mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.3 KiB
C
70 lines
2.3 KiB
C
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
|
||
|
|
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
|
||
|
|
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
|
||
|
|
|
||
|
|
|
||
|
|
// Enable Autopilot Flight Mode
|
||
|
|
#define FLIGHT_MODE_CHANNEL 8
|
||
|
|
#define FLIGHT_MODE_1 AUTO
|
||
|
|
#define FLIGHT_MODE_2 RTL
|
||
|
|
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
|
||
|
|
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
|
||
|
|
#define FLIGHT_MODE_5 STABILIZE
|
||
|
|
#define FLIGHT_MODE_6 MANUAL
|
||
|
|
|
||
|
|
// Hardware in the loop protocol
|
||
|
|
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
|
||
|
|
|
||
|
|
// 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 0
|
||
|
|
// Port 0 is the port usually used for HIL. You attatch your HIL computer
|
||
|
|
// to APM using a USB cable. You can run telemetry on Port 3
|
||
|
|
//
|
||
|
|
// PORT 1
|
||
|
|
// Available for special situations. 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 buad rate is controlled by SERIAL1_BAUD 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 0
|
||
|
|
|
||
|
|
// 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
|
||
|
|
|
||
|
|
// Ground control station comms
|
||
|
|
#if HIL_PORT != 3
|
||
|
|
# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
|
||
|
|
# define GCS_PORT 3
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// 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 AIRSPEED_SENSOR ENABLED
|
||
|
|
#define MAGNETOMETER ENABLED
|
||
|
|
#define AIRSPEED_CRUISE 25
|
||
|
|
#define THROTTLE_FAILSAFE ENABLED
|