<?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>
