2011-09-17 15:25:31 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
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2011-03-21 04:35:54 -03:00
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2012-01-08 21:59:55 -04:00
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// # define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
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// # define APM2_BETA_HARDWARE
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2011-03-21 04:35:54 -03:00
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// GPS is auto-selected
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2011-05-09 12:46:56 -03:00
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//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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2011-09-04 21:15:36 -03:00
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//#define HIL_MODE HIL_MODE_ATTITUDE
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2012-07-28 04:31:38 -03:00
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//#define DMP_ENABLED ENABLED
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2011-06-16 14:03:26 -03:00
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2012-01-04 04:35:05 -04:00
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//#define FRAME_CONFIG QUAD_FRAME
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2011-05-14 23:04:52 -03:00
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/*
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options:
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2011-05-18 20:38:24 -03:00
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QUAD_FRAME
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TRI_FRAME
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HEXA_FRAME
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Y6_FRAME
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2011-05-23 23:14:18 -03:00
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OCTA_FRAME
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2012-03-06 09:15:02 -04:00
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OCTA_QUAD_FRAME
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2011-06-12 09:14:10 -03:00
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HELI_FRAME
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2011-05-14 23:04:52 -03:00
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*/
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2011-05-14 23:03:23 -03:00
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2012-01-04 04:35:05 -04:00
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//#define FRAME_ORIENTATION X_FRAME
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2011-05-18 20:38:24 -03:00
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/*
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PLUS_FRAME
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X_FRAME
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2011-07-30 17:42:54 -03:00
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V_FRAME
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2011-05-18 20:38:24 -03:00
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*/
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2012-01-08 02:20:45 -04:00
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//# define CH7_OPTION CH7_SAVE_WP
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2011-09-14 17:58:18 -03:00
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/*
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2011-09-20 14:37:50 -03:00
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CH7_DO_NOTHING
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CH7_SET_HOVER
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CH7_FLIP
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CH7_SIMPLE_MODE
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CH7_RTL
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2011-09-21 20:24:09 -03:00
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CH7_AUTO_TRIM
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2011-09-30 03:27:23 -03:00
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CH7_ADC_FILTER (experimental)
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2011-10-29 01:46:31 -03:00
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CH7_SAVE_WP
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2011-09-14 17:58:18 -03:00
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*/
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2011-11-05 01:41:51 -03:00
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#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress
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2011-09-30 03:27:23 -03:00
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2012-06-14 02:37:52 -03:00
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#define INERTIAL_NAV DISABLED
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2012-06-14 02:27:03 -03:00
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#if INERTIAL_NAV == ENABLED
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2012-07-18 15:15:07 -03:00
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#define ALT_HOLD_P 3
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#define ALT_HOLD_I 0
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2012-06-14 02:27:03 -03:00
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#define ALT_HOLD_IMAX 300
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// RATE control
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2012-07-18 15:15:07 -03:00
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#define THROTTLE_P 5 //
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#define THROTTLE_I 0.4 //
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2012-06-14 02:27:03 -03:00
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#define THROTTLE_D 0.0 //
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#define LOITER_P 0.50
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#define LOITER_I 0.0
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2012-07-18 15:15:07 -03:00
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#define LOITER_RATE_P 5 //
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2012-06-15 02:18:26 -03:00
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#define LOITER_RATE_I 0.1 // Wind control
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2012-06-14 02:27:03 -03:00
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#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
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#endif
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2011-09-24 21:40:29 -03:00
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2011-09-25 19:34:59 -03:00
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//#define RATE_ROLL_I 0.18
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//#define RATE_PITCH_I 0.18
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2011-10-21 00:38:36 -03:00
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//#define MOTORS_JD880
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2011-12-18 22:29:05 -04:00
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//#define MOTORS_JD850
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2011-10-15 19:29:33 -03:00
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// agmatthews USERHOOKS
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// the choice of function names is up to the user and does not have to match these
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2012-08-05 19:21:14 -03:00
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// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file
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2011-10-15 19:29:33 -03:00
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//#define USERHOOK_FASTLOOP userhook_FastLoop();
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#define USERHOOK_50HZLOOP userhook_50Hz();
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//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
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//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
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//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
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#define USERHOOK_INIT userhook_init();
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2012-08-05 19:21:14 -03:00
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// the choice of included variables file (*.h) is up to the user and does not have to match this one
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2011-10-15 19:29:33 -03:00
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// Ensure the defined file exists and is in the arducopter directory
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#define USERHOOK_VARIABLES "UserVariables.h"
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2012-01-14 15:43:52 -04:00
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// to enable, set to 1
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// to disable, set to 0
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2012-01-21 02:52:11 -04:00
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#define AUTO_THROTTLE_HOLD 1
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2012-01-14 15:43:52 -04:00
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2012-02-11 19:54:29 -04:00
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//# define LOGGING_ENABLED DISABLED
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// Custom channel config - Expert Use Only.
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// this for defining your own MOT_n to CH_n mapping.
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// Overrides defaults (for APM1 or APM2) found in config_channels.h
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// MOT_n variables are used by the Frame mixing code. You must define
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// MOT_1 through MOT_m where m is the number of motors on your frame.
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// CH_n variables are used for RC output. These can be CH_1 through CH_8,
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2012-06-14 02:27:03 -03:00
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// and CH_10 or CH_12.
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2012-08-05 19:21:14 -03:00
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// Sample channel config. Must define all MOT_ channels used by
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2012-02-11 19:54:29 -04:00
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// your FRAME_TYPE.
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// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
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// #define MOT_1 CH_6
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// #define MOT_2 CH_3
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// #define MOT_3 CH_2
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// #define MOT_4 CH_5
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// #define MOT_5 CH_1
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// #define MOT_6 CH_4
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// #define MOT_7 CH_7
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// #define MOT_8 CH_8
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