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42 lines
1.5 KiB
42 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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 1 |
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// If you would like to run telemetry communications for a groundstation |
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// while you are running hardware in the loop it is necessary to set |
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// HIL_PORT to 1. This uses the port that would have 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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// |
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// The baud rate is set to 115200 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 3 |
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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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// 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 MAGNETOMETER ENABLED
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