http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex ArduPlane V2.28 12 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex ArduPlane V2.28 HIL #define FLIGHT_MODE_CHANNEL 8 #define FLIGHT_MODE_1 AUTO #define FLIGHT_MODE_2 RTL #define FLIGHT_MODE_3 FLY_BY_WIRE_A #define FLIGHT_MODE_4 FLY_BY_WIRE_B #define FLIGHT_MODE_5 STABILIZE #define FLIGHT_MODE_6 MANUAL #define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK #define HIL_MODE HIL_MODE_ATTITUDE #define HIL_PORT 0 #define LOGGING_ENABLED DISABLED #define CLI_ENABLED DISABLED #define GPS_PROTOCOL GPS_PROTOCOL_MTK # define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK # define GCS_PORT 3 #define AIRSPEED_SENSOR ENABLED #define MAGNETOMETER ENABLED #define AIRSPEED_CRUISE 25 #define THROTTLE_FAILSAFE ENABLED 12 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560-2.hex ArduPlane V2.28 APM trunk 12 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex ArduCopter V2.2 b2 Quad #define FRAME_CONFIG QUAD_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex ArduCopter V2.2 b2 Tri #define FRAME_CONFIG TRI_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex ArduCopter V2.2 b2 Hexa X #define FRAME_CONFIG HEXA_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex ArduCopter V2.2 b2 Hexa Plus #define FRAME_CONFIG HEXA_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex ArduCopter V2.2 b2 Y6 #define FRAME_CONFIG Y6_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex ArduCopter V2.2 b2 Octav #define FRAME_CONFIG OCTA_FRAME #define FRAME_ORIENTATION V_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex ArduCopter V2.2 b2 Octa X #define FRAME_CONFIG OCTA_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex ArduCopter V2.2 b2 Octa Plus #define FRAME_CONFIG OCTA_FRAME #define FRAME_ORIENTATION X_FRAME 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex ArduCopter V2.1.0r Heli (2560 only) #define AUTO_RESET_LOITER 0 #define FRAME_CONFIG HELI_FRAME #define INSTANT_PWM ENABLED // DEFAULT PIDS // roll #define STABILIZE_ROLL_P 0.70 #define STABILIZE_ROLL_I 0.025 #define STABILIZE_ROLL_D 0.04 #define STABILIZE_ROLL_IMAX 7 //pitch #define STABILIZE_PITCH_P 0.70 #define STABILIZE_PITCH_I 0.025 #define STABILIZE_PITCH_D 0.04 #define STABILIZE_PITCH_IMAX 7 // yaw stablise #define STABILIZE_YAW_P 0.7 #define STABILIZE_YAW_I 0.02 #define STABILIZE_YAW_D 0.0 // yaw rate #define RATE_YAW_P 0.135 #define RATE_YAW_I 0.0 #define RATE_YAW_D 0.0 // throttle #define THROTTLE_P 0.2 #define THROTTLE_I 0.001 #define THROTTLE_IMAX 100 // navigation #define NAV_LOITER_P 1.1 #define NAV_LOITER_I 0.03 #define NAV_LOITER_D 0.02 #define NAV_LOITER_IMAX 10 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex ArduCopter V2.2 b2 Quad Hil #define FRAME_CONFIG QUAD_FRAME #define FRAME_ORIENTATION PLUS_FRAME #define HIL_MODE HIL_MODE_ATTITUDE #define ALLOW_RC_OVERRIDE ENABLED 113 http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex ArduCopter V2.1.0r Heli Hil #define HIL_MODE HIL_MODE_ATTITUDE #define ALLOW_RC_OVERRIDE ENABLED #define AUTO_RESET_LOITER 0 #define FRAME_CONFIG HELI_FRAME // DEFAULT PIDS // roll #define STABILIZE_ROLL_P 0.70 #define STABILIZE_ROLL_I 0.025 #define STABILIZE_ROLL_D 0.04 #define STABILIZE_ROLL_IMAX 7 //pitch #define STABILIZE_PITCH_P 0.70 #define STABILIZE_PITCH_I 0.025 #define STABILIZE_PITCH_D 0.04 #define STABILIZE_PITCH_IMAX 7 // yaw stablise #define STABILIZE_YAW_P 0.7 #define STABILIZE_YAW_I 0.02 #define STABILIZE_YAW_D 0.0 // yaw rate #define RATE_YAW_P 0.135 #define RATE_YAW_I 0.0 #define RATE_YAW_D 0.0 // throttle #define THROTTLE_P 0.2 #define THROTTLE_I 0.001 #define THROTTLE_IMAX 100 // navigation #define NAV_LOITER_P 1.1 #define NAV_LOITER_I 0.03 #define NAV_LOITER_D 0.02 #define NAV_LOITER_IMAX 10 113