mirror of https://github.com/ArduPilot/ardupilot
142 lines
4.3 KiB
C
142 lines
4.3 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
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//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
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// Ordinary users should please ignore the following define.
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// APM2_BETA_HARDWARE is used to support early (September-October 2011) APM2
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// hardware which had the BMP085 barometer onboard. Only a handful of
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// developers have these boards.
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//#define APM2_BETA_HARDWARE
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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 HIL_MODE HIL_MODE_ATTITUDE
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//#define DMP_ENABLED ENABLED
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//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes
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//#define FRAME_CONFIG QUAD_FRAME
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/*
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* options:
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* QUAD_FRAME
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* TRI_FRAME
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* HEXA_FRAME
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* Y6_FRAME
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* OCTA_FRAME
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* OCTA_QUAD_FRAME
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* HELI_FRAME
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*/
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//#define FRAME_ORIENTATION X_FRAME
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/*
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* PLUS_FRAME
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* X_FRAME
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* V_FRAME
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*/
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//#define CH7_OPTION CH7_SAVE_WP
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/*
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* CH7_DO_NOTHING
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* CH7_SET_HOVER
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* CH7_FLIP
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* CH7_SIMPLE_MODE
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* CH7_RTL
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* CH7_AUTO_TRIM
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* CH7_ADC_FILTER (experimental)
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* CH7_SAVE_WP
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* CH7_MULTI_MODE
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*/
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//#define TOY_EDF ENABLED
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//#define TOY_MIXER TOY_LOOKUP_TABLE
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// Inertia based contollers. disabled by default, work in progress
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//#define ACCEL_ALT_HOLD 0
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#define INERTIAL_NAV ENABLED
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#if INERTIAL_NAV == ENABLED
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//#define ALT_HOLD_P 3
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//#define ALT_HOLD_I 0
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//#define ALT_HOLD_IMAX 300
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// RATE control
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//#define THROTTLE_P 2.0
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//#define THROTTLE_I 0.4
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//#define THROTTLE_D 0.0
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//#define LOITER_P 0.50
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//#define LOITER_I 0.0
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//#define LOITER_RATE_P 5 //
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//#define LOITER_RATE_I 0.1 // Wind control
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//#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
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#endif
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//#define RATE_ROLL_I 0.18
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//#define RATE_PITCH_I 0.18
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//#define MOTORS_JD880
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//#define MOTORS_JD850
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// agmatthews USERHOOKS
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// the choice of function names is up to the user and does not have to match these
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// uncomment these hooks and ensure there is a matching function on your "UserCode.pde" file
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//#define USERHOOK_FASTLOOP userhook_FastLoop();
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#define USERHOOK_50HZLOOP userhook_50Hz();
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//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
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//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
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//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
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#define USERHOOK_INIT userhook_init();
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// the choice of included variables file (*.h) is up to the user and does not have to match this one
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// Ensure the defined file exists and is in the arducopter directory
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#define USERHOOK_VARIABLES "UserVariables.h"
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// to enable, set to 1
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// to disable, set to 0
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// #define AUTO_THROTTLE_HOLD 1
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//#define LOGGING_ENABLED DISABLED
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// Custom channel config - Expert Use Only.
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// this for defining your own MOT_n to CH_n mapping.
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// Overrides defaults (for APM1 or APM2) found in config_channels.h
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// MOT_n variables are used by the Frame mixing code. You must define
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// MOT_1 through MOT_m where m is the number of motors on your frame.
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// CH_n variables are used for RC output. These can be CH_1 through CH_8,
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// and CH_10 or CH_12.
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// Sample channel config. Must define all MOT_ channels used by
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// your FRAME_TYPE.
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// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
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// #define MOT_1 CH_6
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// #define MOT_2 CH_3
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// #define MOT_3 CH_2
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// #define MOT_4 CH_5
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// #define MOT_5 CH_1
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// #define MOT_6 CH_4
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// #define MOT_7 CH_7
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// #define MOT_8 CH_8
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// Used to set the max roll and pitch angles in Degrees * 100
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//#define MAX_INPUT_ROLL_ANGLE 8000
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//#define MAX_INPUT_PITCH_ANGLE 8000
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/////////////////////////////////////////////////////////////////////////////////
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// Bulk defines for TradHeli. Cleans up defines.h and config.h to put these here
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#if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# define RTL_YAW YAW_LOOK_AT_HOME
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# define TILT_COMPENSATION 5
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# define RATE_INTEGRATOR_LEAK_RATE 0.02
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# define RATE_ROLL_D 0
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# define RATE_PITCH_D 0
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# define HELI_PITCH_FF 0
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# define HELI_ROLL_FF 0
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# define HELI_YAW_FF 0
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#endif
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