ardupilot/ArduCopter/APM_Config.h

// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.

// GPS is auto-selected

//#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define GCS_PROTOCOL			GCS_PROTOCOL_NONE
//#define HIL_MODE				HIL_MODE_ATTITUDE

//#define BROKEN_SLIDER		0		// 1 = yes (use Yaw to enter CLI mode)

#define FRAME_CONFIG QUAD_FRAME
	/*
	options:
	QUAD_FRAME
	TRI_FRAME
	HEXA_FRAME
	Y6_FRAME
	OCTA_FRAME
	HELI_FRAME
	*/

#define FRAME_ORIENTATION X_FRAME
	/*
	PLUS_FRAME
	X_FRAME
	V_FRAME
	*/


#define CHANNEL_6_TUNING CH6_NONE
	/*
	CH6_NONE
	CH6_STABILIZE_KP
	CH6_STABILIZE_KI
	CH6_RATE_KP
	CH6_RATE_KI
	CH6_THROTTLE_KP
	CH6_THROTTLE_KD
	CH6_YAW_KP
	CH6_YAW_KI
	CH6_YAW_RATE_KP
	CH6_YAW_RATE_KI
	CH6_TOP_BOTTOM_RATIO
	CH6_PMAX
    CH6_RELAY
    CH6_TRAVERSE_SPEED
	*/

// See the config.h and defines.h files for how to set this up!
//
// lets use SIMPLE mode for Roll and Pitch during Alt Hold
#define ALT_HOLD_RP 		ROLL_PITCH_SIMPLE

// lets use Manual throttle during Loiter
//#define LOITER_THR			THROTTLE_MANUAL
# define RTL_YAW 			YAW_HOLD