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.

//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2

// Ordinary users should please ignore the following define.
// APM2_BETA_HARDWARE is used to support early (September-October 2011) APM2
// hardware which had the BMP085 barometer onboard. Only a handful of
// developers have these boards.
//#define APM2_BETA_HARDWARE

// GPS is auto-selected

//#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define HIL_MODE				HIL_MODE_ATTITUDE
//#define DMP_ENABLED ENABLED
//#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes

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

//#define FRAME_ORIENTATION X_FRAME
/*
 *  PLUS_FRAME
 *  X_FRAME
 *  V_FRAME
 */

//#define CH7_OPTION		CH7_SAVE_WP
/*
 *  CH7_DO_NOTHING
 *  CH7_SET_HOVER
 *  CH7_FLIP
 *  CH7_SIMPLE_MODE
 *  CH7_RTL
 *  CH7_AUTO_TRIM
 *  CH7_ADC_FILTER (experimental)
 *  CH7_SAVE_WP
 *  CH7_MULTI_MODE
 */

//#define TOY_EDF	ENABLED
//#define TOY_MIXER TOY_LOOKUP_TABLE

// Inertia based contollers.  disabled by default, work in progress
//#define ACCEL_ALT_HOLD 0
//#define INERTIAL_NAV_XY ENABLED
#define INERTIAL_NAV_Z ENABLED


#if INERTIAL_NAV_Z == ENABLED
 //#define ALT_HOLD_P                      3
 //#define ALT_HOLD_I                      0
 //#define ALT_HOLD_IMAX                  300

// RATE control
 //#define THROTTLE_P                      2.0
 //#define THROTTLE_I                      0.4
 //#define THROTTLE_D                      0.0
#endif
#if INERTIAL_NAV_XY == ENABLED
 //#define LOITER_P                        0.50
 //#define LOITER_I                        0.0
 //#define LOITER_RATE_P           5                      //
 //#define LOITER_RATE_I           0.1                    // Wind control
 //#define LOITER_RATE_D           0.0                    // try 2 or 3 for LOITER_RATE 1
#endif


//#define RATE_ROLL_I   0.18
//#define RATE_PITCH_I	0.18
//#define MOTORS_JD880
//#define MOTORS_JD850


// agmatthews USERHOOKS
// the choice of function names is up to the user and does not have to match these
// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file
//#define USERHOOK_FASTLOOP userhook_FastLoop();
#define USERHOOK_50HZLOOP userhook_50Hz();
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
#define USERHOOK_INIT userhook_init();

// the choice of included variables file (*.h) is up to the user and does not have to match this one
// Ensure the defined file exists and is in the arducopter directory
#define USERHOOK_VARIABLES "UserVariables.h"

// to enable, set to 1
// to disable, set to 0
// #define AUTO_THROTTLE_HOLD 1

//#define LOGGING_ENABLED		DISABLED


// Custom channel config - Expert Use Only.
// this for defining your own MOT_n to CH_n mapping.
// Overrides defaults (for APM1 or APM2) found in config_channels.h
// MOT_n variables are used by the Frame mixing code. You must define
// MOT_1 through MOT_m where m is the number of motors on your frame.
// CH_n variables are used for RC output. These can be CH_1 through CH_8,
// and CH_10 or CH_12.
// Sample channel config. Must define all MOT_ channels used by
// your FRAME_TYPE.
// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
// #define MOT_1 CH_6
// #define MOT_2 CH_3
// #define MOT_3 CH_2
// #define MOT_4 CH_5
// #define MOT_5 CH_1
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8


// Used to set the max roll and pitch angles in Degrees * 100
//#define MAX_INPUT_ROLL_ANGLE      8000
//#define MAX_INPUT_PITCH_ANGLE     8000

/////////////////////////////////////////////////////////////////////////////////
// Bulk defines for TradHeli. Cleans up defines.h and config.h to put these here
#if FRAME_CONFIG == HELI_FRAME
  # define RC_FAST_SPEED 				125
  # define RTL_YAW                  	YAW_LOOK_AT_HOME
  # define TILT_COMPENSATION 			5
  # define RATE_INTEGRATOR_LEAK_RATE 	0.02
  # define RATE_ROLL_D    				0
  # define RATE_PITCH_D       			0
  # define HELI_PITCH_FF				0
  # define HELI_ROLL_FF					0
  # define HELI_YAW_FF					0  
 #endif