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removed unused descriptions 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2370 f9c3cf11-9bcb-44bc-f272-b75c42450872
mission-4.1.18
jasonshort 14 years ago
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ba724655b2
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0ecab03e16
1 changed files with 43 additions and 278 deletions
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  1. 321
      ArduCopterMega/APM_Config.h.reference

321
ArduCopterMega/APM_Config.h.reference
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@ -1,5 +1,5 @@ @@ -1,5 +1,5 @@
//
// Example and reference ArduPilot Mega configuration file
// Example and reference Arducopter 2.0 configuration file
// =======================================================
//
// This file contains documentation and examples for configuration options
@ -76,32 +76,26 @@ @@ -76,32 +76,26 @@
//////////////////////////////////////////////////////////////////////////////
// GCS_PROTOCOL OPTIONAL
// GCS_PORT OPTIONAL
// MAV_SYSTEM_ID OPTIONAL
//
// The GCS_PROTOCOL option determines which (if any) ground control station
// protocol will be used. Must be one of:
//
// GCS_PROTOCOL_NONE No GCS output
// GCS_PROTOCOL_STANDARD standard APM protocol
// GCS_PROTOCOL_SPECIAL special test protocol (?)
// GCS_PROTOCOL_LEGACY legacy ArduPilot protocol
// GCS_PROTOCOL_XPLANE HIL simulation ground station
// GCS_PROTOCOL_IMU ArdiPilot IMU output
// GCS_PROTOCOL_JASON Jason's special secret GCS protocol
// GCS_PROTOCOL_MAVLINK QGroundControl protocol
//
// The GCS_PORT option determines which serial port will be used by the
// GCS protocol. The usual values are 0 for the console/USB port,
// or 3 for the telemetry port on the oilpan. Note that some protocols
// will ignore this value and always use the console port.
//
// The default GCS protocol is the standard ArduPilot Mega protocol.
// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1.
// If you will be flying multiple UAV's each should be assigned a different ID so
// that ground stations can tell them apart.
//
// The default serial port is the telemetry port for GCS_PROTOCOL_STANDARD
// and GCS_PROTOCOL_LEGACY. For all other protocols, the default serial
// port is the FTDI/console port. GCS_PORT normally should not be set
// in your configuration.
//
//#define GCS_PROTOCOL GCS_PROTOCOL_STANDARD
//#define GCS_PORT 3
//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
//#define GCS_PORT 3
//#define MAV_SYSTEM_ID 1
//
//////////////////////////////////////////////////////////////////////////////
@ -109,16 +103,15 @@ @@ -109,16 +103,15 @@
//
// SERIAL0_BAUD OPTIONAL
//
// Baudrate for the console port. Default is 38400bps.
// Baudrate for the console port. Default is 115200bps.
//
// SERIAL3_BAUD OPTIONAL
//
// Baudrate for the telemetry port. Default is 115200bps.
// Baudrate for the telemetry port. Default is 57600bps.
//
//#define SERIAL0_BAUD 38400
//#define SERIAL3_BAUD 115200
//#define SERIAL0_BAUD 115200
//#define SERIAL3_BAUD 57600
//
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring OPTIONAL
//
@ -127,18 +120,12 @@ @@ -127,18 +120,12 @@
//
// BATTERY_EVENT OPTIONAL
//
// Set BATTERY_EVENT to ENABLED to enable battery monitoring. The default is
// DISABLED.
//
// BATTERY_TYPE OPTIONAL if BATTERY_EVENT is set
//
// Set to 0 for 3s LiPo, 1 for 4s LiPo. The default is 0, selecting a 3s
// battery.
// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings.
// The default is DISABLED.
//
// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set.
//
// Normally derived from BATTERY_TYPE, the automatic value can be overridden
// here. Value in volts at which ArduPilot Mega should consider the
// Value in volts at which ArduPilot Mega should consider the
// battery to be "low".
//
// VOLT_DIV_RATIO OPTIONAL
@ -146,11 +133,25 @@ @@ -146,11 +133,25 @@
// See the manual for details. The default value corresponds to the resistors
// recommended by the manual.
//
//#define BATTERY_EVENT DISABLED
//#define BATTERY_TYPE 0
//#define LOW_VOLTAGE 11.4
//#define VOLT_DIV_RATIO 3.0
// CURR_AMPS_PER_VOLT OPTIONAL
// CURR_AMPS_OFFSET OPTIONAL
//
// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM
// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset
//
//
// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set.
//
// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of
// battery capacity.
//
//#define BATTERY_EVENT DISABLED
//#define LOW_VOLTAGE 9.6
//#define VOLT_DIV_RATIO 3.56
//#define CURR_AMPS_PER_VOLT 27.32
//#define CURR_AMPS_OFFSET 0.0
//#define HIGH_DISCHARGE 1760
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE OPTIONAL
@ -172,15 +173,11 @@ @@ -172,15 +173,11 @@
//////////////////////////////////////////////////////////////////////////////
// FLIGHT_MODE OPTIONAL
// FLIGHT_MODE_CHANNEL OPTIONAL
//
// Flight modes assigned to the control channel, and the input channel that
// is read for the control mode.
//
// Use a servo tester, or the ArduPilotMega_demo test program to check your
// switch settings.
//
// ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and
// ATTENTION: Some APM boards have radio channels marked 0-7, and
// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option
// uses channel numbers 1-8 (and defaults to 8).
//
@ -206,8 +203,6 @@ @@ -206,8 +203,6 @@
// Name | Description
// -----------------+--------------------------------------------
// |
// MANUAL | Full manual control via the hardware multiplexer.
// |
// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs.
// |
// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle.
@ -268,19 +263,19 @@ @@ -268,19 +263,19 @@
// position up so that you cannot engage the failsafe with a regular stick movement.
//
// Configure your receiver's failsafe setting for the throttle channel to the
// absolute minimum, and use the ArduPilotMega_demo program to check that
// absolute minimum, and use setup pwm program in the CLI to check that
// you cannot reach that value with the throttle control. Leave a margin of
// at least 50 microseconds between the lowest throttle setting and
// THROTTLE_FS_VALUE.
//
// The FAILSAFE_ACTION setting determines what APM will do when throttle failsafe
// The FAILSAFE_ACTION setting determines what AC2 will do when throttle failsafe
// mode is entered while flying in AUTO mode. This is important in order to avoid
// accidental failsafe behaviour when flying waypoints that take the aircraft
// temporarily out of radio range.
//
// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO modes,
// the aircraft will head for home in RTL mode. If the throttle channel moves
// back up, it will return to AUTO or LOITER mode.
// back up, it will return to AUTO mode.
//
// The default behaviour is to ignore throttle failsafe in AUTO and LOITER modes.
//
@ -310,24 +305,6 @@ @@ -310,24 +305,6 @@
//#define GROUND_START_DELAY 0
//
//////////////////////////////////////////////////////////////////////////////
// ENABLE_AIR_START OPTIONAL
//
// If air start is disabled then you will get a ground start (including IMU
// calibration) every time the AP is powered up. This means that if you get
// a power glitch or reboot for some reason in the air, you will probably
// crash, but it prevents a lot of problems on the ground like unintentional
// motor start-ups, etc.
//
// If air start is enabled then you will get an air start at power up and a
// ground start will be performed if the speed is near zero when we get gps
// lock.
//
// The default is to disable air start.
//
//#define ENABLE_AIR_START 0
//
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
@ -335,26 +312,6 @@ @@ -335,26 +312,6 @@
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
// Altitude measurement and control.
//
// AOA OPTIONAL
//
// The angle in 100ths of a degree that the nose of the aircraft should be
// raised from horizontal in level flight. The default is 1 degree.
//
//#define AOA 100 // note, 100ths of a degree
//
// ALT_EST_GAIN OPTIONAL
//
// The gain of the altitude estimation function; a lower number results
// in slower error correction and smoother output. The default is a
// reasonable starting point.
//
//#define ALT_EST_GAIN 0.01
//
//////////////////////////////////////////////////////////////////////////////
// ENABLE_HIL OPTIONAL
//
@ -370,9 +327,9 @@ @@ -370,9 +327,9 @@
// PITCH_MAX OPTIONAL
//
// The maximum commanded pitch up angle.
// The default is 45 degrees.
// The default is 18 degrees.
//
//#define PITCH_MAX 45
//#define PITCH_MAX 18
//////////////////////////////////////////////////////////////////////////////
// Attitude control gains
@ -385,204 +342,11 @@ @@ -385,204 +342,11 @@
// The I term is used to help control surfaces settle. This value should
// normally be kept low.
//
// The D term is used to control overshoot. Avoid using or adjusting this
// term if you are not familiar with tuning PID loops. It should normally
// be zero for most aircraft.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// SERVO_ROLL_P OPTIONAL
// SERVO_ROLL_I OPTIONAL
// SERVO_ROLL_D OPTIONAL
//
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
//
// SERVO_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// ROLL_SLEW_LIMIT EXPERIMENTAL
//
// Limits the slew rate of the roll control in degrees per second. If zero,
// slew rate is not limited. Default is to not limit the roll control slew rate.
// (This feature is currently not implemented.)
//
// SERVO_PITCH_P OPTIONAL
// SERVO_PITCH_I OPTIONAL
// SERVO_PITCH_D OPTIONAL
//
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
//
// SERVO_PITCH_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. native flight
// AoA). If you find this value is insufficient, consider adjusting the AOA
// parameter.
// Default is 5 degrees.
//
// PITCH_COMP OPTIONAL
//
// Adds pitch input to compensate for the loss of lift due to roll control.
// Default is 0.20 (20% of roll control also applied to pitch control).
//
// SERVO_YAW_P OPTIONAL
// SERVO_YAW_I OPTIONAL
// SERVO_YAW_D OPTIONAL
//
// P, I and D terms for the YAW control. Defaults are 0.5, 0, 0.
//
// SERVO_YAW_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// RUDDER_MIX OPTIONAL
//
// Roll to yaw mixing. This allows for co-ordinated turns.
// Default is 0.50 (50% of roll control also applied to yaw control.)
//
//#define SERVO_ROLL_P 0.4
//#define SERVO_ROLL_I 0.0
//#define SERVO_ROLL_D 0.0
//#define SERVO_ROLL_INT_MAX 5
//#define ROLL_SLEW_LIMIT 0
//#define SERVO_PITCH_P 0.6
//#define SERVO_PITCH_I 0.0
//#define SERVO_PITCH_D 0.0
//#define SERVO_PITCH_INT_MAX 5
//#define PITCH_COMP 0.2
//#define SERVO_YAW_P 0.5
//#define SERVO_YAW_I 0.0
//#define SERVO_YAW_D 0.0
//#define SERVO_YAW_INT_MAX 5
//#define RUDDER_MIX 0.5
//
//////////////////////////////////////////////////////////////////////////////
// Navigation control gains
//
// Tuning values for the navigation control PID loops.
//
// The P term is the primary tuning value. This determines how the control
// deflection varies in proportion to the required correction.
//
// The I term is used to control drift.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
// The D term is used to slow change to avoid overshoot.
//
// Note: When tuning these values, start with changes of no more than 25% at
// a time.
//
// NAV_ROLL_P OPTIONAL
// NAV_ROLL_I OPTIONAL
// NAV_ROLL_D OPTIONAL
//
// P, I and D terms for navigation control over roll, normally used for
// controlling the aircraft's course. The P term controls how aggressively
// the aircraft will bank to change or hold course.
// Defaults are 0.7, 0.01, 0.02.
//
// NAV_ROLL_INT_MAX OPTIONAL
//
// Maximum control offset due to the integral. This prevents the control
// output from being overdriven due to a persistent offset (e.g. crosstracking).
// Default is 5 degrees.
//
// NAV_PITCH_ASP_P OPTIONAL
// NAV_PITCH_ASP_I OPTIONAL
// NAV_PITCH_ASP_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain airspeed.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ASP_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed airspeed).
// Default is 5 degrees.
//
// NAV_PITCH_ALT_P OPTIONAL
// NAV_PITCH_ALT_I OPTIONAL
// NAV_PITCH_ALT_D OPTIONAL
//
// P, I and D terms for pitch adjustments made to maintain altitude.
// Defaults are 0.65, 0, 0.
//
// NAV_PITCH_ALT_INT_MAX OPTIONAL
//
// Maximum pitch offset due to the integral. This limits the control
// output from being overdriven due to a persistent offset (eg. inability
// to maintain the programmed altitude).
// Default is 5 degrees.
//
//#define NAV_ROLL_P 0.7
//#define NAV_ROLL_I 0.01
//#define NAV_ROLL_D 0.02
//#define NAV_ROLL_INT_MAX 5
//#define NAV_PITCH_ASP_P 0.65
//#define NAV_PITCH_ASP_I 0.0
//#define NAV_PITCH_ASP_D 0.0
//#define NAV_PITCH_ASP_INT_MAX 5
//#define NAV_PITCH_ALT_P 0.65
//#define NAV_PITCH_ALT_I 0.0
//#define NAV_PITCH_ALT_D 0.0
//#define NAV_PITCH_ALT_INT_MAX 5
//
//////////////////////////////////////////////////////////////////////////////
// Energy/Altitude control gains
//
// The Energy/altitude control system uses throttle input to control aircraft
// altitude.
//
// The P term is the primary tuning value. This determines how the throttle
// setting varies in proportion to the required correction.
//
// The I term is used to compensate for small offsets.
//
// The D term is used to control overshoot. Avoid adjusting this term if
// you are not familiar with tuning PID loops.
//
// THROTTLE_TE_P OPTIONAL
// THROTTLE_TE_I OPTIONAL
// THROTTLE_TE_D OPTIONAL
//
// P, I and D terms for throttle adjustments made to control altitude.
// Defaults are 0.5, 0, 0.
//
// THROTTLE_TE_INT_MAX OPTIONAL
//
// Maximum throttle input due to the integral term. This limits the
// throttle from being overdriven due to a persistent offset (e.g.
// inability to maintain the programmed altitude).
// Default is 20%.
//
// THROTTLE_SLEW_LIMIT OPTIONAL
//
// Limits the slew rate of the throttle, in percent per second. Helps
// avoid sudden throttle changes, which can destabilise the aircraft.
// A setting of zero disables the feature.
// Default is zero (disabled).
//
// P_TO_T OPTIONAL
//
// Pitch to throttle feed-forward gain. Used when AIRSPEED_SENSOR
// is DISABLED. Default is 2.5.
//
//#define THROTTLE_TE_P 0.50
//#define THROTTLE_TE_I 0.0
//#define THROTTLE_TE_D 0.0
//#define THROTTLE_TE_INT_MAX 20
//#define THROTTLE_SLEW_LIMIT 0
//#define P_TO_T 2.5
//
//////////////////////////////////////////////////////////////////////////////
// Crosstrack compensation
@ -680,6 +444,7 @@ @@ -680,6 +444,7 @@
//#define LOG_MODE ENABLED
//#define LOG_RAW DISABLED
//#define LOG_CMD ENABLED
//#define LOG_CURRENT ENABLED
//
//////////////////////////////////////////////////////////////////////////////

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