You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
469 lines
17 KiB
469 lines
17 KiB
// |
|
// Example and reference Arducopter 2.0 configuration file |
|
// ======================================================= |
|
// |
|
// This file contains documentation and examples for configuration options |
|
// supported by the ArduPilot Mega software. |
|
// |
|
// Most of these options are just that - optional. You should create |
|
// the APM_Config.h file and use this file as a reference for options |
|
// that you want to change. Don't copy this file directly; the options |
|
// described here and their default values may change over time. |
|
// |
|
// Each item is marked with a keyword describing when you should set it: |
|
// |
|
// REQUIRED |
|
// You must configure this in your APM_Config.h file. The |
|
// software will not compile if the option is not set. |
|
// |
|
// OPTIONAL |
|
// The option has a sensible default (which will be described |
|
// here), but you may wish to override it. |
|
// |
|
// EXPERIMENTAL |
|
// You should configure this option unless you are prepared |
|
// to deal with potential problems. It may relate to a feature |
|
// still in development, or which is not yet adequately tested. |
|
// |
|
// DEBUG |
|
// The option should only be set if you are debugging the |
|
// software, or if you are gathering information for a bug |
|
// report. |
|
// |
|
// NOTE: |
|
// Many of these settings are considered 'factory defaults', and the |
|
// live value is stored and managed in the ArduPilot Mega EEPROM. |
|
// Use the setup 'factoryreset' command after changing options in |
|
// your APM_Config.h file. |
|
// |
|
// Units |
|
// ----- |
|
// |
|
// Unless indicated otherwise, numeric quantities use the following units: |
|
// |
|
// Measurement | Unit |
|
// ------------+------------------------------------- |
|
// angle | degrees |
|
// distance | metres |
|
// speed | metres per second |
|
// servo angle | microseconds |
|
// voltage | volts |
|
// times | seconds |
|
// throttle | percent |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// HARDWARE CONFIGURATION AND CONNECTIONS |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GPS_PROTOCOL REQUIRED |
|
// |
|
// GPS configuration, must be one of: |
|
// |
|
// GPS_PROTOCOL_NONE No GPS attached |
|
// GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. |
|
// GPS_PROTOCOL_MTK MediaTek-based GPS |
|
// GPS_PROTOCOL_UBLOX UBLOX GPS |
|
// GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED |
|
// GPS_PROTOCOL_NMEA Standard NMEA GPS NOT SUPPORTED (yet?) |
|
// |
|
//#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GCS_PROTOCOL OPTIONAL |
|
// GCS_PORT OPTIONAL |
|
// MAV_SYSTEM_ID OPTIONAL |
|
// |
|
// The GCS_PROTOCOL option determines which (if any) ground control station |
|
// protocol will be used. Must be one of: |
|
// |
|
// GCS_PROTOCOL_NONE No GCS output |
|
// GCS_PROTOCOL_MAVLINK QGroundControl protocol |
|
// |
|
// The GCS_PORT option determines which serial port will be used by the |
|
// GCS protocol. The usual values are 0 for the console/USB port, |
|
// or 3 for the telemetry port on the oilpan. Note that some protocols |
|
// will ignore this value and always use the console port. |
|
// |
|
// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1. |
|
// If you will be flying multiple UAV's each should be assigned a different ID so |
|
// that ground stations can tell them apart. |
|
// |
|
//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK |
|
//#define GCS_PORT 3 |
|
//#define MAV_SYSTEM_ID 1 |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Serial port speeds. |
|
// |
|
// SERIAL0_BAUD OPTIONAL |
|
// |
|
// Baudrate for the console port. Default is 115200bps. |
|
// |
|
// SERIAL3_BAUD OPTIONAL |
|
// |
|
// Baudrate for the telemetry port. Default is 57600bps. |
|
// |
|
//#define SERIAL0_BAUD 115200 |
|
//#define SERIAL3_BAUD 57600 |
|
// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// Battery monitoring OPTIONAL |
|
// |
|
// See the manual for details on selecting divider resistors for battery |
|
// monitoring via the oilpan. |
|
// |
|
// BATTERY_EVENT OPTIONAL |
|
// |
|
// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings. |
|
// The default is DISABLED. |
|
// |
|
// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set. |
|
// |
|
// Value in volts at which ArduPilot Mega should consider the |
|
// battery to be "low". |
|
// |
|
// VOLT_DIV_RATIO OPTIONAL |
|
// |
|
// See the manual for details. The default value corresponds to the resistors |
|
// recommended by the manual. |
|
// |
|
// CURR_AMPS_PER_VOLT OPTIONAL |
|
// CURR_AMPS_OFFSET OPTIONAL |
|
// |
|
// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM |
|
// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset |
|
// |
|
// |
|
// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set. |
|
// |
|
// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of |
|
// battery capacity. |
|
// |
|
//#define BATTERY_EVENT DISABLED |
|
//#define LOW_VOLTAGE 9.6 |
|
//#define VOLT_DIV_RATIO 3.56 |
|
//#define CURR_AMPS_PER_VOLT 27.32 |
|
//#define CURR_AMPS_OFFSET 0.0 |
|
//#define HIGH_DISCHARGE 1760 |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// INPUT_VOLTAGE OPTIONAL |
|
// |
|
// In order to have accurate pressure and battery voltage readings, this |
|
// value should be set to the voltage measured on the 5V rail on the oilpan. |
|
// |
|
// See the manual for more details. The default value should be close. |
|
// |
|
//#define INPUT_VOLTAGE 5.0 |
|
// |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// RADIO CONFIGURATION |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// FLIGHT_MODE OPTIONAL |
|
// |
|
// Flight modes assigned to the control channel, and the input channel that |
|
// is read for the control mode. |
|
// |
|
// ATTENTION: Some APM boards have radio channels marked 0-7, and |
|
// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option |
|
// uses channel numbers 1-8 (and defaults to 8). |
|
// |
|
// If you only have a three-position switch or just want three modes, set your |
|
// switch to produce 1165, 1425, and 1815 microseconds and configure |
|
// FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. |
|
// |
|
// |
|
// For more modes (up to six), set your switch(es) to produce any of 1165, |
|
// 1295, 1425, 1555, 1685, and 1815 microseconds. |
|
// |
|
// Flight mode | Switch Setting (ms) |
|
// ------------+--------------------- |
|
// 1 | 1165 |
|
// 2 | 1295 |
|
// 3 | 1425 |
|
// 4 | 1555 |
|
// 5 | 1685 |
|
// 6 | 1815 (FAILSAFE if using channel 8) |
|
// |
|
// The following standard flight modes are available: |
|
// |
|
// Name | Description |
|
// -----------------+-------------------------------------------- |
|
// | |
|
// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs. |
|
// | |
|
// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle. |
|
// | |
|
// FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle. |
|
// | |
|
// RTL | Returns to the Home location and then LOITERs at a safe altitude. |
|
// | |
|
// AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter |
|
// | application or your Ground Control System to edit and upload |
|
// | waypoints and other commands. |
|
// | |
|
// |
|
// |
|
// The following non-standard modes are EXPERIMENTAL: |
|
// |
|
// Name | Description |
|
// -----------------+-------------------------------------------- |
|
// | |
|
// LOITER | Flies in a circle around the current location. |
|
// | |
|
// CIRCLE | Flies in a stabilized 'dumb' circle. |
|
// | |
|
// |
|
// |
|
// If you are using channel 8 for mode switching then FLIGHT_MODE_5 and |
|
// FLIGHT_MODE_6 should be MANUAL. |
|
// |
|
// |
|
//#define FLIGHT_MODE_CHANNEL 8 |
|
// |
|
//#define FLIGHT_MODE_1 RTL |
|
//#define FLIGHT_MODE_2 RTL |
|
//#define FLIGHT_MODE_3 FLY_BY_WIRE_A |
|
//#define FLIGHT_MODE_4 FLY_BY_WIRE_A |
|
//#define FLIGHT_MODE_5 MANUAL |
|
//#define FLIGHT_MODE_6 MANUAL |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// THROTTLE_FAILSAFE OPTIONAL |
|
// THROTTLE_FS_VALUE OPTIONAL |
|
// THROTTLE_FAILSAFE_ACTION OPTIONAL |
|
// |
|
// The throttle failsafe allows you to configure a software failsafe activated |
|
// by a setting on the throttle input channel (channel 3). |
|
// |
|
// This can be used to achieve a failsafe override on loss of radio control |
|
// without having to sacrifice one of your FLIGHT_MODE settings, as the |
|
// throttle failsafe overrides the switch-selected mode. |
|
// |
|
// Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default |
|
// is for it to be disabled. |
|
// |
|
// If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value |
|
// below which the failsafe engages. The default is 975ms, which is a very low |
|
// throttle setting. Most transmitters will let you trim the manual throttle |
|
// position up so that you cannot engage the failsafe with a regular stick movement. |
|
// |
|
// Configure your receiver's failsafe setting for the throttle channel to the |
|
// absolute minimum, and use setup pwm program in the CLI to check that |
|
// you cannot reach that value with the throttle control. Leave a margin of |
|
// at least 50 microseconds between the lowest throttle setting and |
|
// THROTTLE_FS_VALUE. |
|
// |
|
// The FAILSAFE_ACTION setting determines what AC2 will do when throttle failsafe |
|
// mode is entered while flying in AUTO mode. This is important in order to avoid |
|
// accidental failsafe behaviour when flying waypoints that take the aircraft |
|
// temporarily out of radio range. |
|
// |
|
// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO modes, |
|
// the aircraft will head for home in RTL mode. If the throttle channel moves |
|
// back up, it will return to AUTO mode. |
|
// |
|
// The default behaviour is to ignore throttle failsafe in AUTO and LOITER modes. |
|
// |
|
//#define THROTTLE_FAILSAFE DISABLED |
|
//#define THROTTLE_FS_VALUE 975 |
|
//#define THROTTLE_FAILSAFE_ACTION 2 |
|
// |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// STARTUP BEHAVIOUR |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// GROUND_START_DELAY OPTIONAL |
|
// |
|
// If configured, inserts a delay between power-up and the beginning of IMU |
|
// calibration during a ground start. |
|
// |
|
// Use this setting to give you time to position the aircraft horizontally |
|
// for the IMU calibration. |
|
// |
|
// The default is to begin IMU calibration immediately at startup. |
|
// |
|
//#define GROUND_START_DELAY 0 |
|
// |
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// FLIGHT AND NAVIGATION CONTROL |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// ENABLE_HIL OPTIONAL |
|
// |
|
// This will output a binary control string to for use in HIL sims |
|
// such as Xplane 9 or FlightGear. |
|
// |
|
//#define ENABLE_HIL ENABLED |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Autopilot control limits |
|
// |
|
// PITCH_MAX OPTIONAL |
|
// |
|
// The maximum commanded pitch up angle. |
|
// The default is 18 degrees. |
|
// |
|
//#define PITCH_MAX 18 |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Attitude control gains |
|
// |
|
// Tuning values for the attitude control PID loops. |
|
// |
|
// The P term is the primary tuning value. This determines how the control |
|
// deflection varies in proportion to the required correction. |
|
// |
|
// The I term is used to help control surfaces settle. This value should |
|
// normally be kept low. |
|
// |
|
// The D term is used to slow change to avoid overshoot. |
|
// |
|
// Note: When tuning these values, start with changes of no more than 25% at |
|
// a time. |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Crosstrack compensation |
|
// |
|
// XTRACK_GAIN OPTIONAL |
|
// |
|
// Crosstrack compensation in degrees per metre off track. |
|
// Default value is 0.01 degrees per metre. Values lower than 0.001 will |
|
// disable crosstrack compensation. |
|
// |
|
// XTRACK_ENTRY_ANGLE OPTIONAL |
|
// |
|
// Maximum angle used to correct for track following. |
|
// Default value is 30 degrees. |
|
// |
|
//#define XTRACK_GAIN 0.01 |
|
//#define XTRACK_ENTRY_ANGLE 30 |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
// DEBUGGING |
|
////////////////////////////////////////////////////////////////////////////// |
|
////////////////////////////////////////////////////////////////////////////// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// DEBUG_LEVEL DEBUG |
|
// |
|
// Selects the lowest level of debug messages passed to the telemetry system. |
|
// Default is SEVERITY_LOW. May be one of: |
|
// |
|
// SEVERITY_LOW |
|
// SEVERITY_MEDIUM |
|
// SEVERITY_HIGH |
|
// SEVERITY_CRITICAL |
|
// |
|
//#define DEBUG_LEVEL SEVERITY_LOW |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// Dataflash logging control |
|
// |
|
// Each of these logging options may be set to ENABLED to enable, or DISABLED |
|
// to disable the logging of the respective data. |
|
// |
|
// LOG_ATTITUDE_FAST DEBUG |
|
// |
|
// Logs basic attitude info to the dataflash at 50Hz (uses more space). |
|
// Defaults to DISABLED. |
|
// |
|
// LOG_ATTITUDE_MED OPTIONAL |
|
// |
|
// Logs basic attitude info to the dataflash at 10Hz (uses less space than |
|
// LOG_ATTITUDE_FAST). Defaults to ENABLED. |
|
// |
|
// LOG_GPS OPTIONAL |
|
// |
|
// Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED. |
|
// |
|
// LOG_PM OPTIONAL |
|
// |
|
// Logs IMU performance monitoring info every 20 seconds. |
|
// Defaults to DISABLED. |
|
// |
|
// LOG_CTUN OPTIONAL |
|
// |
|
// Logs control loop tuning info at 10 Hz. This information is useful for tuning |
|
// servo control loop gain values. Defaults to DISABLED. |
|
// |
|
// LOG_NTUN OPTIONAL |
|
// |
|
// Logs navigation tuning info at 10 Hz. This information is useful for tuning |
|
// navigation control loop gain values. Defaults to DISABLED. |
|
// |
|
// LOG_ MODE OPTIONAL |
|
// |
|
// Logs changes to the flight mode upon occurrence. Defaults to ENABLED. |
|
// |
|
// LOG_RAW DEBUG |
|
// |
|
// Logs raw accelerometer and gyro data at 50 Hz (uses more space). |
|
// Defaults to DISABLED. |
|
// |
|
// LOG_CMD OPTIONAL |
|
// |
|
// Logs new commands when they process. |
|
// Defaults to ENABLED. |
|
// |
|
//#define LOG_ATTITUDE_FAST DISABLED |
|
//#define LOG_ATTITUDE_MED ENABLED |
|
//#define LOG_GPS ENABLED |
|
//#define LOG_PM ENABLED |
|
//#define LOG_CTUN DISABLED |
|
//#define LOG_NTUN DISABLED |
|
//#define LOG_MODE ENABLED |
|
//#define LOG_RAW DISABLED |
|
//#define LOG_CMD ENABLED |
|
//#define LOG_CURRENT ENABLED |
|
// |
|
|
|
////////////////////////////////////////////////////////////////////////////// |
|
// RC override |
|
// |
|
// ALLOW_RC_OVERRIDE OPTIONAL |
|
// |
|
// This is for advanced used only! |
|
// |
|
// If you enable ALLOW_RC_OVERRIDE then a GCS will be able to |
|
// override RC input values using a MAVLINK_MSG_ID_RC_CHANNELS_RAW |
|
// message sent to APM. This allows the GCS to precisely control |
|
// all PWM values as seen by APM, which means it can set any switch |
|
// position, or set a precise control value. Do not enable unless you |
|
// really know what you are doing! |
|
// |
|
|
|
// |
|
// Do not remove - this is to discourage users from copying this file |
|
// and using it as-is rather than editing their own. |
|
// |
|
#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.
|
|
|