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116 lines
3.0 KiB
116 lines
3.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here. |
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//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2 |
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//#define APM2_BETA_HARDWARE |
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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 HIL_MODE HIL_MODE_ATTITUDE |
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//#define DMP_ENABLED ENABLED |
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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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OCTA_QUAD_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 CH7_OPTION CH7_SAVE_WP |
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/* |
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CH7_DO_NOTHING |
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CH7_SET_HOVER |
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CH7_FLIP |
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CH7_SIMPLE_MODE |
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CH7_RTL |
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CH7_AUTO_TRIM |
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CH7_ADC_FILTER (experimental) |
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CH7_SAVE_WP |
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CH7_MULTI_MODE |
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*/ |
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//#define TOY_EDF ENABLED |
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//#define TOY_MIXER TOY_LOOKUP_TABLE |
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#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress |
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#define INERTIAL_NAV DISABLED |
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#if INERTIAL_NAV == ENABLED |
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#define ALT_HOLD_P 3 |
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#define ALT_HOLD_I 0 |
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#define ALT_HOLD_IMAX 300 |
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// RATE control |
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#define THROTTLE_P 5 // |
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#define THROTTLE_I 0.4 // |
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#define THROTTLE_D 0.0 // |
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#define LOITER_P 0.50 |
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#define LOITER_I 0.0 |
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#define LOITER_RATE_P 5 // |
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#define LOITER_RATE_I 0.1 // Wind control |
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#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1 |
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#endif |
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//#define RATE_ROLL_I 0.18 |
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//#define RATE_PITCH_I 0.18 |
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//#define MOTORS_JD880 |
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//#define MOTORS_JD850 |
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// agmatthews USERHOOKS |
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// the choice of function names is up to the user and does not have to match these |
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// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file |
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//#define USERHOOK_FASTLOOP userhook_FastLoop(); |
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#define USERHOOK_50HZLOOP userhook_50Hz(); |
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//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); |
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//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); |
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//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); |
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#define USERHOOK_INIT userhook_init(); |
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// the choice of included variables file (*.h) is up to the user and does not have to match this one |
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// Ensure the defined file exists and is in the arducopter directory |
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#define USERHOOK_VARIABLES "UserVariables.h" |
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// to enable, set to 1 |
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// to disable, set to 0 |
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#define AUTO_THROTTLE_HOLD 1 |
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//#define LOGGING_ENABLED DISABLED |
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// Custom channel config - Expert Use Only. |
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// this for defining your own MOT_n to CH_n mapping. |
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// Overrides defaults (for APM1 or APM2) found in config_channels.h |
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// MOT_n variables are used by the Frame mixing code. You must define |
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// MOT_1 through MOT_m where m is the number of motors on your frame. |
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// CH_n variables are used for RC output. These can be CH_1 through CH_8, |
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// and CH_10 or CH_12. |
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// Sample channel config. Must define all MOT_ channels used by |
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// your FRAME_TYPE. |
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// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM |
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// #define MOT_1 CH_6 |
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// #define MOT_2 CH_3 |
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// #define MOT_3 CH_2 |
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// #define MOT_4 CH_5 |
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// #define MOT_5 CH_1 |
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// #define MOT_6 CH_4 |
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// #define MOT_7 CH_7 |
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// #define MOT_8 CH_8
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