ardupilot/ArduCopter/APM_Config.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.

// GPS is auto-selected

//#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define GCS_PROTOCOL			GCS_PROTOCOL_NONE
//#define HIL_MODE				HIL_MODE_ATTITUDE

//#define BROKEN_SLIDER		0		// 1 = yes (use Yaw to enter CLI mode)

#define FRAME_CONFIG QUAD_FRAME
	/*
	options:
	QUAD_FRAME
	TRI_FRAME
	HEXA_FRAME
	Y6_FRAME
	OCTA_FRAME
	HELI_FRAME
	*/

#define FRAME_ORIENTATION X_FRAME
	/*
	PLUS_FRAME
	X_FRAME
	V_FRAME
	*/


# define CH7_OPTION		CH7_DO_NOTHING
	/*
	CH7_DO_NOTHING
	CH7_SET_HOVER
	CH7_FLIP
	CH7_SIMPLE_MODE
	CH7_RTL
	CH7_AUTO_TRIM
	*/

// See the config.h and defines.h files for how to set this up!
//

// lets use Manual throttle during Loiter
//#define LOITER_THR			THROTTLE_MANUAL
# define RTL_YAW 			YAW_HOLD
Merge some small misc improvements from APM_Camera branch 2011-09-17 15:25:31 -03:00			`// -- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil --`

			`// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.`
undid accidentical commit of local changes sorry about that! git-svn-id: https://arducopter.googlecode.com/svn/trunk@1806 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-03-21 04:35:54 -03:00
			`// GPS is auto-selected`

Added APM's current sensing. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2234 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-09 12:46:56 -03:00			`//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD`
2.0.40 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3252 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-09-04 21:15:36 -03:00			`//#define GCS_PROTOCOL GCS_PROTOCOL_NONE`
			`//#define HIL_MODE HIL_MODE_ATTITUDE`
AC2.0.24b git-svn-id: https://arducopter.googlecode.com/svn/trunk@2567 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-06-16 14:03:26 -03:00
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-07-30 17:42:54 -03:00			`//#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)`

2.0.40 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3252 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-09-04 21:15:36 -03:00			`#define FRAME_CONFIG QUAD_FRAME`
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-14 23:04:52 -03:00			`/*`
			`options:`
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-18 20:38:24 -03:00			`QUAD_FRAME`
			`TRI_FRAME`
			`HEXA_FRAME`
			`Y6_FRAME`
Added resetting of Loiter location based on stick input. Fly it to a location and let it stick. Added Octo Support Fixed Loiter issue regarding Yaw towards loiter location Added Yaw control alternative for testing decreased Yaw deadband to +-5° revved to 2.0.10 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2389 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-23 23:14:18 -03:00			`OCTA_FRAME`
Traditional Heli - merged heli code into ACM trunk code! git-svn-id: https://arducopter.googlecode.com/svn/trunk@2548 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-06-12 09:14:10 -03:00			`HELI_FRAME`
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2277 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-14 23:04:52 -03:00			`*/`
added reference to FRAME_TYPE git-svn-id: https://arducopter.googlecode.com/svn/trunk@2276 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-14 23:03:23 -03:00
2.0.40 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3252 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-09-04 21:15:36 -03:00			`#define FRAME_ORIENTATION X_FRAME`
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-18 20:38:24 -03:00			`/*`
			`PLUS_FRAME`
			`X_FRAME`
Big update 2.0.38 moved ground start to first arming added ground start flag moved throttle_integrator to 50hz loop CAMERA_STABILIZER deprecated - now always on renamed current logging bit mask to match APM added MA filter to PID - D term Adjusted PIDs based on continued testing and new PID filter added MASK_LOG_SET_DEFAULTS to match APM moved some stuff out of ground start into system start where it belonged Added slower Yaw gains for DCM when the copter is in the air changed camera output to be none scaled PWM fixed bug where ground_temperature was unfiltered shortened Baro startup time fixed issue with Nav_WP integrator not being reset RTL no longer yaws towards home Circle mode for flying a 10m circle around the point where it was engaged. - Not tested at all! Consider Circle mode as alpha. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2966 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-07-30 17:42:54 -03:00			`V_FRAME`
2.0.6 Beta updates. Frame options + X moved to AP_Var. Updated nav code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2345 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-18 20:38:24 -03:00			`*/`


Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 17:52:10 -03:00			`# define CH7_OPTION CH7_DO_NOTHING`
Removed Simple Mode Added Simple option to mode switch positions removed unused OptFlow code added reset lat and lon error removed unused init_auto Fixed log formatting Added simple mode bitmask removed pitchmax added CLI setup for enabling Simple mode to any switch position 2011-09-14 17:58:18 -03:00			`/*`
Edited CH7 options to include Do Nothing and RTL. 2011-09-20 14:37:50 -03:00			`CH7_DO_NOTHING`
			`CH7_SET_HOVER`
			`CH7_FLIP`
			`CH7_SIMPLE_MODE`
			`CH7_RTL`
Added Auto_trim to CH7 option 2011-09-21 20:24:09 -03:00			`CH7_AUTO_TRIM`
Removed Simple Mode Added Simple option to mode switch positions removed unused OptFlow code added reset lat and lon error removed unused init_auto Fixed log formatting Added simple mode bitmask removed pitchmax added CLI setup for enabling Simple mode to any switch position 2011-09-14 17:58:18 -03:00			`*/`

2.0.40 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3252 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-09-04 21:15:36 -03:00			`// See the config.h and defines.h files for how to set this up!`
			`//`

			`// lets use Manual throttle during Loiter`
			`//#define LOITER_THR THROTTLE_MANUAL`
			`# define RTL_YAW YAW_HOLD`