mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 08:58:29 -04:00
51 lines
1.4 KiB
C
51 lines
1.4 KiB
C
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#ifndef APO_Config_H
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#define APO_Config_H
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#include "AP_HardwareAbstractionLayer.h"
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#include "mikrokopter.h"
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#include "constants.h"
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// Serial 0: debug /dev/ttyUSB0
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// Serial 1: gps/hil /dev/ttyUSB1
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// Serial 2: gcs /dev/ttyUSB2
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// select hardware absraction mode from
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// MODE_LIVE, actual flight
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// TODO: IMPLEMENT --> MODE_HIL_NAV, hardware in the loop with sensors running, tests navigation system and control
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// MODE_HIL_CNTL, hardware in the loop with only controller running, just tests controller
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extern apo::halMode_t halMode;
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// select from, BOARD_ARDUPILOTMEGA
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extern apo::board_t board;
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// select from, VEHICLE_CAR, VEHICLE_QUAD, VEHICLE_PLANE
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extern apo::vehicle_t vehicle;
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//---------ADVANCED SECTION ----------------//
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// loop rates
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extern const float loop0Rate;
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extern const float loop1Rate;
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extern const float loop2Rate;
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extern const float loop3Rate;
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extern const float loop4Rate;
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// max time in seconds to allow flight without ground station comms
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// zero will ignore timeout
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extern const uint8_t heartbeatTimeout;
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//---------HARDWARE CONFIG ----------------//
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//Hardware Parameters
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#define SLIDE_SWITCH_PIN 40
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#define PUSHBUTTON_PIN 41
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#define A_LED_PIN 37 //36 = B,3637 = A,363735 = C
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#define B_LED_PIN 36
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#define C_LED_PIN 35
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#define EEPROM_MAX_ADDR 2048
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#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarLV
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#endif
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// vim:ts=4:sw=4:expandtab
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