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Copter: simplify APM_Config.h 

Remove items that can be more easily set with parameters
This commit is contained in:
Randy Mackay 2013-05-17 12:01:39 +09:00
parent 28c37dd798
commit 19394918dd
2 changed files with 15 additions and 41 deletions
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55
ArduCopter/APM_Config.h
View File

@ -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

1
ArduCopter/ArduCopter.pde
View File

@ -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