mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
f877b79757
Added option (hold roll to full right + SW7 ON/OFF) to init_home during the wp_list reset Add ROV_SONAR_TRIG (default = 200 cm) - tested by Franco Restart_nav() added and heading bug correction, tested OK in the field RTL then stop update - Tested OK in the field Added SONAR detection for obstacle avoidance Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
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// their default values, place the appropriate #define statements here.
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// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
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//#define SERIAL3_BAUD 38400
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//#define GCS_PROTOCOL GCS_PROTOCOL_NONE
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#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
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#define LITE DISABLED // if LITE is ENABLED, you may use an APM1280 or APM2560 CPU only (IMU less) with a GPS MT3329
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// if LITE is DISABLED, this is for a full APM v1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L) or APM v2
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#define CLI_ENABLED ENABLED
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#define CLI_SLIDER_ENABLED DISABLED
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#define CLOSED_LOOP_NAV ENABLED
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#define AUTO_WP_RADIUS DISABLED
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#define TRACE DISABLED
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//#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
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#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
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// Radio setup:
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// APM INPUT (Rec = receiver)
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// Rec ch1: Roll
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// Rec ch2: Throttle
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// Rec ch3: Pitch
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// Rec ch4: Yaw
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// Rec ch5: not used
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// Rec ch6:
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// Rec ch7: Option channel to 2 positions switch
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// Rec ch8: Mode channel to 3 positions switch
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// APM OUTPUT
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// Ch1: Wheel servo (direction)
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// Ch2: not used
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// Ch3: to the motor ESC
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// Ch4: not used
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// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
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/*
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#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
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#define HIL_MODE HIL_MODE_ATTITUDE
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#define HIL_PORT 0
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#define GCS_PORT 3
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*/
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