ardupilot/APMrover2/APM_Config.h

53 lines
1.8 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here.
// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
//#define SERIAL3_BAUD 38400
//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
#define LITE ENABLED // if LITE is ENABLED, you may use an APM1280 or APM2560 CPU only (IMU less) with a GPS MT3329
// if LITE is DISABLED, this is for a full APM v1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L) or APM v2
#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_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
// Radio setup:
// APM INPUT (Rec = receiver)
// Rec ch1: Roll
// Rec ch2: Throttle
// Rec ch3: Pitch
// Rec ch4: Yaw
// Rec ch5: not used
// Rec ch6:
// Rec ch7: Option channel to 2 positions switch
// Rec ch8: Mode channel to 3 positions switch
// APM OUTPUT
// Ch1: Wheel servo (direction)
// Ch2: not used
// Ch3: to the motor ESC
// Ch4: not used
// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
/*
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
#define GCS_PORT 3
*/