2011-03-19 07:20:11 -03:00
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
2011-02-24 01:56:59 -04:00
|
|
|
|
|
|
|
|
// HIL_MODE SELECTION
|
|
|
|
|
//
|
|
|
|
|
// Mavlink supports
|
|
|
|
|
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
|
|
|
|
|
// 2. HIL_MODE_SENSORS: full sensor simulation
|
|
|
|
|
#define HIL_MODE HIL_MODE_ATTITUDE
|
|
|
|
|
|
|
|
|
|
// HIL_PORT SELCTION
|
|
|
|
|
//
|
|
|
|
|
// PORT 1
|
|
|
|
|
// If you would like to run telemetry communications for a groundstation
|
|
|
|
|
// while you are running hardware in the loop it is necessary to set
|
|
|
|
|
// HIL_PORT to 1. This uses the port that would have been used for the gps
|
|
|
|
|
// as the hardware in the loop port. You will have to solder
|
|
|
|
|
// headers onto the gps port connection on the apm
|
|
|
|
|
// and connect via an ftdi cable.
|
|
|
|
|
//
|
|
|
|
|
// The baud rate is set to 115200 in this mode.
|
|
|
|
|
//
|
|
|
|
|
// PORT 3
|
|
|
|
|
// If you don't require telemetry communication with a gcs while running
|
|
|
|
|
// hardware in the loop you may use the telemetry port as the hardware in
|
|
|
|
|
// the loop port. Alternatively, use a telemetry/HIL shim like FGShim
|
|
|
|
|
// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
|
|
|
|
|
//
|
|
|
|
|
// The buad rate is controlled by SERIAL3_BAUD in this mode.
|
|
|
|
|
|
|
|
|
|
#define HIL_PORT 3
|
|
|
|
|
|
|
|
|
|
// You can set your gps protocol here for your actual
|
|
|
|
|
// hardware and leave it without affecting the hardware
|
|
|
|
|
// in the loop simulation
|
|
|
|
|
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
|
|
|
|
|
|
|
|
|
|
// Sensors
|
|
|
|
|
// All sensors are supported in all modes.
|
|
|
|
|
// The magnetometer is not used in
|
|
|
|
|
// HIL_MODE_ATTITUDE but you may leave it
|
|
|
|
|
// enabled if you wish.
|
|
|
|
|
#define MAGNETOMETER ENABLED
|
