mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.9 KiB
C
77 lines
1.9 KiB
C
// Example config file. Use APM_Config.h.reference and the wiki to find additional defines to setup your plane.
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// Once you upload the code, run the factory "reset" to save all config values to EEPROM.
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// After reset, use the setup mode to set your radio limits for CH1-4, and to set your flight modes.
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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 NAV_TEST 1 // 0 = traditional, 1 = rate controlled
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#define YAW_OPTION 0 // 0 = hybrid rate approach, 1 = offset Yaw approach
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#define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
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#define CUT_MOTORS 1 // do we cut the motors with no throttle?
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// do we want to have camera stabilization?
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#define CAMERA_STABILIZER ENABLED
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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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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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*/
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#define CHANNEL_6_TUNING CH6_NONE
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/*
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CH6_NONE
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CH6_STABLIZE_KP
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CH6_STABLIZE_KD
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CH6_BARO_KP
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CH6_BARO_KD
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CH6_SONAR_KP
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CH6_SONAR_KD
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CH6_Y6_SCALING
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*/
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//#define ACRO_RATE_TRIGGER 4200
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// if you want full ACRO mode, set value to 0
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// if you want mostly stabilize with flips, set value to 4200
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//#define STABILIZE_ROLL_D 0.11
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//#define STABILIZE_PITCH_D 0.11
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// Logging
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//#define LOG_CURRENT ENABLED
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# define LOG_ATTITUDE_FAST DISABLED
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# define LOG_ATTITUDE_MED DISABLED
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# define LOG_GPS ENABLED
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# define LOG_PM ENABLED
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# define LOG_CTUN ENABLED
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# define LOG_NTUN ENABLED
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# define LOG_MODE ENABLED
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# define LOG_RAW DISABLED
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# define LOG_CMD ENABLED
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# define LOG_CURRENT DISABLED
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#define MOTOR_LEDS 1 // 0 = off, 1 = on
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#define FR_LED AN12 // Mega PE4 pin, OUT7
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#define RE_LED AN14 // Mega PE5 pin, OUT6
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#define RI_LED AN10 // Mega PH4 pin, OUT5
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#define LE_LED AN8 // Mega PH5 pin, OUT4
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