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Copter: enable Guided velocity controller for Pixhawk

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This commit is contained in:
Randy Mackay 2014-10-13 12:00:53 +09:00
parent 3c7cc5f40c
commit 8997c224e2
2 changed files with 3 additions and 2 deletions
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2
ArduCopter/APM_Config.h
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@ -32,11 +32,11 @@
//#define PARACHUTE ENABLED // enable parachute release at a cost of 1k of flash //#define PARACHUTE ENABLED // enable parachute release at a cost of 1k of flash
//#define EPM_ENABLED ENABLED // enable epm cargo gripper costs 500bytes of flash //#define EPM_ENABLED ENABLED // enable epm cargo gripper costs 500bytes of flash
//#define CLI_ENABLED ENABLED // enable the CLI (command-line-interface) at a cost of 21K of flash space //#define CLI_ENABLED ENABLED // enable the CLI (command-line-interface) at a cost of 21K of flash space
//#define NAV_GUIDED ENABLED // enable external navigation computer to control vehicle through MAV_CMD_NAV_GUIDED mission commands
// features below are disabled by default on all boards // features below are disabled by default on all boards
//#define OPTFLOW ENABLED // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space //#define OPTFLOW ENABLED // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity) //#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
//#define NAV_GUIDED ENABLED // enable external navigation computer to control vehicle through MAV_CMD_NAV_GUIDED mission commands
// other settings // other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000) //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)

3
ArduCopter/config.h
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@ -88,6 +88,7 @@
# define EPM_ENABLED DISABLED # define EPM_ENABLED DISABLED
# define CLI_ENABLED DISABLED # define CLI_ENABLED DISABLED
# define FRSKY_TELEM_ENABLED DISABLED # define FRSKY_TELEM_ENABLED DISABLED
# define NAV_GUIDED DISABLED
#endif #endif
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@ -434,7 +435,7 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle // Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED #ifndef NAV_GUIDED
# define NAV_GUIDED DISABLED # define NAV_GUIDED ENABLED
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////