From 6dd2cc058af7621755254c11d215e82d5e063c44 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sun, 18 Sep 2011 17:18:35 -0700 Subject: [PATCH] removed outdated reference file. --- ArduCopter/APM_Config.h.reference | 469 ------------------------------ 1 file changed, 469 deletions(-) delete mode 100644 ArduCopter/APM_Config.h.reference diff --git a/ArduCopter/APM_Config.h.reference b/ArduCopter/APM_Config.h.reference deleted file mode 100644 index 9eec2afa20..0000000000 --- a/ArduCopter/APM_Config.h.reference +++ /dev/null @@ -1,469 +0,0 @@ -// -// Example and reference Arducopter 2.0 configuration file -// ======================================================= -// -// This file contains documentation and examples for configuration options -// supported by the ArduPilot Mega software. -// -// Most of these options are just that - optional. You should create -// the APM_Config.h file and use this file as a reference for options -// that you want to change. Don't copy this file directly; the options -// described here and their default values may change over time. -// -// Each item is marked with a keyword describing when you should set it: -// -// REQUIRED -// You must configure this in your APM_Config.h file. The -// software will not compile if the option is not set. -// -// OPTIONAL -// The option has a sensible default (which will be described -// here), but you may wish to override it. -// -// EXPERIMENTAL -// You should configure this option unless you are prepared -// to deal with potential problems. It may relate to a feature -// still in development, or which is not yet adequately tested. -// -// DEBUG -// The option should only be set if you are debugging the -// software, or if you are gathering information for a bug -// report. -// -// NOTE: -// Many of these settings are considered 'factory defaults', and the -// live value is stored and managed in the ArduPilot Mega EEPROM. -// Use the setup 'factoryreset' command after changing options in -// your APM_Config.h file. -// -// Units -// ----- -// -// Unless indicated otherwise, numeric quantities use the following units: -// -// Measurement | Unit -// ------------+------------------------------------- -// angle | degrees -// distance | metres -// speed | metres per second -// servo angle | microseconds -// voltage | volts -// times | seconds -// throttle | percent -// - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// HARDWARE CONFIGURATION AND CONNECTIONS -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// GPS_PROTOCOL REQUIRED -// -// GPS configuration, must be one of: -// -// GPS_PROTOCOL_NONE No GPS attached -// GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. -// GPS_PROTOCOL_MTK MediaTek-based GPS -// GPS_PROTOCOL_UBLOX UBLOX GPS -// GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED -// GPS_PROTOCOL_NMEA Standard NMEA GPS NOT SUPPORTED (yet?) -// -//#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX -// - -////////////////////////////////////////////////////////////////////////////// -// GCS_PROTOCOL OPTIONAL -// GCS_PORT OPTIONAL -// MAV_SYSTEM_ID OPTIONAL -// -// The GCS_PROTOCOL option determines which (if any) ground control station -// protocol will be used. Must be one of: -// -// GCS_PROTOCOL_NONE No GCS output -// GCS_PROTOCOL_MAVLINK QGroundControl protocol -// -// The GCS_PORT option determines which serial port will be used by the -// GCS protocol. The usual values are 0 for the console/USB port, -// or 3 for the telemetry port on the oilpan. Note that some protocols -// will ignore this value and always use the console port. -// -// The MAV_SYSTEM_ID is a unique identifier for this UAV. The default value is 1. -// If you will be flying multiple UAV's each should be assigned a different ID so -// that ground stations can tell them apart. -// -//#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK -//#define GCS_PORT 3 -//#define MAV_SYSTEM_ID 1 -// - -////////////////////////////////////////////////////////////////////////////// -// Serial port speeds. -// -// SERIAL0_BAUD OPTIONAL -// -// Baudrate for the console port. Default is 115200bps. -// -// SERIAL3_BAUD OPTIONAL -// -// Baudrate for the telemetry port. Default is 57600bps. -// -//#define SERIAL0_BAUD 115200 -//#define SERIAL3_BAUD 57600 -// -////////////////////////////////////////////////////////////////////////////// -// Battery monitoring OPTIONAL -// -// See the manual for details on selecting divider resistors for battery -// monitoring via the oilpan. -// -// BATTERY_EVENT OPTIONAL -// -// Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings. -// The default is DISABLED. -// -// LOW_VOLTAGE OPTIONAL if BATTERY_EVENT is set. -// -// Value in volts at which ArduPilot Mega should consider the -// battery to be "low". -// -// VOLT_DIV_RATIO OPTIONAL -// -// See the manual for details. The default value corresponds to the resistors -// recommended by the manual. -// -// CURR_AMPS_PER_VOLT OPTIONAL -// CURR_AMPS_OFFSET OPTIONAL -// -// The sensitivity of the current sensor. This must be scaled if a resistor is installed on APM -// for a voltage divider on input 2 (not recommended). The offset is used for current sensors with an offset -// -// -// HIGH_DISCHARGE OPTIONAL if BATTERY_EVENT is set. -// -// Value in milliamp-hours at which a warning should be triggered. Recommended value = 80% of -// battery capacity. -// -//#define BATTERY_EVENT DISABLED -//#define LOW_VOLTAGE 9.6 -//#define VOLT_DIV_RATIO 3.56 -//#define CURR_AMPS_PER_VOLT 27.32 -//#define CURR_AMPS_OFFSET 0.0 -//#define HIGH_DISCHARGE 1760 - - -////////////////////////////////////////////////////////////////////////////// -// INPUT_VOLTAGE OPTIONAL -// -// In order to have accurate pressure and battery voltage readings, this -// value should be set to the voltage measured on the 5V rail on the oilpan. -// -// See the manual for more details. The default value should be close. -// -//#define INPUT_VOLTAGE 5.0 -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// RADIO CONFIGURATION -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// FLIGHT_MODE OPTIONAL -// -// Flight modes assigned to the control channel, and the input channel that -// is read for the control mode. -// -// ATTENTION: Some APM boards have radio channels marked 0-7, and -// others have them marked the standard 1-8. The FLIGHT_MODE_CHANNEL option -// uses channel numbers 1-8 (and defaults to 8). -// -// If you only have a three-position switch or just want three modes, set your -// switch to produce 1165, 1425, and 1815 microseconds and configure -// FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same. This is the default. -// -// -// For more modes (up to six), set your switch(es) to produce any of 1165, -// 1295, 1425, 1555, 1685, and 1815 microseconds. -// -// Flight mode | Switch Setting (ms) -// ------------+--------------------- -// 1 | 1165 -// 2 | 1295 -// 3 | 1425 -// 4 | 1555 -// 5 | 1685 -// 6 | 1815 (FAILSAFE if using channel 8) -// -// The following standard flight modes are available: -// -// Name | Description -// -----------------+-------------------------------------------- -// | -// STABILIZE | Tries to maintain level flight, but can be overridden with radio control inputs. -// | -// FLY_BY_WIRE_A | Autopilot style control via user input, with manual throttle. -// | -// FLY_BY_WIRE_B | Autopilot style control via user input, aispeed controlled with throttle. -// | -// RTL | Returns to the Home location and then LOITERs at a safe altitude. -// | -// AUTO | Autonomous flight based on programmed waypoints. Use the WaypointWriter -// | application or your Ground Control System to edit and upload -// | waypoints and other commands. -// | -// -// -// The following non-standard modes are EXPERIMENTAL: -// -// Name | Description -// -----------------+-------------------------------------------- -// | -// LOITER | Flies in a circle around the current location. -// | -// CIRCLE | Flies in a stabilized 'dumb' circle. -// | -// -// -// If you are using channel 8 for mode switching then FLIGHT_MODE_5 and -// FLIGHT_MODE_6 should be MANUAL. -// -// -//#define FLIGHT_MODE_CHANNEL 8 -// -//#define FLIGHT_MODE_1 RTL -//#define FLIGHT_MODE_2 RTL -//#define FLIGHT_MODE_3 FLY_BY_WIRE_A -//#define FLIGHT_MODE_4 FLY_BY_WIRE_A -//#define FLIGHT_MODE_5 MANUAL -//#define FLIGHT_MODE_6 MANUAL -// - -////////////////////////////////////////////////////////////////////////////// -// THROTTLE_FAILSAFE OPTIONAL -// THROTTLE_FS_VALUE OPTIONAL -// THROTTLE_FAILSAFE_ACTION OPTIONAL -// -// The throttle failsafe allows you to configure a software failsafe activated -// by a setting on the throttle input channel (channel 3). -// -// This can be used to achieve a failsafe override on loss of radio control -// without having to sacrifice one of your FLIGHT_MODE settings, as the -// throttle failsafe overrides the switch-selected mode. -// -// Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1. The default -// is for it to be disabled. -// -// If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value -// below which the failsafe engages. The default is 975ms, which is a very low -// throttle setting. Most transmitters will let you trim the manual throttle -// position up so that you cannot engage the failsafe with a regular stick movement. -// -// Configure your receiver's failsafe setting for the throttle channel to the -// absolute minimum, and use setup pwm program in the CLI to check that -// you cannot reach that value with the throttle control. Leave a margin of -// at least 50 microseconds between the lowest throttle setting and -// THROTTLE_FS_VALUE. -// -// The FAILSAFE_ACTION setting determines what AC2 will do when throttle failsafe -// mode is entered while flying in AUTO mode. This is important in order to avoid -// accidental failsafe behaviour when flying waypoints that take the aircraft -// temporarily out of radio range. -// -// If FAILSAFE_ACTION is 1, when failsafe is entered in AUTO modes, -// the aircraft will head for home in RTL mode. If the throttle channel moves -// back up, it will return to AUTO mode. -// -// The default behaviour is to ignore throttle failsafe in AUTO and LOITER modes. -// -//#define THROTTLE_FAILSAFE DISABLED -//#define THROTTLE_FS_VALUE 975 -//#define THROTTLE_FAILSAFE_ACTION 2 -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// STARTUP BEHAVIOUR -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// GROUND_START_DELAY OPTIONAL -// -// If configured, inserts a delay between power-up and the beginning of IMU -// calibration during a ground start. -// -// Use this setting to give you time to position the aircraft horizontally -// for the IMU calibration. -// -// The default is to begin IMU calibration immediately at startup. -// -//#define GROUND_START_DELAY 0 -// - - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// FLIGHT AND NAVIGATION CONTROL -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// ENABLE_HIL OPTIONAL -// -// This will output a binary control string to for use in HIL sims -// such as Xplane 9 or FlightGear. -// -//#define ENABLE_HIL ENABLED -// - -////////////////////////////////////////////////////////////////////////////// -// Autopilot control limits -// -// PITCH_MAX OPTIONAL -// -// The maximum commanded pitch up angle. -// The default is 18 degrees. -// -//#define PITCH_MAX 18 - -////////////////////////////////////////////////////////////////////////////// -// Attitude control gains -// -// Tuning values for the attitude control PID loops. -// -// The P term is the primary tuning value. This determines how the control -// deflection varies in proportion to the required correction. -// -// The I term is used to help control surfaces settle. This value should -// normally be kept low. -// -// The D term is used to slow change to avoid overshoot. -// -// Note: When tuning these values, start with changes of no more than 25% at -// a time. -// - -////////////////////////////////////////////////////////////////////////////// -// Crosstrack compensation -// -// XTRACK_GAIN OPTIONAL -// -// Crosstrack compensation in degrees per metre off track. -// Default value is 0.01 degrees per metre. Values lower than 0.001 will -// disable crosstrack compensation. -// -// XTRACK_ENTRY_ANGLE OPTIONAL -// -// Maximum angle used to correct for track following. -// Default value is 30 degrees. -// -//#define XTRACK_GAIN 0.01 -//#define XTRACK_ENTRY_ANGLE 30 -// - -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// -// DEBUGGING -////////////////////////////////////////////////////////////////////////////// -////////////////////////////////////////////////////////////////////////////// - -////////////////////////////////////////////////////////////////////////////// -// DEBUG_LEVEL DEBUG -// -// Selects the lowest level of debug messages passed to the telemetry system. -// Default is SEVERITY_LOW. May be one of: -// -// SEVERITY_LOW -// SEVERITY_MEDIUM -// SEVERITY_HIGH -// SEVERITY_CRITICAL -// -//#define DEBUG_LEVEL SEVERITY_LOW -// - -////////////////////////////////////////////////////////////////////////////// -// Dataflash logging control -// -// Each of these logging options may be set to ENABLED to enable, or DISABLED -// to disable the logging of the respective data. -// -// LOG_ATTITUDE_FAST DEBUG -// -// Logs basic attitude info to the dataflash at 50Hz (uses more space). -// Defaults to DISABLED. -// -// LOG_ATTITUDE_MED OPTIONAL -// -// Logs basic attitude info to the dataflash at 10Hz (uses less space than -// LOG_ATTITUDE_FAST). Defaults to ENABLED. -// -// LOG_GPS OPTIONAL -// -// Logs GPS info to the dataflash at 10Hz. Defaults to ENABLED. -// -// LOG_PM OPTIONAL -// -// Logs IMU performance monitoring info every 20 seconds. -// Defaults to DISABLED. -// -// LOG_CTUN OPTIONAL -// -// Logs control loop tuning info at 10 Hz. This information is useful for tuning -// servo control loop gain values. Defaults to DISABLED. -// -// LOG_NTUN OPTIONAL -// -// Logs navigation tuning info at 10 Hz. This information is useful for tuning -// navigation control loop gain values. Defaults to DISABLED. -// -// LOG_ MODE OPTIONAL -// -// Logs changes to the flight mode upon occurrence. Defaults to ENABLED. -// -// LOG_RAW DEBUG -// -// Logs raw accelerometer and gyro data at 50 Hz (uses more space). -// Defaults to DISABLED. -// -// LOG_CMD OPTIONAL -// -// Logs new commands when they process. -// Defaults to ENABLED. -// -//#define LOG_ATTITUDE_FAST DISABLED -//#define LOG_ATTITUDE_MED ENABLED -//#define LOG_GPS ENABLED -//#define LOG_PM ENABLED -//#define LOG_CTUN DISABLED -//#define LOG_NTUN DISABLED -//#define LOG_MODE ENABLED -//#define LOG_RAW DISABLED -//#define LOG_CMD ENABLED -//#define LOG_CURRENT ENABLED -// - -////////////////////////////////////////////////////////////////////////////// -// RC override -// -// ALLOW_RC_OVERRIDE OPTIONAL -// -// This is for advanced used only! -// -// If you enable ALLOW_RC_OVERRIDE then a GCS will be able to -// override RC input values using a MAVLINK_MSG_ID_RC_CHANNELS_RAW -// message sent to APM. This allows the GCS to precisely control -// all PWM values as seen by APM, which means it can set any switch -// position, or set a precise control value. Do not enable unless you -// really know what you are doing! -// - -// -// Do not remove - this is to discourage users from copying this file -// and using it as-is rather than editing their own. -// -#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.