mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-13 11:28:30 -04:00
216379e286
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1800 f9c3cf11-9bcb-44bc-f272-b75c42450872
50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
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// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
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// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
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// GPS is auto-selected
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#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#define SERIAL0_BAUD 115200
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#define SERIAL3_BAUD 115200
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// Hardware in the loop protocol
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#if 0
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# define HIL_MODE HIL_MODE_NONE
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#else
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# define HIL_MODE HIL_MODE_ATTITUDE
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# define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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# define HIL_PORT 0
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#endif
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// You can set your gps protocol here for your actual
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// hardware and leave it without affecting the hardware
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// in the loop simulation
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// Ground control station comms
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#define GCS_PORT 0
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//#define RADIO_OVERRIDE_DEFAULTS { 1500, 1500, 1000, 1500, 1000, 1000, 1000, 1815 }
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#define FLIGHT_MODE_CHANNEL CH_8
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#define FLIGHT_MODE_1 STABILIZE
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#define FLIGHT_MODE_2 ALT_HOLD
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#define FLIGHT_MODE_3 ACRO
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#define FLIGHT_MODE_4 STABILIZE
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#define FLIGHT_MODE_5 STABILIZE
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#define FLIGHT_MODE_6 STABILIZE
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//#define ALWAYS_RESET_RADIO_RANGE 1
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//#define ALWAYS_RESET_MODES 1
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#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX
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// Use MODE1 arming
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#define MOTOR_ARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in > 2700)
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#define MOTOR_DISARM_CONDITION (g.rc_3.control_in == 0 && g.rc_1.control_in < -2700)
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