mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Hardware in the loop protocol
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#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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// HIL_MODE SELECTION
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//
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// Mavlink supports
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// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
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// 2. HIL_MODE_SENSORS: full sensor simulation
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#define HIL_MODE HIL_MODE_ATTITUDE
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// HIL_PORT SELCTION
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//
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// PORT 1
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// If you would like to run telemetry communications for a groundstation
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// while you are running hardware in the loop it is necessary to set
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// HIL_PORT to 1. This uses the port that would have been used for the gps
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// as the hardware in the loop port. You will have to solder
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// headers onto the gps port connection on the apm
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// and connect via an ftdi cable.
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//
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// The baud rate is set to 115200 in this mode.
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//
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// PORT 3
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// If you don't require telemetry communication with a gcs while running
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// hardware in the loop you may use the telemetry port as the hardware in
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// the loop port. Alternatively, use a telemetry/HIL shim like FGShim
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// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
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//
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// The buad rate is controlled by SERIAL3_BAUD in this mode.
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#define HIL_PORT 3
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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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#define GPS_PROTOCOL GPS_PROTOCOL_MTK
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// Ground control station comms
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#if HIL_PORT != 3
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# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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# define GCS_PORT 3
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#endif
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// Sensors
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// All sensors are supported in all modes.
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// The magnetometer is not used in
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// HIL_MODE_ATTITUDE but you may leave it
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// enabled if you wish.
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#define AIRSPEED_SENSOR ENABLED
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#define MAGNETOMETER ENABLED
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