ardupilot/ArduCopter/APM_Config.h

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

// User specific config file.  Any items listed in config.h can be overridden here.

// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
// valid! You should switch to using a HAL_BOARD flag in your local config.mk.

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

// uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE.  Top items save the most flash space
//#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
//#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
//#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE              DISABLED            // disable fence to save 2k of flash
//#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
//#define CONFIG_SONAR          DISABLED            // disable sonar to save 1k of flash
//#define POSHOLD_ENABLED       DISABLED            // disable PosHold flight mode to save 4.5k of flash

// features below are disabled by default on APM (but enabled on Pixhawk)
//#define AC_RALLY              ENABLED             // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
//#define PARACHUTE             ENABLED             // enable parachute release at a cost of 1k of flash
//#define EPM_ENABLED           ENABLED             // enable epm cargo gripper costs 500bytes of flash
//#define CLI_ENABLED           ENABLED             // enable the CLI (command-line-interface) at a cost of 21K of flash space
//#define NAV_GUIDED            ENABLED             // enable external navigation computer to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define OPTFLOW               ENABLED             // enable optical flow sensor at a cost of 5K of flash space
//#define FRSKY_TELEM_ENABLED   ENABLED             // enable FRSky telemetry

// features below are disabled by default on all boards
//#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)

// other settings
//#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM   ENABLED    // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero

//#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation

// User Hooks : For User Developed code that you wish to run
// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
//#define USERHOOK_VARIABLES "UserVariables.h"
// Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below
//#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
//#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
//#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
//#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
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 --`

Copter: simplify APM_Config.h Remove items that can be more easily set with parameters 2013-05-17 00:01:39 -03:00			`// User specific config file. Any items listed in config.h can be overridden here.`
APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 19:36:57 -03:00
ArduCopter: changes to use CONFIG_HIL_BOARD 2012-12-13 19:27:42 -04:00			`// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer`
			`// valid! You should switch to using a HAL_BOARD flag in your local config.mk.`
Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-08 21:59:55 -04:00
ACM: TradHeli Bringing in Low Pass Filter for Rate Controllers 2012-11-26 22:50:39 -04:00			`//#define FRAME_CONFIG QUAD_FRAME`
Copter: add coax heli support Motors should be attached to RCOutputs 1 and 2, Flaps should be connected to RC outputs 3 and 4 2014-02-06 08:28:55 -04:00			`/* options:`
uncrustify ArduCopter/APM_Config.h 2012-08-21 23:19:50 -03:00			`* QUAD_FRAME`
			`* TRI_FRAME`
			`* HEXA_FRAME`
			`* Y6_FRAME`
			`* OCTA_FRAME`
			`* OCTA_QUAD_FRAME`
			`* HELI_FRAME`
Copter: add support for singlecopter airframe this is the newest singlecopter airframe programme. This kind of aerial vehicles include Honeywell T-hawk and Goldeneye. 2013-10-02 06:59:04 -03:00			`* SINGLE_FRAME`
Copter: add coax heli support Motors should be attached to RCOutputs 1 and 2, Flaps should be connected to RC outputs 3 and 4 2014-02-06 08:28:55 -04:00			`* COAX_FRAME`
uncrustify ArduCopter/APM_Config.h 2012-08-21 23:19:50 -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
Copter: add features that can be disabled to APM_Config.h 2013-10-28 00:36:52 -03:00			`// uncomment the lines below to save on flash space if compiling for the APM using Arduino IDE. Top items save the most flash space`
Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 01:15:30 -03:00			`//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space`
			`//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space`
Copter: APM_Config AUTOTUNE_ENABLED 2014-02-02 03:59:17 -04:00			`//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash`
Copter: add features that can be disabled to APM_Config.h 2013-10-28 00:36:52 -03:00			`//#define AC_FENCE DISABLED // disable fence to save 2k of flash`
			`//#define CAMERA DISABLED // disable camera trigger to save 1k of flash`
			`//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash`
Copter: rename hybrid to poshold 2014-07-11 02:08:09 -03:00			`//#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash`
Copter: add features that can be disabled to APM_Config.h 2013-10-28 00:36:52 -03:00
Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 02:43:33 -03:00			`// features below are disabled by default on APM (but enabled on Pixhawk)`
Copter: disable RALLY points by default This saves 2k of flash which allows the code to fix on the APM1/2 2014-04-30 09:26:29 -03:00			`//#define AC_RALLY ENABLED // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands`
Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 02:43:33 -03:00			`//#define PARACHUTE ENABLED // enable parachute release at a cost of 1k of flash`
Copter: enable EPM by default on Pixhawk 2014-09-17 08:50:04 -03:00			`//#define EPM_ENABLED ENABLED // enable epm cargo gripper costs 500bytes of flash`
Copter: cleanup enabling of cli and frsky telem for APM 2014-09-20 02:41:26 -03:00			`//#define CLI_ENABLED ENABLED // enable the CLI (command-line-interface) at a cost of 21K of flash space`
Copter: enable Guided velocity controller for Pixhawk 2014-10-13 00:00:53 -03:00			`//#define NAV_GUIDED ENABLED // enable external navigation computer to control vehicle through MAV_CMD_NAV_GUIDED mission commands`
Copter: remove unused OF_LOITER pid defines 2014-12-30 13:31:58 -04:00			`//#define OPTFLOW ENABLED // enable optical flow sensor at a cost of 5K of flash space`
Copter: APM_Config define to disable FRSKY telem 2015-01-26 00:18:15 -04:00			`//#define FRSKY_TELEM_ENABLED ENABLED // enable FRSky telemetry`
Copter: enable PARACHUTE and RALLY for all but APM 2014-05-27 02:43:33 -03:00
			`// features below are disabled by default on all boards`
Copter: add features that can be disabled to APM_Config.h 2013-10-28 00:36:52 -03:00			`//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)`
Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 01:15:30 -03:00
Copter: disarm on land even if pilot throttle not zero default behaviour remains as before, this is an compile time option only 2014-01-14 22:31:00 -04:00			`// other settings`
			`//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)`
Copter: disarm on landing regardless of pilot input 2014-12-27 00:33:06 -04:00			`//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero`
Copter: allow throttle deadband to be redefined in APM_Config.h 2013-10-13 08:41:11 -03:00
Copter: make it easier for Arduino users to easily reduce flash space by turning off features 2013-09-26 01:15:30 -03:00			`//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation`

Copter: simplify APM_Config.h Remove items that can be more easily set with parameters 2013-05-17 00:01:39 -03:00			`// User Hooks : For User Developed code that you wish to run`
			`// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).`
Copter: minor user hooks cleanup Only define and call functions if the appropriate #define in APM_Config.h has been added 2013-05-17 00:19:07 -03:00			`//#define USERHOOK_VARIABLES "UserVariables.h"`
Copter: simplify APM_Config.h Remove items that can be more easily set with parameters 2013-05-17 00:01:39 -03:00			`// Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below`
Copter: minor user hooks cleanup Only define and call functions if the appropriate #define in APM_Config.h has been added 2013-05-17 00:19:07 -03:00			`//#define USERHOOK_INIT userhook_init(); // for code to be run once at startup`
Copter: simplify APM_Config.h Remove items that can be more easily set with parameters 2013-05-17 00:01:39 -03:00			`//#define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz`
Copter: minor user hooks cleanup Only define and call functions if the appropriate #define in APM_Config.h has been added 2013-05-17 00:19:07 -03:00			`//#define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz`
Copter: simplify APM_Config.h Remove items that can be more easily set with parameters 2013-05-17 00:01:39 -03:00			`//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz`
			`//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz`
			`//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz`