ardupilot/ArduCopter/APM_Config.h

61 lines
1.1 KiB
C

// Example config file. Take a look at confi.h. Any term define there can be overridden by defining it here.
// GPS is auto-selected
//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
//#define HIL_MODE HIL_MODE_ATTITUDE
//#define BROKEN_SLIDER 0 // 1 = yes (use Yaw to enter CLI mode)
#define FRAME_CONFIG QUAD_FRAME
/*
options:
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
OCTA_FRAME
HELI_FRAME
*/
#define FRAME_ORIENTATION X_FRAME
/*
PLUS_FRAME
X_FRAME
V_FRAME
*/
#define CHANNEL_6_TUNING CH6_NONE
/*
CH6_NONE
CH6_STABILIZE_KP
CH6_STABILIZE_KI
CH6_RATE_KP
CH6_RATE_KI
CH6_THROTTLE_KP
CH6_THROTTLE_KD
CH6_YAW_KP
CH6_YAW_KI
CH6_YAW_RATE_KP
CH6_YAW_RATE_KI
CH6_TOP_BOTTOM_RATIO
CH6_PMAX
CH6_RELAY
CH6_TRAVERSE_SPEED
*/
# define CH7_OPTION DO_SET_HOVER
/*
DO_SET_HOVER
DO_FLIP
SIMPLE_MODE_CONTROL
*/
// See the config.h and defines.h files for how to set this up!
//
// lets use Manual throttle during Loiter
//#define LOITER_THR THROTTLE_MANUAL
# define RTL_YAW YAW_HOLD