//
// 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.