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ardupilot/Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml

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<?xml version="1.0" encoding="utf-8" ?>
<options>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 </name>
<desc></desc>
<format_version>12</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 HIL</name>
<desc>
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_6 MANUAL
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define LOGGING_ENABLED DISABLED
#define CLI_ENABLED DISABLED
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
# define GCS_PORT 3
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED
</desc>
<format_version>12</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Hexa X</name>
<desc>
#define FRAME_CONFIG HEXA_X_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Y6</name>
<desc>
#define FRAME_CONFIG Y6_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa V</name>
<desc>
#define FRAME_CONFIG OCTA_V_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa X</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Hexa Plus</name>
<desc>
#define FRAME_CONFIG HEXA_PLUS_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa Plus</name>
<desc>
#define FRAME_CONFIG OCTA_QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
<name>ArduCopter V2.1.0r Heli (2560 only)</name>
<desc>
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
#define INSTANT_PWM ENABLED
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10
</desc>
<format_version>113</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
#define HIL_MODE HIL_MODE_ATTITUDE
#define ALLOW_RC_OVERRIDE ENABLED
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.1.0r Heli Hil</name>
<desc>
#define HIL_MODE HIL_MODE_ATTITUDE
#define ALLOW_RC_OVERRIDE ENABLED
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10
</desc>
<format_version>113</format_version>
</Firmware>
</options>