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

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

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

Barometer

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.

Option	Unit	Default	Description
CONFIG_BOOST_ACCELERATION	m/s2	30	Acceleration threshold for boost detection (ARMED -> BOOST).
CONFIG_BOOST_ALTITUDE	m	50	Altitude threshold for boost detection (ARMED -> BOOST).
CONFIG_BURNOUT_ACCELERATION	m/s2	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

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.

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

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