ardupilot/ArduCopter/APM_Config.h

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// -*- 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.
// GPS is auto-selected
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define HIL_MODE HIL_MODE_ATTITUDE
#define FRAME_CONFIG QUAD_FRAME
/*
options:
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
OCTA_FRAME
HELI_FRAME
*/
#define FRAME_ORIENTATION X_FRAME
/*
PLUS_FRAME
X_FRAME
V_FRAME
*/
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# define CH7_OPTION CH7_SAVE_WP
/*
CH7_DO_NOTHING
CH7_SET_HOVER
CH7_FLIP
CH7_SIMPLE_MODE
CH7_RTL
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CH7_AUTO_TRIM
CH7_ADC_FILTER (experimental)
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CH7_SAVE_WP
*/
#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress
// lets use Manual throttle during Loiter
//#define LOITER_THR THROTTLE_MANUAL
# define RTL_YAW YAW_HOLD
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//#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18
//#define MOTORS_JD880
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//#define MOTORS_JD850
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// 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 un 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 includeed 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"
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// enable this for the new 'APM2' hardware
// #define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
#define LOITER_METHOD 0
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// set to 1 to try an alternative Loiter control method