mirror of https://github.com/ArduPilot/ardupilot
removed unused descriptions
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2370 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
ba724655b2
commit
0ecab03e16
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@ -1,5 +1,5 @@
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//
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// Example and reference ArduPilot Mega configuration file
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// Example and reference Arducopter 2.0 configuration file
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// =======================================================
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//
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// This file contains documentation and examples for configuration options
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@ -76,32 +76,26 @@
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//////////////////////////////////////////////////////////////////////////////
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// GCS_PROTOCOL OPTIONAL
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// GCS_PORT OPTIONAL
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// MAV_SYSTEM_ID OPTIONAL
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//
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// The GCS_PROTOCOL option determines which (if any) ground control station
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// protocol will be used. Must be one of:
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//
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// GCS_PROTOCOL_NONE No GCS output
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// GCS_PROTOCOL_STANDARD standard APM protocol
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// GCS_PROTOCOL_SPECIAL special test protocol (?)
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// GCS_PROTOCOL_LEGACY legacy ArduPilot protocol
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// GCS_PROTOCOL_XPLANE HIL simulation ground station
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// GCS_PROTOCOL_IMU ArdiPilot IMU output
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// GCS_PROTOCOL_JASON Jason's special secret GCS protocol
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// GCS_PROTOCOL_MAVLINK QGroundControl protocol
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//
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// The GCS_PORT option determines which serial port will be used by the
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// GCS protocol. The usual values are 0 for the console/USB port,
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// or 3 for the telemetry port on the oilpan. Note that some protocols
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// will ignore this value and always use the console port.
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//
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// The default GCS protocol is the standard ArduPilot Mega protocol.
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// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1.
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// If you will be flying multiple UAV's each should be assigned a different ID so
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// that ground stations can tell them apart.
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//
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// The default serial port is the telemetry port for GCS_PROTOCOL_STANDARD
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// and GCS_PROTOCOL_LEGACY. For all other protocols, the default serial
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// port is the FTDI/console port. GCS_PORT normally should not be set
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// in your configuration.
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//
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//#define GCS_PROTOCOL GCS_PROTOCOL_STANDARD
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//#define GCS_PORT 3
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//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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//#define GCS_PORT 3
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//#define MAV_SYSTEM_ID 1
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//
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//////////////////////////////////////////////////////////////////////////////
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@ -109,16 +103,15 @@
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//
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// SERIAL0_BAUD OPTIONAL
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//
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// Baudrate for the console port. Default is 38400bps.
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// Baudrate for the console port. Default is 115200bps.
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//
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// SERIAL3_BAUD OPTIONAL
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//
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// Baudrate for the telemetry port. Default is 115200bps.
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// Baudrate for the telemetry port. Default is 57600bps.
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//
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//#define SERIAL0_BAUD 38400
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//#define SERIAL3_BAUD 115200
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//#define SERIAL0_BAUD 115200
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//#define SERIAL3_BAUD 57600
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//
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//////////////////////////////////////////////////////////////////////////////
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// Battery monitoring OPTIONAL
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//
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@ -127,18 +120,12 @@
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//
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// BATTERY_EVENT OPTIONAL
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//
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// Set BATTERY_EVENT to ENABLED to enable battery monitoring. The default is
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// DISABLED.
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//
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// BATTERY_TYPE OPTIONAL if BATTERY_EVENT is set
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//
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// Set to 0 for 3s LiPo, 1 for 4s LiPo. The default is 0, selecting a 3s
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// battery.
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// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings.
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// The default is DISABLED.
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//
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// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set.
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//
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// Normally derived from BATTERY_TYPE, the automatic value can be overridden
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// here. Value in volts at which ArduPilot Mega should consider the
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// Value in volts at which ArduPilot Mega should consider the
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// battery to be "low".
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//
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// VOLT_DIV_RATIO OPTIONAL
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@ -146,11 +133,25 @@
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// See the manual for details. The default value corresponds to the resistors
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// recommended by the manual.
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//
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//#define BATTERY_EVENT DISABLED
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//#define BATTERY_TYPE 0
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//#define LOW_VOLTAGE 11.4
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//#define VOLT_DIV_RATIO 3.0
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// CURR_AMPS_PER_VOLT OPTIONAL
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// CURR_AMPS_OFFSET OPTIONAL
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//
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// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM
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// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset
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//
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//
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// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set.
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//
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// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of
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// battery capacity.
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//
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//#define BATTERY_EVENT DISABLED
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//#define LOW_VOLTAGE 9.6
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//#define VOLT_DIV_RATIO 3.56
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//#define CURR_AMPS_PER_VOLT 27.32
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//#define CURR_AMPS_OFFSET 0.0
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//#define HIGH_DISCHARGE 1760
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//////////////////////////////////////////////////////////////////////////////
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// INPUT_VOLTAGE OPTIONAL
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@ -172,15 +173,11 @@
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE OPTIONAL
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// FLIGHT_MODE_CHANNEL OPTIONAL
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//
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// Flight modes assigned to the control channel, and the input channel that
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// is read for the control mode.
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//
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// Use a servo tester, or the ArduPilotMega_demo test program to check your
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// switch settings.
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//
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// ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and
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// ATTENTION: Some APM boards have radio channels marked 0-7, and
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// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option
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// uses channel numbers 1-8 (and defaults to 8).
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//
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@ -206,8 +203,6 @@
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// Name | Description
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// -----------------+--------------------------------------------
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// |
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// MANUAL | Full manual control via the hardware multiplexer.
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// |
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// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs.
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// |
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// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle.
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@ -268,19 +263,19 @@
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// position up so that you cannot engage the failsafe with a regular stick movement.
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//
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// Configure your receiver's failsafe setting for the throttle channel to the
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// absolute minimum, and use the ArduPilotMega_demo program to check that
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// absolute minimum, and use setup pwm program in the CLI to check that
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// you cannot reach that value with the throttle control. Leave a margin of
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// at least 50 microseconds between the lowest throttle setting and
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// THROTTLE_FS_VALUE.
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//
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// The FAILSAFE_ACTION setting determines what APM will do when throttle failsafe
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// The FAILSAFE_ACTION setting determines what AC2 will do when throttle failsafe
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// mode is entered while flying in AUTO mode. This is important in order to avoid
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// accidental failsafe behaviour when flying waypoints that take the aircraft
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// temporarily out of radio range.
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//
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// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,
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// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO modes,
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// the aircraft will head for home in RTL mode. If the throttle channel moves
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// back up, it will return to AUTO or LOITER mode.
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// back up, it will return to AUTO mode.
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//
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// The default behaviour is to ignore throttle failsafe in AUTO and LOITER modes.
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//
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@ -310,24 +305,6 @@
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//#define GROUND_START_DELAY 0
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//
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_AIR_START OPTIONAL
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//
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// If air start is disabled then you will get a ground start (including IMU
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// calibration) every time the AP is powered up. This means that if you get
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// a power glitch or reboot for some reason in the air, you will probably
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// crash, but it prevents a lot of problems on the ground like unintentional
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// motor start-ups, etc.
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//
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// If air start is enabled then you will get an air start at power up and a
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// ground start will be performed if the speed is near zero when we get gps
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// lock.
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//
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// The default is to disable air start.
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//
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//#define ENABLE_AIR_START 0
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//
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Altitude measurement and control.
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//
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// AOA OPTIONAL
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//
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// The angle in 100ths of a degree that the nose of the aircraft should be
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// raised from horizontal in level flight. The default is 1 degree.
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//
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//#define AOA 100 // note, 100ths of a degree
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//
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// ALT_EST_GAIN OPTIONAL
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//
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// The gain of the altitude estimation function; a lower number results
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// in slower error correction and smoother output. The default is a
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// reasonable starting point.
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//
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//#define ALT_EST_GAIN 0.01
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//
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//////////////////////////////////////////////////////////////////////////////
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// ENABLE_HIL OPTIONAL
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//
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// PITCH_MAX OPTIONAL
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//
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// The maximum commanded pitch up angle.
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// The default is 45 degrees.
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// The default is 18 degrees.
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//
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//#define PITCH_MAX 45
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//#define PITCH_MAX 18
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//////////////////////////////////////////////////////////////////////////////
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// Attitude control gains
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// The I term is used to help control surfaces settle. This value should
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// normally be kept low.
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//
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// The D term is used to control overshoot. Avoid using or adjusting this
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// term if you are not familiar with tuning PID loops. It should normally
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// be zero for most aircraft.
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// The D term is used to slow change to avoid overshoot.
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//
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// Note: When tuning these values, start with changes of no more than 25% at
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// a time.
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//
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// SERVO_ROLL_P OPTIONAL
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// SERVO_ROLL_I OPTIONAL
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// SERVO_ROLL_D OPTIONAL
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//
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// P, I and D terms for roll control. Defaults are 0.4, 0, 0.
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//
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// SERVO_ROLL_INT_MAX OPTIONAL
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//
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// Maximum control offset due to the integral. This prevents the control
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// output from being overdriven due to a persistent offset (e.g. crosstracking).
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// Default is 5 degrees.
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//
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// ROLL_SLEW_LIMIT EXPERIMENTAL
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//
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// Limits the slew rate of the roll control in degrees per second. If zero,
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// slew rate is not limited. Default is to not limit the roll control slew rate.
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// (This feature is currently not implemented.)
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//
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// SERVO_PITCH_P OPTIONAL
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// SERVO_PITCH_I OPTIONAL
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// SERVO_PITCH_D OPTIONAL
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//
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// P, I and D terms for the pitch control. Defaults are 0.6, 0, 0.
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//
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// SERVO_PITCH_INT_MAX OPTIONAL
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//
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// Maximum control offset due to the integral. This prevents the control
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// output from being overdriven due to a persistent offset (e.g. native flight
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// AoA). If you find this value is insufficient, consider adjusting the AOA
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// parameter.
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// Default is 5 degrees.
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//
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// PITCH_COMP OPTIONAL
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//
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// Adds pitch input to compensate for the loss of lift due to roll control.
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// Default is 0.20 (20% of roll control also applied to pitch control).
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//
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// SERVO_YAW_P OPTIONAL
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// SERVO_YAW_I OPTIONAL
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// SERVO_YAW_D OPTIONAL
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//
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// P, I and D terms for the YAW control. Defaults are 0.5, 0, 0.
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//
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// SERVO_YAW_INT_MAX OPTIONAL
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//
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// Maximum control offset due to the integral. This prevents the control
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// output from being overdriven due to a persistent offset (e.g. crosstracking).
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// Default is 5 degrees.
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//
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// RUDDER_MIX OPTIONAL
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//
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// Roll to yaw mixing. This allows for co-ordinated turns.
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// Default is 0.50 (50% of roll control also applied to yaw control.)
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//
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//#define SERVO_ROLL_P 0.4
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//#define SERVO_ROLL_I 0.0
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//#define SERVO_ROLL_D 0.0
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//#define SERVO_ROLL_INT_MAX 5
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//#define ROLL_SLEW_LIMIT 0
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//#define SERVO_PITCH_P 0.6
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//#define SERVO_PITCH_I 0.0
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//#define SERVO_PITCH_D 0.0
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//#define SERVO_PITCH_INT_MAX 5
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//#define PITCH_COMP 0.2
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//#define SERVO_YAW_P 0.5
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//#define SERVO_YAW_I 0.0
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//#define SERVO_YAW_D 0.0
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//#define SERVO_YAW_INT_MAX 5
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//#define RUDDER_MIX 0.5
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//
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//////////////////////////////////////////////////////////////////////////////
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// Navigation control gains
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//
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// Tuning values for the navigation control PID loops.
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//
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// The P term is the primary tuning value. This determines how the control
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// deflection varies in proportion to the required correction.
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//
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// The I term is used to control drift.
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//
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// The D term is used to control overshoot. Avoid adjusting this term if
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// you are not familiar with tuning PID loops.
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//
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// Note: When tuning these values, start with changes of no more than 25% at
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// a time.
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//
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// NAV_ROLL_P OPTIONAL
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// NAV_ROLL_I OPTIONAL
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// NAV_ROLL_D OPTIONAL
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//
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// P, I and D terms for navigation control over roll, normally used for
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// controlling the aircraft's course. The P term controls how aggressively
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// the aircraft will bank to change or hold course.
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// Defaults are 0.7, 0.01, 0.02.
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//
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// NAV_ROLL_INT_MAX OPTIONAL
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//
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// Maximum control offset due to the integral. This prevents the control
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// output from being overdriven due to a persistent offset (e.g. crosstracking).
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// Default is 5 degrees.
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//
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// NAV_PITCH_ASP_P OPTIONAL
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// NAV_PITCH_ASP_I OPTIONAL
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// NAV_PITCH_ASP_D OPTIONAL
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//
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// P, I and D terms for pitch adjustments made to maintain airspeed.
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// Defaults are 0.65, 0, 0.
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//
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// NAV_PITCH_ASP_INT_MAX OPTIONAL
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//
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// Maximum pitch offset due to the integral. This limits the control
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// output from being overdriven due to a persistent offset (eg. inability
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// to maintain the programmed airspeed).
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// Default is 5 degrees.
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//
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// NAV_PITCH_ALT_P OPTIONAL
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// NAV_PITCH_ALT_I OPTIONAL
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// NAV_PITCH_ALT_D OPTIONAL
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//
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// P, I and D terms for pitch adjustments made to maintain altitude.
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// Defaults are 0.65, 0, 0.
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//
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// NAV_PITCH_ALT_INT_MAX OPTIONAL
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//
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// Maximum pitch offset due to the integral. This limits the control
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// output from being overdriven due to a persistent offset (eg. inability
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// to maintain the programmed altitude).
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// Default is 5 degrees.
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//
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//#define NAV_ROLL_P 0.7
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//#define NAV_ROLL_I 0.01
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//#define NAV_ROLL_D 0.02
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//#define NAV_ROLL_INT_MAX 5
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//#define NAV_PITCH_ASP_P 0.65
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//#define NAV_PITCH_ASP_I 0.0
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//#define NAV_PITCH_ASP_D 0.0
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//#define NAV_PITCH_ASP_INT_MAX 5
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//#define NAV_PITCH_ALT_P 0.65
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//#define NAV_PITCH_ALT_I 0.0
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//#define NAV_PITCH_ALT_D 0.0
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//#define NAV_PITCH_ALT_INT_MAX 5
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//
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//////////////////////////////////////////////////////////////////////////////
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// Energy/Altitude control gains
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//
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// The Energy/altitude control system uses throttle input to control aircraft
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// altitude.
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//
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// The P term is the primary tuning value. This determines how the throttle
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// setting varies in proportion to the required correction.
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//
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// The I term is used to compensate for small offsets.
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//
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// The D term is used to control overshoot. Avoid adjusting this term if
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// you are not familiar with tuning PID loops.
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//
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// THROTTLE_TE_P OPTIONAL
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// THROTTLE_TE_I OPTIONAL
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// THROTTLE_TE_D OPTIONAL
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//
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// P, I and D terms for throttle adjustments made to control altitude.
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// Defaults are 0.5, 0, 0.
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//
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// THROTTLE_TE_INT_MAX OPTIONAL
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//
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// Maximum throttle input due to the integral term. This limits the
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// throttle from being overdriven due to a persistent offset (e.g.
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// inability to maintain the programmed altitude).
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// Default is 20%.
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//
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// THROTTLE_SLEW_LIMIT OPTIONAL
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//
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// Limits the slew rate of the throttle, in percent per second. Helps
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// avoid sudden throttle changes, which can destabilise the aircraft.
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// A setting of zero disables the feature.
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// Default is zero (disabled).
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//
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// P_TO_T OPTIONAL
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//
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// Pitch to throttle feed-forward gain. Used when AIRSPEED_SENSOR
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// is DISABLED. Default is 2.5.
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//
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//#define THROTTLE_TE_P 0.50
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//#define THROTTLE_TE_I 0.0
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//#define THROTTLE_TE_D 0.0
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//#define THROTTLE_TE_INT_MAX 20
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//#define THROTTLE_SLEW_LIMIT 0
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//#define P_TO_T 2.5
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//
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//////////////////////////////////////////////////////////////////////////////
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// Crosstrack compensation
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|
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@ -680,6 +444,7 @@
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//#define LOG_MODE ENABLED
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//#define LOG_RAW DISABLED
|
||||
//#define LOG_CMD ENABLED
|
||||
//#define LOG_CURRENT ENABLED
|
||||
//
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
|
|
|
|||
Loading…
Reference in New Issue