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49 lines
1.6 KiB
49 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// 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 SERIAL0_BAUD 115200 |
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#define SERIAL3_BAUD 115200 |
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// Hardware in the loop protocol |
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#if 0 |
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# define HIL_MODE HIL_MODE_NONE |
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#else |
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# define HIL_MODE HIL_MODE_ATTITUDE |
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# define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK |
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# define HIL_PORT 0 |
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#endif |
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// You can set your gps protocol here for your actual |
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// hardware and leave it without affecting the hardware |
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// in the loop simulation |
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// Ground control station comms |
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK |
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#define GCS_PORT 0 |
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//#define RADIO_OVERRIDE_DEFAULTS { 1500, 1500, 1000, 1500, 1000, 1000, 1000, 1815 } |
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#define FLIGHT_MODE_CHANNEL CH_8 |
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#define FLIGHT_MODE_1 STABILIZE |
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#define FLIGHT_MODE_2 ALT_HOLD |
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#define FLIGHT_MODE_3 ACRO |
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#define FLIGHT_MODE_4 STABILIZE |
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#define FLIGHT_MODE_5 STABILIZE |
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#define FLIGHT_MODE_6 STABILIZE |
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//#define ALWAYS_RESET_RADIO_RANGE 1 |
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//#define ALWAYS_RESET_MODES 1 |
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#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX |
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// Use MODE1 arming |
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#define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in > 2700) |
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#define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in < -2700)
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