mirror of https://github.com/ArduPilot/ardupilot
Sub: Change user config file for default options. Eventually these will be moved into the main config file as Sub defaults.
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@ -21,20 +21,20 @@
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// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
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// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
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//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
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//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
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//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
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//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
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//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
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#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
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//#define AC_FENCE DISABLED // disable fence to save 2k of flash
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#define AC_FENCE DISABLED // disable fence to save 2k of flash
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//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
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//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
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//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
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//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
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//#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash
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#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash
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//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
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#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
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//#define AC_TERRAIN DISABLED // disable terrain library
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#define AC_TERRAIN DISABLED // disable terrain library
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//#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
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#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
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//#define EPM_ENABLED DISABLED // disable epm cargo gripper to save 500bytes of flash
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//#define EPM_ENABLED DISABLED // disable epm cargo gripper to save 500bytes of flash
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//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
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//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
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//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
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//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
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//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
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//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
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//#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry
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//#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry
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//#define ADSB_ENABLED DISABLED // disable ADSB support
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#define ADSB_ENABLED DISABLED // disable ADSB support
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// features below are disabled by default on all boards
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// features below are disabled by default on all boards
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//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
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//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
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@ -13,7 +13,12 @@ static uint32_t auto_disarm_begin;
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// called at 10hz
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// called at 10hz
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void Copter::arm_motors_check()
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void Copter::arm_motors_check()
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{
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{
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static int16_t arming_counter;
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// Arm motors automatically
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if ( !motors.armed() ) {
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init_arm_motors(false);
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}
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/*static int16_t arming_counter;
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// ensure throttle is down
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// ensure throttle is down
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if (channel_throttle->control_in > 0) {
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if (channel_throttle->control_in > 0) {
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@ -66,13 +71,13 @@ void Copter::arm_motors_check()
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// Yaw is centered so reset arming counter
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// Yaw is centered so reset arming counter
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}else{
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}else{
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arming_counter = 0;
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arming_counter = 0;
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}
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}*/
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}
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}
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// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 15 seconds
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// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 15 seconds
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void Copter::auto_disarm_check()
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void Copter::auto_disarm_check()
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{
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{
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uint32_t tnow_ms = millis();
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/*uint32_t tnow_ms = millis();
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uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
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uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
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// exit immediately if we are already disarmed, or if auto
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// exit immediately if we are already disarmed, or if auto
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@ -117,7 +122,7 @@ void Copter::auto_disarm_check()
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if ((tnow_ms-auto_disarm_begin) >= disarm_delay_ms) {
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if ((tnow_ms-auto_disarm_begin) >= disarm_delay_ms) {
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init_disarm_motors();
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init_disarm_motors();
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auto_disarm_begin = tnow_ms;
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auto_disarm_begin = tnow_ms;
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}
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}*/
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}
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}
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// init_arm_motors - performs arming process including initialisation of barometer and gyros
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// init_arm_motors - performs arming process including initialisation of barometer and gyros
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