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69 lines
2.3 KiB
69 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE |
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// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE! |
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// Enable Autopilot Flight Mode |
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#define FLIGHT_MODE_CHANNEL 8 |
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#define FLIGHT_MODE_1 AUTO |
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#define FLIGHT_MODE_2 RTL |
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#define FLIGHT_MODE_3 FLY_BY_WIRE_A |
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#define FLIGHT_MODE_4 FLY_BY_WIRE_B |
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#define FLIGHT_MODE_5 STABILIZE |
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#define FLIGHT_MODE_6 MANUAL |
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// Hardware in the loop protocol |
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#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK |
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// HIL_MODE SELECTION |
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// |
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// Mavlink supports |
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// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude |
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// 2. HIL_MODE_SENSORS: full sensor simulation |
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#define HIL_MODE HIL_MODE_ATTITUDE |
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// HIL_PORT SELCTION |
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// |
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// PORT 0 |
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// Port 0 is the port usually used for HIL. You attatch your HIL computer |
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// to APM using a USB cable. You can run telemetry on Port 3 |
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// |
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// PORT 1 |
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// Available for special situations. This uses the port that would have |
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// been used for the gps |
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// as the hardware in the loop port. You will have to solder |
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// headers onto the gps port connection on the apm |
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// and connect via an ftdi cable. |
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// The buad rate is controlled by SERIAL1_BAUD in this mode. |
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// |
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// PORT 3 |
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// If you don't require telemetry communication with a gcs while running |
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// hardware in the loop you may use the telemetry port as the hardware in |
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// the loop port. Alternatively, use a telemetry/HIL shim like FGShim |
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// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear |
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// |
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// The buad rate is controlled by SERIAL3_BAUD in this mode. |
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#define HIL_PORT 0 |
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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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#define GPS_PROTOCOL GPS_PROTOCOL_MTK |
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// Ground control station comms |
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#if HIL_PORT != 3 |
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# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK |
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# define GCS_PORT 3 |
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#endif |
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// Sensors |
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// All sensors are supported in all modes. |
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// The magnetometer is not used in |
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// HIL_MODE_ATTITUDE but you may leave it |
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// enabled if you wish. |
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#define AIRSPEED_SENSOR ENABLED |
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#define MAGNETOMETER ENABLED |
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#define AIRSPEED_CRUISE 25 |
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#define THROTTLE_FAILSAFE ENABLED
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