Configuration
=============

All AURORA features are toggled and tuned through Kconfig.  Use
``west build -t menuconfig`` or ``./run.sh -b <board> menuconfig`` to
browse options interactively.

Feature Toggles
---------------

.. list-table::
   :header-rows: 1
   :widths: 35 10 55

   * - Option
     - Default
     - Description
   * - ``CONFIG_AURORA_SENSORS``
     - ``n``
     - Enable the sensor hardware abstraction layer.
   * - ``CONFIG_IMU``
     - ``n``
     - Enable the inertial measurement unit (requires ``AURORA_SENSORS``).
   * - ``CONFIG_BARO``
     - ``n``
     - Enable the barometric pressure sensor (requires ``AURORA_SENSORS``).
   * - ``CONFIG_AURORA_STATE_MACHINE``
     - ``n``
     - Enable the flight state machine library.
   * - ``CONFIG_SIMPLE_STATE``
     - ``y``
     - Select the simple 9-state flight state machine (default when state
       machine is enabled).
   * - ``CONFIG_APOGEE_DETECTION``
     - ``n``
     - Enable Kalman-filter-based apogee detection.
   * - ``CONFIG_PYRO``
     - ``n``
     - Enable pyrotechnic ignition drivers.
   * - ``CONFIG_SERVO``
     - ``n``
     - Enable servo control.

Sensor Configuration
--------------------

IMU
^^^

.. list-table::
   :header-rows: 1
   :widths: 35 15 50

   * - Option
     - Default
     - Description
   * - ``CONFIG_IMU_FREQUENCY_VALUE``
     - ``10``
     - Polling rate in Hz. Choices: 10, 50, 100, 200, 400.

Barometer
^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 35 15 50

   * - Option
     - Default
     - Description
   * - ``CONFIG_BARO_FREQUENCY_VALUE``
     - ``10``
     - Polling rate in Hz. Choices: 10, 50, 100, 200, 400.
   * - ``CONFIG_BARO_OVERSAMPLING_VALUE``
     - ``256``
     - ADC oversampling rate. Choices: 256, 512, 1024, 2048, 4096.

State Machine Thresholds
------------------------

These options are defined in ``sensor_board/Kconfig`` under the
**State Machine Configuration** menu.

.. list-table::
   :header-rows: 1
   :widths: 35 12 10 43

   * - Option
     - Unit
     - Default
     - Description
   * - ``CONFIG_BOOST_ACCELERATION``
     - m/s\ :sup:`2`
     - 30
     - Acceleration threshold for boost detection (ARMED -> BOOST).
   * - ``CONFIG_BOOST_ALTITUDE``
     - m
     - 50
     - Altitude threshold for boost detection (ARMED -> BOOST).
   * - ``CONFIG_BURNOUT_ACCELERATION``
     - m/s\ :sup:`2`
     - 15
     - Acceleration threshold for burnout detection (BOOST -> BURNOUT).
   * - ``CONFIG_MAIN_DESCENT_HEIGHT``
     - m
     - 200
     - Descent altitude for main pyro event (APOGEE -> MAIN).
   * - ``CONFIG_LANDING_VELOCITY``
     - m/s
     - 2
     - Velocity threshold for landing detection.
   * - ``CONFIG_ARM_ANGLE``
     - deg
     - 85
     - Orientation threshold for arming (IDLE -> ARMED). 0 = horizontal,
       90 = vertical.
   * - ``CONFIG_DISARM_ANGLE``
     - deg
     - 70
     - Orientation threshold for disarming (ARMED -> IDLE).

Timers and Timeouts
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 35 12 12 41

   * - Option
     - Unit
     - Default
     - Description
   * - ``CONFIG_BOOST_TIMER_MS``
     - ms
     - 900
     - Duration that boost thresholds must be held before transitioning.
   * - ``CONFIG_LANDING_TIMER_MS``
     - ms
     - 500
     - Duration that landing velocity must be held.
   * - ``CONFIG_APOGEE_TIMEOUT_MS``
     - ms
     - 60000
     - Max time in APOGEE state before aborting to ERROR.
   * - ``CONFIG_MAIN_TIMEOUT_MS``
     - ms
     - 2000
     - Delay between MAIN and REDUNDAND pyro events.
   * - ``CONFIG_REDUNDAND_TIMEOUT_MS``
     - ms
     - 900000
     - Max time in REDUNDAND state before aborting.

Apogee Detection (Kalman Filter)
---------------------------------

Noise parameters are integer-scaled by 1000 in Kconfig.
The actual float value is ``CONFIG_FILTER_*_MILLISCALE / 1000.0``.

.. list-table::
   :header-rows: 1
   :widths: 40 12 48

   * - Option
     - Default
     - Description
   * - ``CONFIG_FILTER_Q_ALT_MILLISCALE``
     - 100
     - Process noise for altitude state (Q_alt). Increase if altitude
       estimate lags behind reality.
   * - ``CONFIG_FILTER_Q_VEL_MILLISCALE``
     - 500
     - Process noise for velocity state (Q_vel). Increase for more
       aggressive response during boost.
   * - ``CONFIG_FILTER_R_MILLISCALE``
     - 4000
     - Measurement noise variance (R). Higher values trust the barometer
       less.

Pyro Drivers
-------------

.. list-table::
   :header-rows: 1
   :widths: 35 12 53

   * - Option
     - Default
     - Description
   * - ``CONFIG_PYRO_INIT_PRIORITY``
     - 80
     - Kernel init priority for pyro driver instances.