
`DEFAULT_SERIAL1_PROTOCOL`	SERIAL1_PROTOCOL	2 (MAVLink2)
`DEFAULT_SERIAL2_PROTOCOL`	SERIAL2_PROTOCOL	2 (MAVLink2)
`DEFAULT_SERIAL3_PROTOCOL`	SERIAL3_PROTOCOL	5 (GPS)
`DEFAULT_SERIAL4_PROTOCOL`	SERIAL4_PROTOCOL	5 (GPS)
`DEFAULT_SERIAL5_PROTOCOL` to `DEFAULT_SERIAL9_PROTOCOL`	SERIAL5_PROTOCOL to SERIAL9_PROTOCOL	-1 (None)
`DEFAULT_SERIAL0_BAUD`	SERIAL0_BAUD	115 (115200)	define is in bits per second
`DEFAULT_SERIAL1_BAUD`, `DEFAULT_SERIAL2_BAUD`	SERIAL1_BAUD, SERIAL2_BAUD	57 (57600)
`DEFAULT_SERIAL3_BAUD`, `DEFAULT_SERIAL4_BAUD`	SERIAL3_BAUD, SERIAL4_BAUD	230 (230400)
`DEFAULT_SERIAL5_BAUD` to `DEFAULT_SERIAL9_BAUD`	SERIAL5_BAUD to SERIAL9_BAUD	57 (57600)
`DEFAULT_SERIAL1_OPTIONS` to `DEFAULT_SERIAL6_OPTIONS`, `DEFAULT_SERIAL9_OPTIONS`	SERIAL1_OPTIONS to SERIAL6_OPTIONS, SERIAL9_OPTIONS	0	e.g. to set inversion or RX/TX swap on a port; SERIAL7_OPTIONS and SERIAL8_OPTIONS have hard-coded defaults

Battery Monitor¶

Define	Parameter	Normal Default	Notes
`HAL_BATT_MONITOR_DEFAULT`	BATT_MONITOR	0 (Disabled)
`HAL_BATT_VOLT_PIN`	BATT_VOLT_PIN	4 (ChibiOS), -1 (others)	requires `HAL_BATT_VOLT_SCALE` to also be defined
`HAL_BATT_CURR_PIN`	BATT_CURR_PIN	3 (ChibiOS), -1 (others)	requires `HAL_BATT_CURR_SCALE` to also be defined
`HAL_BATT_VOLT_SCALE`	BATT_VOLT_MULT	10.1
`HAL_BATT_CURR_SCALE`	BATT_AMP_PERVLT	17.0
`AP_BATT_CURR_AMP_OFFSET_DEFAULT`	BATT_AMP_OFFSET	0
`HAL_BATT2_MONITOR_DEFAULT`	BATT2_MONITOR	0 (Disabled)
`HAL_BATT2_VOLT_PIN`	BATT2_VOLT_PIN	same as BATT_VOLT_PIN	only applies if the second monitor is analog
`HAL_BATT2_CURR_PIN`	BATT2_CURR_PIN	same as BATT_CURR_PIN	only applies if the second monitor is analog
`HAL_BATT2_VOLT_SCALE`	BATT2_VOLT_MULT	10.1	only applies if the second monitor is analog
`HAL_BATT2_CURR_SCALE`	BATT2_AMP_PERVLT	17.0	only applies if the second monitor is analog
`HAL_BATTMON_INA2XX_BUS`	BATT_I2C_BUS	0
`HAL_BATTMON_INA2XX_ADDR`	BATT_I2C_ADDR	0 (probe)
`DEFAULT_BATTMON_INA2XX_SHUNT`	BATT_SHUNT	0.0005

Board, IMU and Heater¶

Define	Parameter	Normal Default	Notes
`HAL_DEFAULT_INS_FAST_SAMPLE`	INS_FAST_SAMPLE	1 (first IMU)
`HAL_EKF_IMU_MASK_DEFAULT`	EK3_IMU_MASK, EK2_IMU_MASK	3 (first two IMUs)
`HAL_IMU_TEMP_DEFAULT`	BRD_HEAT_TARG	-1 (heater disabled)
`HAL_IMU_TEMP_MARGIN_LOW_DEFAULT`	BRD_HEAT_LOWMGN	0 (disabled)
`HAL_IMUHEAT_P_DEFAULT`	BRD_HEAT_P	200
`HAL_IMUHEAT_I_DEFAULT`	BRD_HEAT_I	0.3
`BOARD_TYPE_DEFAULT`	BRD_TYPE	0 (Auto)
`BOARD_SAFETY_ENABLE_DEFAULT`	BRD_SAFETY_DEFLT	1 if the board has a safety switch input or an IOMCU, otherwise 0
`HAL_HAVE_SAFETY_SWITCH`	BRD_SAFETYOPTION	3	Rover and AntennaTracker only: if set, changes the default to 7 so the safety button is also active while armed
`BOARD_CONFIG_BOARD_VOLTAGE_MIN`	BRD_VBUS_MIN	4.3
`HAL_TCAL_BARO_EXP_DEFAULT`	TCAL_BARO_EXP	0

Sensors¶

Define	Parameter	Normal Default	Notes
`HAL_COMPASS_AUTO_ROT_DEFAULT`	COMPASS_AUTO_ROT	2 (CheckAndFix)
`AP_COMPASS_ENABLE_DEFAULT`	COMPASS_ENABLE	1
`HAL_AIRSPEED_TYPE_DEFAULT`	ARSPD_TYPE	1 (MS4525) on Plane if that backend is enabled, otherwise 0 (None)	also changes the ARSPD_PIN default to 1, except on AP_Periph where that parameter is not present
`HAL_AIRSPEED_BUS_DEFAULT`	ARSPD_BUS	1
`HAL_DEFAULT_AIRSPEED_PIN`	ARSPD_PIN	15	only used on Plane when HAL_AIRSPEED_TYPE_DEFAULT is not defined
`HAL_GPS1_TYPE_DEFAULT`	GPS1_TYPE	1 (Auto)	also used by AP_Periph
`HAL_GPS_COM_PORT_DEFAULT`	GPS1_COM_PORT	1
`OPTICAL_FLOW_TYPE_DEFAULT`	FLOW_TYPE	0 (None)
`BOARD_RSSI_ANA_PIN`	RSSI_ANA_PIN	-1
`AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT`	TEMP1_BUS	0
`AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT`	TEMP1_ADDR	0

Notify, OSD and Relays¶

Define	Parameter	Normal Default	Notes
`HAL_BUZZER_PIN`	NTF_BUZZ_PIN	-1 (none)
`DEFAULT_BUZZ_ON_LVL`	NTF_BUZZ_ON_LVL	1 (high)
`DEFAULT_NTF_LED_TYPES`	NTF_LED_TYPES	Board LEDs and I2C LEDs (plus ProfiLED_IOMCU on boards with an IOMCU)	If defining a serial led add its type and include this define
`HAL_OSD_TYPE_DEFAULT`	OSD_TYPE	0 (None)
`RELAY1_PIN_DEFAULT` to `RELAY6_PIN_DEFAULT`	RELAY1_PIN etc.	-1 (none)	commonly included when VTX power switch or dual Camera inputs are defined
`RELAY1_DEFAULT` to `RELAY6_DEFAULT`	RELAY1_DEFAULT etc.	0 (Off)	define of -1 leaves the parameter’s normal default

Vehicle, CAN, Logging and Networking¶

Define	Parameter	Normal Default	Notes
`HAL_FRAME_TYPE_DEFAULT`	FRAME_TYPE	1 (X)	Copter only
`MAV_SYSID_DEFAULT`	MAV_SYSID	1 (2 on AntennaTracker)
`HAL_CAN_DRIVER_DEFAULT`	CAN_P1_DRIVER etc.	0 (Disabled)	commonly used to enable the CAN ports, especially if CAN power monitors or GPSes are included.
`DRONECAN_NODE_POOL_SIZE`	CAN_D1_UC_POOL	8192 (16384 on CAN FD capable boards)
`HAL_LOGGER_MIN_MB_FREE`	LOG_FILE_MB_FREE	500 (2 or 10 on boards logging to flash via LittleFS)
`HAL_LOGGING_BACKENDS_DEFAULT`	LOG_BACKEND_TYPE	1 (File), 4 (Block), 2 (MAVLink), or 0 (None), depending on the compiled backends	File is preferred on SITL; otherwise Block, File, and MAVLink are selected in that order
`AP_NETWORKING_DEFAULT_STATIC_IP_ADDR`	NET_IPADDR0 to NET_IPADDR3	192.168.144.14	define is a string, e.g. “192.168.144.14”
`AP_NETWORKING_DEFAULT_STATIC_GW_ADDR`	NET_GWADDR0 to NET_GWADDR3	192.168.144.1	define is a string
`AP_NETWORKING_DEFAULT_NETMASK`	NET_NETMASK	24
`AP_NETWORKING_DEFAULT_MAC_ADDR`	NET_MACADDR0 to NET_MACADDR5	C2:AF:51:03:CF:46	define is a string

AP_Periph¶

These defines are only used by AP_Periph firmware.

Define	Parameter	Normal Default	Notes
`HAL_CAN_DEFAULT_NODE_ID`	CAN_NODE	0 (dynamic node allocation)
`HAL_PERIPH_GPS_PORT_DEFAULT`	GPS_PORT	3
`AP_PERIPH_MSP_PORT_DEFAULT`	MSP_PORT	1
`AP_PERIPH_RANGEFINDER_PORT_DEFAULT`	RNGFND_PORT and PRX_PORT	3	sets the first rangefinder and proximity sensor serial ports when those features are enabled
`HAL_PERIPH_ADSB_PORT_DEFAULT`	ADSB_PORT	1
`HAL_PERIPH_ADSB_BAUD_DEFAULT`	ADSB_BAUDRATE	57600
`AP_PERIPH_EFI_PORT_DEFAULT`	EFI_PORT	3
`HAL_PERIPH_EFI_BAUDRATE_DEFAULT`	EFI_BAUDRATE	115200
`AP_PERIPH_RC1_PORT_DEFAULT`	RC1_PORT	-1 (disabled)
`HAL_PWM_HARDPOINT_ID_DEFAULT`	HARDPOINT_ID	none	must be defined if `AP_PERIPH_PWM_HARDPOINT_ENABLED` is set
`AP_PERIPH_BARO_ENABLE_DEFAULT`	BARO_ENABLE	1
`AP_PERIPH_PROBE_CONTINUOUS`	OPTIONS	0	value of 1 sets bit 0, “Enable continuous sensor probe”
`AP_DAC_DEFAULT_TYPE`, `AP_DAC_DEFAULT_BUS`, `AP_DAC_DEFAULT_ADDR`	DAC1_TYPE, DAC1_BUS, DAC1_ADDR	0, 0, 0
`AP_PERIPH_BATTERY_BALANCE_NUMCELLS_DEFAULT`	BAL_NUM_CELLS	0
`AP_PERIPH_BATTERY_BALANCE_ID_DEFAULT`	BAL_ID	0
`AP_PERIPH_BATTERY_BALANCE_RATE_DEFAULT`	BAL_RATE	1
`AP_PERIPH_BATTERY_BALANCE_CELL1_PIN_DEFAULT`	BAL_CELL1_PIN	1
`AP_PERIPH_NET_PPP_PORT_DEFAULT`	NET_PPP_PORT	-1 (disabled)
`AP_PERIPH_NET_PPP_BAUD_DEFAULT`	NET_PPP_BAUD	12500000