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https://github.com/ArduPilot/ardupilot
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db4195b7a0
* config variable CONFIG_CHANNELS has possible values CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM * config_channels.h only provides APM1/APM2 mapping when CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
76 lines
1.9 KiB
C
76 lines
1.9 KiB
C
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#ifndef __ARDUCOPTER_CONFIG_MOTORS_H__
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#define __ARDUCOPTER_CONFIG_MOTORS_H__
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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//
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// DO NOT EDIT this file to adjust your configuration. Create your own
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// APM_Config.h and use APM_Config.h.example as a reference.
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//
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// WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING
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///
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//
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#include "config.h" // Parent Config File
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#include "APM_Config.h" // User Overrides
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//
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//
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// Output CH mapping for ArduCopter motor channels
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//
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//
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#if CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define MOT_1 CH_1
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# define MOT_2 CH_2
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# define MOT_3 CH_3
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# define MOT_4 CH_4
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# define MOT_5 CH_5
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# define MOT_6 CH_6
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# define MOT_7 CH_7
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# define MOT_8 CH_8
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# elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define MOT_1 CH_1
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# define MOT_2 CH_2
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# define MOT_3 CH_3
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# define MOT_4 CH_4
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# define MOT_5 CH_7
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# define MOT_6 CH_8
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# define MOT_7 CH_10
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# define MOT_8 CH_11
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# endif
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#endif
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//
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//
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// Output CH mapping for TRI_FRAME yaw servo
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//
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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# define CH_TRI_YAW CH_7
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define CH_TRI_YAW CH_7
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#endif
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//
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//
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// Output CH mapping for Aux channels
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//
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//
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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/* Camera Pitch and Camera Roll: Not yet defined for APM2
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* They will likely be dependent on the frame config */
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# define CH_CAM_PITCH CH_11
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# define CH_CAM_ROLL CH_10
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
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# define CH_CAM_PITCH CH_5
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# define CH_CAM_ROLL CH_6
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#endif
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#endif // __ARDUCOPTER_CONFIG_MOTORS_H__
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