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81 lines
2.0 KiB
81 lines
2.0 KiB
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane. |
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// Once you upload the code, run the factory "reset" to save all config values to EEPROM. |
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// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes. |
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// GPS is auto-selected |
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//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD |
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#define NAV_TEST 1 // 0 = traditional, 1 = rate controlled |
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#define YAW_OPTION 1 // 0 = hybrid rate approach, 1 = offset Yaw approach, 2 = simple hybrid |
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#define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input. |
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#define CUT_MOTORS 1 // do we cut the motors with no throttle? |
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#define DYNAMIC_DRIFT 0 // careful!!! 0 = off, 1 = on |
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// do we want to have camera stabilization? |
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#define CAMERA_STABILIZER ENABLED |
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#define BROKEN_SLIDER 0 |
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#define FRAME_CONFIG QUAD_FRAME |
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/* |
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options: |
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QUAD_FRAME |
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TRI_FRAME |
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HEXA_FRAME |
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Y6_FRAME |
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OCTA_FRAME |
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HELI_FRAME |
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*/ |
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#define FRAME_ORIENTATION X_FRAME |
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/* |
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PLUS_FRAME |
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X_FRAME |
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V_FRAME |
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*/ |
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#define CHANNEL_6_TUNING CH6_NONE |
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/* |
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CH6_NONE |
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CH6_STABLIZE_KP |
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CH6_STABLIZE_KD |
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CH6_BARO_KP |
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CH6_BARO_KD |
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CH6_SONAR_KP |
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CH6_SONAR_KD |
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CH6_Y6_SCALING |
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*/ |
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//#define ACRO_RATE_TRIGGER 4200 |
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// if you want full ACRO mode, set value to 0 |
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// if you want mostly stabilize with flips, set value to 4200 |
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//#define STABILIZE_ROLL_D 0.11 |
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//#define STABILIZE_PITCH_D 0.11 |
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// Logging |
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//#define LOG_CURRENT ENABLED |
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# define LOG_ATTITUDE_FAST DISABLED |
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# define LOG_ATTITUDE_MED DISABLED |
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# define LOG_GPS ENABLED |
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# define LOG_PM ENABLED |
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# define LOG_CTUN ENABLED |
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# define LOG_NTUN ENABLED |
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# define LOG_MODE ENABLED |
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# define LOG_RAW DISABLED |
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# define LOG_CMD ENABLED |
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# define LOG_CURRENT DISABLED |
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#define MOTOR_LEDS 1 // 0 = off, 1 = on |
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#define FR_LED AN12 // Mega PE4 pin, OUT7 |
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#define RE_LED AN14 // Mega PE5 pin, OUT6 |
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#define RI_LED AN10 // Mega PH4 pin, OUT5 |
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#define LE_LED AN8 // Mega PH5 pin, OUT4
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