mirror of https://github.com/ArduPilot/ardupilot
32 lines
1.0 KiB
C
32 lines
1.0 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
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// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
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// Enable Autopilot Flight Mode
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#define FLIGHT_MODE_CHANNEL 8
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#define FLIGHT_MODE_1 AUTO
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#define FLIGHT_MODE_2 RTL
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#define FLIGHT_MODE_3 FLY_BY_WIRE_A
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#define FLIGHT_MODE_4 FLY_BY_WIRE_B
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#define FLIGHT_MODE_5 STABILIZE
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#define FLIGHT_MODE_6 MANUAL
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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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// 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 AIRSPEED_SENSOR ENABLED
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#define MAGNETOMETER ENABLED
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#define AIRSPEED_CRUISE 25
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#define THROTTLE_FAILSAFE ENABLED
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