mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.3 KiB
C
70 lines
2.3 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
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// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
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// Enable Autopilot Flight Mode
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#define FLIGHT_MODE_CHANNEL 8
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#define FLIGHT_MODE_1 AUTO
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#define FLIGHT_MODE_2 RTL
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#define FLIGHT_MODE_3 FLY_BY_WIRE_A
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#define FLIGHT_MODE_4 FLY_BY_WIRE_B
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#define FLIGHT_MODE_5 STABILIZE
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#define FLIGHT_MODE_6 MANUAL
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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 0
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// Port 0 is the port usually used for HIL. You attatch your HIL computer
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// to APM using a USB cable. You can run telemetry on Port 3
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//
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// PORT 1
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// Available for special situations. This uses the port that would have
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// 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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// The buad rate is controlled by SERIAL1_BAUD 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 0
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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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#define AIRSPEED_CRUISE 25
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#define THROTTLE_FAILSAFE ENABLED
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