2011-09-08 22:29:39 -03:00
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//
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// Example and reference ArduPilot Mega configuration file
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// =======================================================
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//
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// This file contains documentation and examples for configuration options
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// supported by the ArduPilot Mega software.
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//
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// Most of these options are just that - optional. You should create
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// the APM_Config.h file and use this file as a reference for options
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// that you want to change. Don't copy this file directly; the options
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// described here and their default values may change over time.
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//
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// Each item is marked with a keyword describing when you should set it:
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//
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// REQUIRED
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// You must configure this in your APM_Config.h file. The
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// software will not compile if the option is not set.
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//
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// OPTIONAL
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// The option has a sensible default (which will be described
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// here), but you may wish to override it.
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//
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// EXPERIMENTAL
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// You should configure this option unless you are prepared
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// to deal with potential problems. It may relate to a feature
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// still in development, or which is not yet adequately tested.
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//
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// DEBUG
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// The option should only be set if you are debugging the
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// software, or if you are gathering information for a bug
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// report.
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//
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// NOTE:
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// Many of these settings are considered 'factory defaults', and the
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// live value is stored and managed in the ArduPilot Mega EEPROM.
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// Use the setup 'factoryreset' command after changing options in
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// your APM_Config.h file.
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//
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// Units
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// -----
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//
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// Unless indicated otherwise, numeric quantities use the following units:
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//
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// Measurement | Unit
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// ------------+-------------------------------------
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// angle | degrees
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// distance | metres
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// speed | metres per second
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// servo angle | microseconds
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// voltage | volts
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// times | seconds
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// throttle | percent
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//
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// HARDWARE CONFIGURATION AND CONNECTIONS
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// GPS_PROTOCOL REQUIRED
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//
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// GPS configuration, must be one of:
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//
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// GPS_PROTOCOL_AUTO Auto detect GPS type (must be a supported GPS)
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// GPS_PROTOCOL_NONE No GPS attached
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// GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU.
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// GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4
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2012-12-21 15:19:32 -04:00
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// GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9
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2011-09-08 22:29:39 -03:00
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// GPS_PROTOCOL_UBLOX UBLOX GPS
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// GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED
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// GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?)
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//
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//#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
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//
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//////////////////////////////////////////////////////////////////////////////
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// AIRSPEED_SENSOR OPTIONAL
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// AIRSPEED_RATIO OPTIONAL
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//
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// Set AIRSPEED_SENSOR to ENABLED if you have an airspeed sensor attached.
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// Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed
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// sensor relative to your GPS. The calculation and default value are optimized for speeds around 12 m/s
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//
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// The default assumes that an airspeed sensor is connected.
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//
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//#define AIRSPEED_SENSOR ENABLED
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//#define AIRSPEED_RATIO 1.9936
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//
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//////////////////////////////////////////////////////////////////////////////
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// MAGNETOMETER OPTIONAL
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//
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// Set MAGNETOMETER to ENABLED if you have a magnetometer attached.
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//
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// The default assumes that a magnetometer is not connected.
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//
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//#define MAGNETOMETER DISABLED
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//
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//////////////////////////////////////////////////////////////////////////////
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// HIL_PROTOCOL OPTIONAL
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// HIL_MODE OPTIONAL
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// HIL_PORT OPTIONAL
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//
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// Configuration for Hardware-in-the-loop simulation. In these modes,
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// APM is connected via one or more interfaces to simulation software
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// running on another system.
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//
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// HIL_PROTOCOL_XPLANE Configure for the X-plane HIL interface.
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// HIL_PROTOCOL_MAVLINK Configure for HIL over MAVLink.
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//
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// HIL_MODE_DISABLED Configure for standard flight.
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// HIL_MODE_SENSORS Simulator provides raw sensor values.
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//
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// Note that currently HIL_PROTOCOL_MAVLINK requires HIL_MODE_SENSORS.
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//
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//#define HIL_MODE HIL_MODE_DISABLED
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//#define HIL_PORT 0
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//#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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//
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//////////////////////////////////////////////////////////////////////////////
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// GCS_PROTOCOL OPTIONAL
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// GCS_PORT OPTIONAL
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// MAV_SYSTEM_ID OPTIONAL
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//
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// The GCS_PROTOCOL option determines which (if any) ground control station
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// protocol will be used. Must be one of:
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//
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// GCS_PROTOCOL_NONE No GCS output
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// GCS_PROTOCOL_MAVLINK QGroundControl protocol
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//
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// The GCS_PORT option determines which serial port will be used by the
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// GCS protocol. The usual values are 0 for the console/USB port,
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// or 3 for the telemetry port on the oilpan. Note that some protocols
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// will ignore this value and always use the console port.
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//
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// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1.
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// If you will be flying multiple UAV's each should be assigned a different ID so
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// that ground stations can tell them apart.
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//
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//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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//#define GCS_PORT 3
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//#define MAV_SYSTEM_ID 1
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//
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//////////////////////////////////////////////////////////////////////////////
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// Serial port speeds.
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//
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// SERIAL0_BAUD OPTIONAL
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//
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// Baudrate for the console port. Default is 115200bps.
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//
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// SERIAL3_BAUD OPTIONAL
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//
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// Baudrate for the telemetry port. Default is 57600bps.
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//
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//#define SERIAL0_BAUD 115200
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//#define SERIAL3_BAUD 57600
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//
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring OPTIONAL
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//
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// See the manual for details on selecting divider resistors for battery
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// monitoring via the oilpan.
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//
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// BATTERY_EVENT OPTIONAL
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//
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// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings.
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// The default is DISABLED.
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//
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// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set.
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//
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// Value in volts at which ArduPilot Mega should consider the
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// battery to be "low".
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//
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// VOLT_DIV_RATIO OPTIONAL
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//
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// See the manual for details. The default value corresponds to the resistors
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// recommended by the manual.
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//
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// CURR_AMPS_PER_VOLT OPTIONAL
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// CURR_AMPS_OFFSET OPTIONAL
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//
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// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM
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// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset
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//
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//
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// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set.
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//
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// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of
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// battery capacity.
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//
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//#define BATTERY_EVENT DISABLED
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//#define LOW_VOLTAGE 9.6
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//#define VOLT_DIV_RATIO 3.56
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//#define CURR_AMPS_PER_VOLT 27.32
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//#define CURR_AMPS_OFFSET 0.0
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//#define HIGH_DISCHARGE 1760
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//////////////////////////////////////////////////////////////////////////////
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// INPUT_VOLTAGE OPTIONAL
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//
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// In order to have accurate pressure and battery voltage readings, this
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2011-09-09 11:18:38 -03:00
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// value should be set to the voltage measured at the processor.
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2011-09-08 22:29:39 -03:00
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//
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// See the manual for more details. The default value should be close if you are applying 5 volts to the servo rail.
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//
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//#define INPUT_VOLTAGE 4.68 // 4.68 is the average value for a sample set. This is the value at the processor with 5.02 applied at the servo rail
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//
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE OPTIONAL
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// FLIGHT_MODE_CHANNEL OPTIONAL
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//
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// Flight modes assigned to the control channel, and the input channel that
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// is read for the control mode.
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//
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// Use a servo tester, or the ArduPilotMega_demo test program to check your
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// switch settings.
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//
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// ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and
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// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option
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// uses channel numbers 1-8 (and defaults to 8).
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//
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// If you only have a three-position switch or just want three modes, set your
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// switch to produce 1165, 1425, and 1815 microseconds and configure
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// FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default.
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//
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// If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control
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// channel connected to input channel 8, the hardware failsafe mode will
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// activate for any control input over 1750ms.
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//
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// For more modes (up to six), set your switch(es) to produce any of 1165,
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// 1295, 1425, 1555, 1685, and 1815 microseconds.
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//
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// Flight mode | Switch Setting (ms)
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// ------------+---------------------
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// 1 | 1165
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// 2 | 1295
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// 3 | 1425
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// 4 | 1555
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// 5 | 1685
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// 6 | 1815 (FAILSAFE if using channel 8)
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//
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// The following standard flight modes are available:
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//
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// Name | Description
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// -----------------+--------------------------------------------
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// |
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// MANUAL | Full manual control via the hardware multiplexer.
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// |
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// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs.
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// |
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// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle.
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// |
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// FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle.
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// |
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// RTL | Returns to the Home location and then LOITERs at a safe altitude.
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// |
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// AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter
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// | application or your Ground Control System to edit and upload
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// | waypoints and other commands.
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// |
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//air
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//
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// The following non-standard modes are EXPERIMENTAL:
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//
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// Name | Description
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// -----------------+--------------------------------------------
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// |
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// LOITER | Flies in a circle around the current location.
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// |
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// CIRCLE | Flies in a stabilized 'dumb' circle.
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// |
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//
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//
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// If you are using channel 8 for mode switching then FLIGHT_MODE_5 and
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// FLIGHT_MODE_6 should be MANUAL.
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//
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//
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//#define FLIGHT_MODE_CHANNEL 8
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//
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//#define FLIGHT_MODE_1 RTL
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//#define FLIGHT_MODE_2 RTL
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//#define FLIGHT_MODE_3 STABILIZE
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//#define FLIGHT_MODE_4 STABILIZE
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//#define FLIGHT_MODE_5 MANUAL
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//#define FLIGHT_MODE_6 MANUAL
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//
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2011-09-09 11:18:38 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
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// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed
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// then the flap position shall be flap_1_percent. If the speed setpoint is below flap_2_speed
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// then the flap position shall be flap_2_percent. Speed setpoint is the current value of
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// airspeed_cruise (if airspeed sensor enabled) or throttle_cruise (if no airspeed sensor)
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// FLAP_1_PERCENT OPTIONAL
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// FLAP_1_SPEED OPTIONAL
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// FLAP_2_PERCENT OPTIONAL
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// FLAP_2_SPEED OPTIONAL
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2011-09-08 22:29:39 -03:00
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//////////////////////////////////////////////////////////////////////////////
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// THROTTLE_FAILSAFE OPTIONAL
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// THROTTLE_FS_VALUE OPTIONAL
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//
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// The throttle failsafe allows you to configure a software failsafe activated
|
|
|
|
|
// by a setting on the throttle input channel (channel 3). Enabling this failsafe
|
|
|
|
|
// also enables "short failsafe" conditions (see below) based on loss of
|
|
|
|
|
// rc override control from the GCS
|
|
|
|
|
//
|
|
|
|
|
// This can be used to achieve a failsafe override on loss of radio control
|
|
|
|
|
// without having to sacrifice one of your FLIGHT_MODE settings, as the
|
|
|
|
|
// throttle failsafe overrides the switch-selected mode.
|
|
|
|
|
//
|
|
|
|
|
// Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default
|
|
|
|
|
// is for it to be enabled.
|
|
|
|
|
//
|
|
|
|
|
// If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value
|
|
|
|
|
// below which the failsafe engages. The default is 975ms, which is a very low
|
|
|
|
|
// throttle setting. Most transmitters will let you trim the manual throttle
|
|
|
|
|
// position up so that you cannot engage the failsafe with a regular stick movement.
|
|
|
|
|
//
|
|
|
|
|
// Configure your receiver's failsafe setting for the throttle channel to the
|
|
|
|
|
// absolute minimum, and use the ArduPilotMega_demo program to check that
|
|
|
|
|
// you cannot reach that value with the throttle control. Leave a margin of
|
|
|
|
|
// at least 50 microseconds between the lowest throttle setting and
|
|
|
|
|
// THROTTLE_FS_VALUE.
|
|
|
|
|
//
|
|
|
|
|
//#define THROTTLE_FAILSAFE ENABLED
|
|
|
|
|
//#define THROTTLE_FS_VALUE 950
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
// GCS_HEARTBEAT_FAILSAFE OPTIONAL
|
|
|
|
|
// SHORT_FAILSAFE_ACTION OPTIONAL
|
|
|
|
|
// LONG_FAILSAFE_ACTION OPTIONAL
|
|
|
|
|
|
|
|
|
|
// There are two basic conditions which can trigger a failsafe. One is a loss of control signal.
|
|
|
|
|
// Normally this means a loss of the radio control RC signal. However if rc override from the
|
|
|
|
|
// GCS is in use then this can mean a loss of communication with the GCS. Such a failsafe will be
|
|
|
|
|
// classified as either short (greater than 1.5 seconds but less than 20) or long (greater than 20).
|
|
|
|
|
// Also, if GCS_HEARTBEAT_FAILSAFE is enabled and a heartbeat signal from the GCS has not been received
|
2016-05-12 14:10:49 -03:00
|
|
|
// in the preceding 20 seconds then this will also trigger a "long" failsafe.
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
|
|
|
|
// The SHORT_FAILSAFE_ACTION and LONG_FAILSAFE_ACTION settings determines what APM will do when
|
|
|
|
|
// a failsafe mode is entered while flying in AUTO or LOITER mode. This is important in order to avoid
|
|
|
|
|
// accidental failsafe behaviour when flying waypoints that take the aircraft
|
|
|
|
|
// out of radio range.
|
|
|
|
|
//
|
|
|
|
|
// If SHORT_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
|
|
|
|
|
// the aircraft will head for home in RTL mode. If the failsafe condition is
|
|
|
|
|
// resolved, it will return to AUTO or LOITER mode.
|
|
|
|
|
|
|
|
|
|
// If LONG_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
|
|
|
|
|
// the aircraft will head for home in RTL mode. If the failsafe condition is
|
|
|
|
|
// resolved the aircraft will not be returned to AUTO or LOITER mode, but will continue home
|
|
|
|
|
|
2011-09-09 11:18:38 -03:00
|
|
|
// If XX_FAILSAFE_ACTION is 0 and the applicable failsafe occurs while in AUTO or LOITER
|
2011-09-08 22:29:39 -03:00
|
|
|
// mode the aircraft will continue in that mode ignoring the failsafe condition.
|
|
|
|
|
|
|
|
|
|
// Note that for Manual, Stabilize, and Fly-By-Wire (A and B) modes the aircraft will always
|
|
|
|
|
// enter a circling mode for short failsafe conditions and will be switched to RTL for long
|
|
|
|
|
// failsafe conditions. RTL mode is unaffected by failsafe conditions.
|
|
|
|
|
//
|
|
|
|
|
// The default is to have GCS Heartbeat failsafes DISABLED
|
|
|
|
|
// The default behaviour is to ignore failsafes in AUTO and LOITER modes.
|
|
|
|
|
//
|
|
|
|
|
//#define GCS_HEARTBEAT_FAILSAFE DISABLED
|
2011-09-09 11:18:38 -03:00
|
|
|
//#define SHORT_FAILSAFE_ACTION 0
|
|
|
|
|
//#define LONG_FAILSAFE_ACTION 0
|
2011-09-08 22:29:39 -03:00
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// AUTO_TRIM OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// ArduPilot Mega can update its trim settings by looking at the
|
|
|
|
|
// radio inputs when switching out of MANUAL mode. This allows you to
|
|
|
|
|
// manually trim your aircraft before switching to an assisted mode, but it
|
|
|
|
|
// also means that you should avoid switching out of MANUAL while you have
|
|
|
|
|
// any control stick deflection.
|
|
|
|
|
//
|
2011-09-12 10:24:52 -03:00
|
|
|
// The default is to disable AUTO_TRIM.
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
2011-09-12 10:24:52 -03:00
|
|
|
//#define AUTO_TRIM DISABLED
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// THROTTLE_REVERSE OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// A few speed controls require the throttle servo signal be reversed. Setting
|
|
|
|
|
// this to ENABLED will reverse the throttle output signal. Ensure that your
|
|
|
|
|
// throttle needs to be reversed by using the hardware failsafe and the
|
|
|
|
|
// ArduPilotMega_demo program before setting this option.
|
|
|
|
|
//
|
|
|
|
|
// The default is to not reverse the signal.
|
|
|
|
|
//
|
|
|
|
|
//#define THROTTLE_REVERSE DISABLED
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// ENABLE_STICK_MIXING OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// If this option is set to ENABLED, manual control inputs are are respected
|
|
|
|
|
// while in the autopilot modes (AUTO, RTL, LOITER, CIRCLE etc.)
|
|
|
|
|
//
|
|
|
|
|
// The default is to enable stick mixing, allowing the pilot to take
|
|
|
|
|
// emergency action without switching modes.
|
|
|
|
|
//
|
|
|
|
|
//#define ENABLE_STICK_MIXING ENABLED
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// THROTTLE_OUT DEBUG
|
|
|
|
|
//
|
|
|
|
|
// When debugging, it can be useful to disable the throttle output. Set
|
|
|
|
|
// this option to DISABLED to disable throttle output signals.
|
|
|
|
|
//
|
|
|
|
|
// The default is to not disable throttle output.
|
|
|
|
|
//
|
|
|
|
|
//#define THROTTLE_OUT ENABLED
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// STARTUP BEHAVIOUR
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// GROUND_START_DELAY OPTIONAL
|
|
|
|
|
//
|
2012-11-05 00:32:13 -04:00
|
|
|
// If configured, inserts a delay between power-up and the beginning of INS
|
2011-09-08 22:29:39 -03:00
|
|
|
// calibration during a ground start.
|
|
|
|
|
//
|
|
|
|
|
// Use this setting to give you time to position the aircraft horizontally
|
2012-11-05 00:32:13 -04:00
|
|
|
// for the INS calibration.
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
2012-11-05 00:32:13 -04:00
|
|
|
// The default is to begin INS calibration immediately at startup.
|
2011-09-08 22:29:39 -03:00
|
|
|
//
|
|
|
|
|
//#define GROUND_START_DELAY 0
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// ENABLE_AIR_START OPTIONAL
|
|
|
|
|
//
|
2012-11-05 00:32:13 -04:00
|
|
|
// If air start is disabled then you will get a ground start (including INS
|
2011-09-08 22:29:39 -03:00
|
|
|
// calibration) every time the AP is powered up. This means that if you get
|
|
|
|
|
// a power glitch or reboot for some reason in the air, you will probably
|
|
|
|
|
// crash, but it prevents a lot of problems on the ground like unintentional
|
|
|
|
|
// motor start-ups, etc.
|
|
|
|
|
//
|
|
|
|
|
// If air start is enabled then you will get an air start at power up and a
|
|
|
|
|
// ground start will be performed if the speed is near zero when we get gps
|
|
|
|
|
// lock.
|
|
|
|
|
//
|
|
|
|
|
// The default is to disable air start.
|
|
|
|
|
//
|
|
|
|
|
//#define ENABLE_AIR_START 0
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// FLIGHT AND NAVIGATION CONTROL
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Altitude measurement and control.
|
|
|
|
|
//
|
|
|
|
|
// ALT_EST_GAIN OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The gain of the altitude estimation function; a lower number results
|
|
|
|
|
// in slower error correction and smoother output. The default is a
|
|
|
|
|
// reasonable starting point.
|
|
|
|
|
//
|
|
|
|
|
//#define ALT_EST_GAIN 0.01
|
|
|
|
|
//
|
|
|
|
|
// ALTITUDE_MIX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Configures the blend between GPS and pressure altitude.
|
|
|
|
|
// 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.
|
|
|
|
|
//
|
|
|
|
|
// The default is to use only pressure altitude.
|
|
|
|
|
//
|
|
|
|
|
//#define ALTITUDE_MIX 1
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// AIRSPEED_CRUISE OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The speed in metres per second to maintain during cruise. The default
|
|
|
|
|
// is 10m/s, which is a conservative value suitable for relatively small,
|
|
|
|
|
// light aircraft.
|
|
|
|
|
//
|
|
|
|
|
//#define AIRSPEED_CRUISE 12
|
|
|
|
|
//
|
|
|
|
|
|
2011-12-09 19:40:56 -04:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// MIN_GNDSPEED OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The minimum ground speed in metres per second to maintain during
|
2016-05-12 14:10:49 -03:00
|
|
|
// cruise. A value of 0 will disable any attempt to maintain a minimum
|
2011-12-09 19:40:56 -04:00
|
|
|
// speed over ground.
|
|
|
|
|
//
|
|
|
|
|
#define MIN_GNDSPEED 0
|
|
|
|
|
//
|
|
|
|
|
|
2011-09-08 22:29:39 -03:00
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// FLY_BY_WIRE_B airspeed control (also used for throttle "nudging" in AUTO)
|
|
|
|
|
//
|
|
|
|
|
// AIRSPEED_FBW_MIN OPTIONAL
|
|
|
|
|
// AIRSPEED_FBW_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.
|
|
|
|
|
// The defaults are 6 and 30 metres per second.
|
|
|
|
|
//
|
|
|
|
|
// AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be "nudged" to in AUTO mode when ENABLE_STICK_MIXING is set.
|
|
|
|
|
// In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle
|
|
|
|
|
// stick in the top 1/2 of its range. Throttle stick in the bottom 1/2 provide regular AUTO control.
|
|
|
|
|
//
|
|
|
|
|
//#define AIRSPEED_FBW_MIN 6
|
|
|
|
|
//#define AIRSPEED_FBW_MAX 22
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Servo mapping
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_MIN OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The minimum throttle setting to which the autopilot will reduce the
|
|
|
|
|
// throttle while descending. The default is zero, which is
|
|
|
|
|
// suitable for aircraft with a steady power-off glide. Increase this
|
|
|
|
|
// value if your aircraft needs throttle to maintain a stable descent in
|
|
|
|
|
// level flight.
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_CRUISE OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
|
|
|
|
|
// The default is 45%, which is reasonable for a modestly powered aircraft.
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The maximum throttle setting the autopilot will apply. The default is 75%.
|
2016-05-12 14:10:49 -03:00
|
|
|
// Reduce this value if your aircraft is overpowered, or has complex flight
|
2011-09-08 22:29:39 -03:00
|
|
|
// characteristics at high throttle settings.
|
|
|
|
|
//
|
|
|
|
|
//#define THROTTLE_MIN 0 // percent
|
|
|
|
|
//#define THROTTLE_CRUISE 45
|
|
|
|
|
//#define THROTTLE_MAX 75
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Autopilot control limits
|
|
|
|
|
//
|
|
|
|
|
// HEAD_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The maximum commanded bank angle in either direction.
|
|
|
|
|
// The default is 45 degrees. Decrease this value if your aircraft is not
|
|
|
|
|
// stable or has difficulty maintaining altitude in a steep bank.
|
|
|
|
|
//
|
|
|
|
|
// PITCH_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The maximum commanded pitch up angle.
|
|
|
|
|
// The default is 15 degrees. Care should be taken not to set this value too
|
|
|
|
|
// large, as the aircraft may stall.
|
|
|
|
|
//
|
|
|
|
|
// PITCH_MIN
|
|
|
|
|
//
|
|
|
|
|
// The maximum commanded pitch down angle. Note that this value must be
|
|
|
|
|
// negative. The default is -25 degrees. Care should be taken not to set
|
|
|
|
|
// this value too large as it may result in overspeeding the aircraft.
|
|
|
|
|
//
|
|
|
|
|
// PITCH_TARGET
|
|
|
|
|
//
|
|
|
|
|
// The target pitch for cruise flight. When the APM measures this pitch
|
|
|
|
|
// value, the pitch error will be calculated to be 0 for the pitch PID
|
|
|
|
|
// control loop.
|
|
|
|
|
//
|
|
|
|
|
//#define HEAD_MAX 45
|
|
|
|
|
//#define PITCH_MAX 15
|
|
|
|
|
//#define PITCH_MIN -25
|
|
|
|
|
//#define PITCH_TARGET 0
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Attitude control gains
|
|
|
|
|
//
|
|
|
|
|
// Tuning values for the attitude control PID loops.
|
|
|
|
|
//
|
|
|
|
|
// The P term is the primary tuning value. This determines how the control
|
|
|
|
|
// deflection varies in proportion to the required correction.
|
|
|
|
|
//
|
|
|
|
|
// The I term is used to help control surfaces settle. This value should
|
|
|
|
|
// normally be kept low.
|
|
|
|
|
//
|
|
|
|
|
// The D term is used to control overshoot. Avoid using or adjusting this
|
|
|
|
|
// term if you are not familiar with tuning PID loops. It should normally
|
|
|
|
|
// be zero for most aircraft.
|
|
|
|
|
//
|
|
|
|
|
// Note: When tuning these values, start with changes of no more than 25% at
|
|
|
|
|
// a time.
|
|
|
|
|
//
|
|
|
|
|
// SERVO_ROLL_P OPTIONAL
|
|
|
|
|
// SERVO_ROLL_I OPTIONAL
|
|
|
|
|
// SERVO_ROLL_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
|
|
|
|
|
//
|
|
|
|
|
// SERVO_ROLL_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
|
|
|
// Default is 5 degrees.
|
|
|
|
|
//
|
|
|
|
|
// ROLL_SLEW_LIMIT EXPERIMENTAL
|
|
|
|
|
//
|
|
|
|
|
// Limits the slew rate of the roll control in degrees per second. If zero,
|
|
|
|
|
// slew rate is not limited. Default is to not limit the roll control slew rate.
|
|
|
|
|
// (This feature is currently not implemented.)
|
|
|
|
|
//
|
|
|
|
|
// SERVO_PITCH_P OPTIONAL
|
|
|
|
|
// SERVO_PITCH_I OPTIONAL
|
|
|
|
|
// SERVO_PITCH_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
|
|
|
|
|
//
|
|
|
|
|
// SERVO_PITCH_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (e.g. native flight
|
|
|
|
|
// AoA).
|
|
|
|
|
// Default is 5 degrees.
|
|
|
|
|
//
|
|
|
|
|
// PITCH_COMP OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Adds pitch input to compensate for the loss of lift due to roll control.
|
|
|
|
|
// Default is 0.20 (20% of roll control also applied to pitch control).
|
|
|
|
|
//
|
|
|
|
|
// SERVO_YAW_P OPTIONAL
|
|
|
|
|
// SERVO_YAW_I OPTIONAL
|
|
|
|
|
// SERVO_YAW_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for the YAW control. Defaults are 0., 0., 0.
|
|
|
|
|
// Note units of this control loop are unusual. PID input is in m/s**2.
|
|
|
|
|
//
|
|
|
|
|
// SERVO_YAW_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
|
|
|
// Default is 0.
|
|
|
|
|
//
|
|
|
|
|
// RUDDER_MIX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Roll to yaw mixing. This allows for co-ordinated turns.
|
|
|
|
|
// Default is 0.50 (50% of roll control also applied to yaw control.)
|
|
|
|
|
//
|
|
|
|
|
//#define SERVO_ROLL_P 0.4
|
|
|
|
|
//#define SERVO_ROLL_I 0.0
|
|
|
|
|
//#define SERVO_ROLL_D 0.0
|
|
|
|
|
//#define SERVO_ROLL_INT_MAX 5
|
|
|
|
|
//#define ROLL_SLEW_LIMIT 0
|
|
|
|
|
//#define SERVO_PITCH_P 0.6
|
|
|
|
|
//#define SERVO_PITCH_I 0.0
|
|
|
|
|
//#define SERVO_PITCH_D 0.0
|
|
|
|
|
//#define SERVO_PITCH_INT_MAX 5
|
|
|
|
|
//#define PITCH_COMP 0.2
|
|
|
|
|
//#define SERVO_YAW_P 0.0 // Default is zero. A suggested value if you want to use this parameter is 0.5
|
|
|
|
|
//#define SERVO_YAW_I 0.0
|
|
|
|
|
//#define SERVO_YAW_D 0.0
|
|
|
|
|
//#define SERVO_YAW_INT_MAX 5
|
|
|
|
|
//#define RUDDER_MIX 0.5
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Navigation control gains
|
|
|
|
|
//
|
|
|
|
|
// Tuning values for the navigation control PID loops.
|
|
|
|
|
//
|
|
|
|
|
// The P term is the primary tuning value. This determines how the control
|
|
|
|
|
// deflection varies in proportion to the required correction.
|
|
|
|
|
//
|
|
|
|
|
// The I term is used to control drift.
|
|
|
|
|
//
|
|
|
|
|
// The D term is used to control overshoot. Avoid adjusting this term if
|
|
|
|
|
// you are not familiar with tuning PID loops.
|
|
|
|
|
//
|
|
|
|
|
// Note: When tuning these values, start with changes of no more than 25% at
|
|
|
|
|
// a time.
|
|
|
|
|
//
|
|
|
|
|
// NAV_ROLL_P OPTIONAL
|
|
|
|
|
// NAV_ROLL_I OPTIONAL
|
|
|
|
|
// NAV_ROLL_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for navigation control over roll, normally used for
|
|
|
|
|
// controlling the aircraft's course. The P term controls how aggressively
|
|
|
|
|
// the aircraft will bank to change or hold course.
|
|
|
|
|
// Defaults are 0.7, 0.0, 0.02.
|
|
|
|
|
//
|
|
|
|
|
// NAV_ROLL_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum control offset due to the integral. This prevents the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (e.g. crosstracking).
|
|
|
|
|
// Default is 5 degrees.
|
|
|
|
|
//
|
|
|
|
|
// NAV_PITCH_ASP_P OPTIONAL
|
|
|
|
|
// NAV_PITCH_ASP_I OPTIONAL
|
|
|
|
|
// NAV_PITCH_ASP_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for pitch adjustments made to maintain airspeed.
|
|
|
|
|
// Defaults are 0.65, 0, 0.
|
|
|
|
|
//
|
|
|
|
|
// NAV_PITCH_ASP_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum pitch offset due to the integral. This limits the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (eg. inability
|
|
|
|
|
// to maintain the programmed airspeed).
|
|
|
|
|
// Default is 5 degrees.
|
|
|
|
|
//
|
|
|
|
|
// NAV_PITCH_ALT_P OPTIONAL
|
|
|
|
|
// NAV_PITCH_ALT_I OPTIONAL
|
|
|
|
|
// NAV_PITCH_ALT_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for pitch adjustments made to maintain altitude.
|
|
|
|
|
// Defaults are 0.65, 0, 0.
|
|
|
|
|
//
|
|
|
|
|
// NAV_PITCH_ALT_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum pitch offset due to the integral. This limits the control
|
|
|
|
|
// output from being overdriven due to a persistent offset (eg. inability
|
|
|
|
|
// to maintain the programmed altitude).
|
|
|
|
|
// Default is 5 meters.
|
|
|
|
|
//
|
|
|
|
|
//#define NAV_ROLL_P 0.7
|
|
|
|
|
//#define NAV_ROLL_I 0.01
|
|
|
|
|
//#define NAV_ROLL_D 0.02
|
|
|
|
|
//#define NAV_ROLL_INT_MAX 5
|
|
|
|
|
//#define NAV_PITCH_ASP_P 0.65
|
|
|
|
|
//#define NAV_PITCH_ASP_I 0.0
|
|
|
|
|
//#define NAV_PITCH_ASP_D 0.0
|
|
|
|
|
//#define NAV_PITCH_ASP_INT_MAX 5
|
|
|
|
|
//#define NAV_PITCH_ALT_P 0.65
|
|
|
|
|
//#define NAV_PITCH_ALT_I 0.0
|
|
|
|
|
//#define NAV_PITCH_ALT_D 0.0
|
|
|
|
|
//#define NAV_PITCH_ALT_INT_MAX 5
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Energy/Altitude control gains
|
|
|
|
|
//
|
|
|
|
|
// The Energy/altitude control system uses throttle input to control aircraft
|
|
|
|
|
// altitude.
|
|
|
|
|
//
|
|
|
|
|
// The P term is the primary tuning value. This determines how the throttle
|
|
|
|
|
// setting varies in proportion to the required correction.
|
|
|
|
|
//
|
|
|
|
|
// The I term is used to compensate for small offsets.
|
|
|
|
|
//
|
|
|
|
|
// The D term is used to control overshoot. Avoid adjusting this term if
|
|
|
|
|
// you are not familiar with tuning PID loops.
|
|
|
|
|
//
|
|
|
|
|
// Note units of this control loop are unusual. PID input is in m**2/s**2.
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_TE_P OPTIONAL
|
|
|
|
|
// THROTTLE_TE_I OPTIONAL
|
|
|
|
|
// THROTTLE_TE_D OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// P, I and D terms for throttle adjustments made to control altitude.
|
|
|
|
|
// Defaults are 0.5, 0, 0.
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_TE_INT_MAX OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum throttle input due to the integral term. This limits the
|
|
|
|
|
// throttle from being overdriven due to a persistent offset (e.g.
|
|
|
|
|
// inability to maintain the programmed altitude).
|
|
|
|
|
// Default is 20%.
|
|
|
|
|
//
|
|
|
|
|
// THROTTLE_SLEW_LIMIT OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Limits the slew rate of the throttle, in percent per second. Helps
|
|
|
|
|
// avoid sudden throttle changes, which can destabilise the aircraft.
|
2011-09-09 11:18:38 -03:00
|
|
|
// A setting of zero disables the feature. Range 1 to 100.
|
2011-09-08 22:29:39 -03:00
|
|
|
// Default is zero (disabled).
|
|
|
|
|
//
|
|
|
|
|
// P_TO_T OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Pitch to throttle feed-forward gain. Default is 0.
|
|
|
|
|
//
|
|
|
|
|
// T_TO_P OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Throttle to pitch feed-forward gain. Default is 0.
|
|
|
|
|
//
|
|
|
|
|
//#define THROTTLE_TE_P 0.50
|
|
|
|
|
//#define THROTTLE_TE_I 0.0
|
|
|
|
|
//#define THROTTLE_TE_D 0.0
|
|
|
|
|
//#define THROTTLE_TE_INT_MAX 20
|
|
|
|
|
//#define THROTTLE_SLEW_LIMIT 0
|
|
|
|
|
//#define P_TO_T 0
|
|
|
|
|
//#define T_TO_P 0
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Crosstrack compensation
|
|
|
|
|
//
|
|
|
|
|
// XTRACK_GAIN OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Crosstrack compensation in degrees per metre off track.
|
|
|
|
|
// Default value is 1.0 degrees per metre. Values lower than 0.001 will
|
|
|
|
|
// disable crosstrack compensation.
|
|
|
|
|
//
|
|
|
|
|
// XTRACK_ENTRY_ANGLE OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Maximum angle used to correct for track following.
|
|
|
|
|
// Default value is 30 degrees.
|
|
|
|
|
//
|
|
|
|
|
//#define XTRACK_GAIN 1 // deg/m
|
|
|
|
|
//#define XTRACK_ENTRY_ANGLE 30 // deg
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// DEBUGGING
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Dataflash logging control
|
|
|
|
|
//
|
|
|
|
|
// Each of these logging options may be set to ENABLED to enable, or DISABLED
|
|
|
|
|
// to disable the logging of the respective data.
|
|
|
|
|
//
|
|
|
|
|
// LOG_ATTITUDE_FAST DEBUG
|
|
|
|
|
//
|
|
|
|
|
// Logs basic attitude info to the dataflash at 50Hz (uses more space).
|
|
|
|
|
// Defaults to DISABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_ATTITUDE_MED OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs basic attitude info to the dataflash at 10Hz (uses less space than
|
|
|
|
|
// LOG_ATTITUDE_FAST). Defaults to ENABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_GPS OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_PM OPTIONAL
|
|
|
|
|
//
|
2012-11-05 00:32:13 -04:00
|
|
|
// Logs INS performance monitoring info every 20 seconds.
|
2011-09-08 22:29:39 -03:00
|
|
|
// Defaults to DISABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_CTUN OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs control loop tuning info at 10 Hz. This information is useful for tuning
|
|
|
|
|
// servo control loop gain values. Defaults to DISABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_NTUN OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs navigation tuning info at 10 Hz. This information is useful for tuning
|
|
|
|
|
// navigation control loop gain values. Defaults to DISABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_ MODE OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs changes to the flight mode upon occurrence. Defaults to ENABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_RAW DEBUG
|
|
|
|
|
//
|
|
|
|
|
// Logs raw accelerometer and gyro data at 50 Hz (uses more space).
|
|
|
|
|
// Defaults to DISABLED.
|
|
|
|
|
//
|
|
|
|
|
// LOG_CMD OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// Logs new commands when they process.
|
|
|
|
|
// Defaults to ENABLED.
|
|
|
|
|
//
|
|
|
|
|
//#define LOG_ATTITUDE_FAST DISABLED
|
|
|
|
|
//#define LOG_ATTITUDE_MED ENABLED
|
|
|
|
|
//#define LOG_GPS ENABLED
|
|
|
|
|
//#define LOG_PM ENABLED
|
|
|
|
|
//#define LOG_CTUN DISABLED
|
|
|
|
|
//#define LOG_NTUN DISABLED
|
|
|
|
|
//#define LOG_MODE ENABLED
|
|
|
|
|
//#define LOG_RAW DISABLED
|
|
|
|
|
//#define LOG_CMD ENABLED
|
|
|
|
|
//#define LOG_CUR DISABLED
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Navigation defaults
|
|
|
|
|
//
|
|
|
|
|
// WP_RADIUS_DEFAULT OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// When the user performs a factory reset on the APM, set the waypoint radius
|
|
|
|
|
// (the radius from a target waypoint within which the APM will consider
|
|
|
|
|
// itself to have arrived at the waypoint) to this value in meters. This is
|
|
|
|
|
// mainly intended to allow users to start using the APM without running the
|
|
|
|
|
// WaypointWriter first.
|
|
|
|
|
//
|
|
|
|
|
// LOITER_RADIUS_DEFAULT OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// When the user performs a factory reset on the APM, set the loiter radius
|
|
|
|
|
// (the distance the APM will attempt to maintain from a waypoint while
|
|
|
|
|
// loitering) to this value in meters. This is mainly intended to allow
|
|
|
|
|
// users to start using the APM without running the WaypointWriter first.
|
|
|
|
|
//
|
|
|
|
|
// USE_CURRENT_ALT OPTIONAL
|
|
|
|
|
// ALT_HOLD_HOME OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// When the user performs a factory reset on the APM, set the flag for weather
|
|
|
|
|
// the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.
|
|
|
|
|
// Also, set the value of USE_CURRENT_ALT in meters. This is mainly intended to allow
|
|
|
|
|
// users to start using the APM without running the WaypointWriter first.
|
|
|
|
|
//
|
|
|
|
|
//#define WP_RADIUS_DEFAULT 30
|
|
|
|
|
//#define LOITER_RADIUS_DEFAULT 60
|
|
|
|
|
//#define USE_CURRENT_ALT FALSE
|
|
|
|
|
//#define ALT_HOLD_HOME 100
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
// Debugging interface
|
|
|
|
|
//
|
|
|
|
|
// DEBUG_PORT OPTIONAL
|
|
|
|
|
//
|
|
|
|
|
// The APM will periodically send messages reporting what it is doing; this
|
|
|
|
|
// variable determines to which serial port they will be sent. Port 0 is the
|
|
|
|
|
// USB serial port on the shield, port 3 is the telemetry port.
|
|
|
|
|
//
|
|
|
|
|
//#define DEBUG_PORT 0
|
|
|
|
|
//
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
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// Do not remove - this is to discourage users from copying this file
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// and using it as-is rather than editing their own.
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//
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#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.
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