Copter: simplify APM_Config.h

Remove items that can be more easily set with parameters

ArduCopter/APM_Config.h

@@ -1,15 +1,14 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// Example config file. Take a look at config.h. Any term define there can be
-// overridden by defining it here.
-
+// User specific config file.  Any items listed in config.h can be overridden here.
 
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define HIL_MODE				HIL_MODE_SENSORS
-//#define DMP_ENABLED ENABLED
-//#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes
+//#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
+//#define LOGGING_ENABLED       DISABLED            // disable logging to save code space
+//#define DMP_ENABLED           ENABLED             // use MPU6000's DMP instead of DCM for attitude estimation
+//#define SECONDARY_DMP_ENABLED ENABLED             // allows running DMP in parallel with DCM for testing purposes
 
 //#define FRAME_CONFIG QUAD_FRAME
 /*
@@ -23,42 +22,16 @@
  *  HELI_FRAME
  */
 
-//#define FRAME_ORIENTATION X_FRAME
-/*
- *  PLUS_FRAME
- *  X_FRAME
- *  V_FRAME
- */
-
-//#define CH7_OPTION		CH7_SAVE_WP
-/*
- *  CH7_DO_NOTHING
- *  CH7_FLIP
- *  CH7_SIMPLE_MODE
- *  CH7_RTL
- *  CH7_SAVE_TRIM
- *  CH7_SAVE_WP
- *  CH7_CAMERA_TRIGGER
- */
-
-// uncomment the line below to disable control of yaw during missions (or set YAW_BEHAVIOR parameter to 0)
-// #define WP_YAW_BEHAVIOR_DEFAULT  WP_YAW_BEHAVIOR_NONE
-
 //#define MOTORS_JD880
 //#define MOTORS_JD850
 
-
-// the choice of function names is up to the user and does not have to match these
-// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file
-//#define USERHOOK_FASTLOOP userhook_FastLoop();
-#define USERHOOK_50HZLOOP userhook_50Hz();
-//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
-//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
-//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
-#define USERHOOK_INIT userhook_init();
-
-// the choice of included variables file (*.h) is up to the user and does not have to match this one
-// Ensure the defined file exists and is in the arducopter directory
+// User Hooks : For User Developed code that you wish to run
+// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
 #define USERHOOK_VARIABLES "UserVariables.h"
-
-//#define LOGGING_ENABLED		DISABLED
+// Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below
+#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
+//#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
+#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
+//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
+//#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
+//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz

ArduCopter/ArduCopter.pde

@@ -1019,6 +1019,7 @@ static void fast_loop()
 #endif
 }
 
+// medium_loop - runs at 10hz
 static void medium_loop()
 {
     // This is the start of the medium (10 Hz) loop pieces