mirror of https://github.com/ArduPilot/ardupilot
249 lines
8.5 KiB
XML
249 lines
8.5 KiB
XML
<?xml version="1.0" encoding="utf-8" ?>
|
|
<options>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
|
|
<name>ArduPlane V2.50 </name>
|
|
<desc></desc>
|
|
<format_version>13</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
|
|
<name>ArduPlane V2.50 HIL</name>
|
|
<desc>
|
|
#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
|
|
</desc>
|
|
<format_version>13</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AR2-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AR2-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AR2-2560-2.hex</url2560-2>
|
|
<name>APMrover v2.20b JL NAUDIN AR2</name>
|
|
<desc>
|
|
#define LITE DISABLED
|
|
|
|
#define CLI_ENABLED ENABLED
|
|
#define CLI_SLIDER_ENABLED DISABLED
|
|
#define CLOSED_LOOP_NAV ENABLED
|
|
#define AUTO_WP_RADIUS DISABLED
|
|
|
|
#define TRACE ENABLED
|
|
|
|
#include "APM_Config_Rover.h"
|
|
|
|
</desc>
|
|
<format_version>13</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Quad</name>
|
|
<desc>
|
|
#define FRAME_CONFIG QUAD_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Tri</name>
|
|
<desc>
|
|
#define FRAME_CONFIG TRI_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Hexa</name>
|
|
<desc>
|
|
#define FRAME_CONFIG HEXA_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Y6</name>
|
|
<desc>
|
|
#define FRAME_CONFIG Y6_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Octa V</name>
|
|
<desc>
|
|
#define FRAME_CONFIG OCTA_FRAME
|
|
#define FRAME_ORIENTATION V_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Octa</name>
|
|
<desc>
|
|
#define FRAME_CONFIG OCTA_FRAME
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Heli (2560 only)</name>
|
|
<desc>
|
|
#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
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Quad Hil</name>
|
|
<desc>
|
|
#define FRAME_CONFIG QUAD_FRAME
|
|
#define FRAME_ORIENTATION PLUS_FRAME
|
|
|
|
#define HIL_MODE HIL_MODE_ATTITUDE
|
|
#define ALLOW_RC_OVERRIDE ENABLED
|
|
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
<Firmware>
|
|
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
|
|
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
|
|
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
|
|
<name>ArduCopter V2.7 Heli Hil</name>
|
|
<desc>
|
|
|
|
#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
|
|
|
|
|
|
</desc>
|
|
<format_version>118</format_version>
|
|
</Firmware>
|
|
</options>
|