From 19394918dd4ea473646e302b499d3fa6cd2a2073 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 17 May 2013 12:01:39 +0900 Subject: [PATCH] Copter: simplify APM_Config.h Remove items that can be more easily set with parameters --- ArduCopter/APM_Config.h | 55 ++++++++++----------------------------- ArduCopter/ArduCopter.pde | 1 + 2 files changed, 15 insertions(+), 41 deletions(-) diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 5b554b9abc..53c208189a 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -1,15 +1,14 @@ // -*- 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. - +// 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 HIL_MODE HIL_MODE_SENSORS -//#define DMP_ENABLED ENABLED -//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes +//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation +//#define LOGGING_ENABLED DISABLED // disable logging to save code space +//#define DMP_ENABLED ENABLED // use MPU6000's DMP instead of DCM for attitude estimation +//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes //#define FRAME_CONFIG QUAD_FRAME /* @@ -23,42 +22,16 @@ * HELI_FRAME */ -//#define FRAME_ORIENTATION X_FRAME -/* - * PLUS_FRAME - * X_FRAME - * V_FRAME - */ - -//#define CH7_OPTION CH7_SAVE_WP -/* - * CH7_DO_NOTHING - * CH7_FLIP - * CH7_SIMPLE_MODE - * CH7_RTL - * CH7_SAVE_TRIM - * CH7_SAVE_WP - * CH7_CAMERA_TRIGGER - */ - -// uncomment the line below to disable control of yaw during missions (or set YAW_BEHAVIOR parameter to 0) -// #define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_NONE - //#define MOTORS_JD880 //#define MOTORS_JD850 - -// 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 on 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 included 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 +// 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" - -//#define LOGGING_ENABLED DISABLED +// 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 diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index b7d7007cb8..058659c1b1 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1019,6 +1019,7 @@ static void fast_loop() #endif } +// medium_loop - runs at 10hz static void medium_loop() { // This is the start of the medium (10 Hz) loop pieces