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| arducopter.cpp |
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| // User specific config file. Any items listed in config.h can be overridden here. | ||
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| // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer | ||
| // valid! You should switch to using a HAL_BOARD flag in your local config.mk. | ||
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| // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards) | ||
| //#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space | ||
| //#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space | ||
| //#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash | ||
| //#define AC_FENCE DISABLED // disable fence to save 2k of flash | ||
| //#define CAMERA DISABLED // disable camera trigger to save 1k of flash | ||
| //#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash | ||
| //#define PROXIMITY_ENABLED DISABLED // disable proximity sensors | ||
| //#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash | ||
| //#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally) | ||
| //#define AC_TERRAIN DISABLED // disable terrain library | ||
| //#define PARACHUTE DISABLED // disable parachute release to save 1k of flash | ||
| //#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space | ||
| //#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands | ||
| //#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space | ||
| //#define VISUAL_ODOMETRY_ENABLED DISABLED // disable visual odometry to save 2K of flash space | ||
| //#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry | ||
| //#define ADSB_ENABLED DISABLED // disable ADSB support | ||
| //#define PRECISION_LANDING DISABLED // disable precision landing using companion computer or IRLock sensor | ||
| //#define SPRAYER DISABLED // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity) | ||
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| // features below are disabled by default on all boards | ||
| //#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes | ||
| //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link | ||
| //#define ADVANCED_FAILSAFE ENABLED // enabled advanced failsafe which allows running a portion of the mission in failsafe events | ||
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| // other settings | ||
| //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000) | ||
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| //#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation | ||
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| // User Hooks : For User Developed code that you wish to run | ||
| // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below). | ||
| #define USERHOOK_VARIABLES "UserVariables.h" | ||
| // Put your custom code into the UserCode.cpp with function names matching those listed below and ensure the appropriate #define below is uncommented below | ||
| #define USERHOOK_INIT userhook_init(); // for code to be run once at startup | ||
| #define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz | ||
| #define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz | ||
| #define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 20hz | ||
| //#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz | ||
| //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz |
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| // HIL_MODE SELECTION | ||
| // | ||
| // Mavlink supports | ||
| // 1. HIL_MODE_SENSORS: full sensor simulation | ||
| #define HIL_MODE HIL_MODE_SENSORS | ||
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| // HIL_PORT SELCTION | ||
| // | ||
| // PORT 1 | ||
| // If you would like to run telemetry communications for a groundstation | ||
| // while you are running hardware in the loop it is necessary to set | ||
| // HIL_PORT to 1. This uses the port that would have been used for the gps | ||
| // as the hardware in the loop port. You will have to solder | ||
| // headers onto the gps port connection on the apm | ||
| // and connect via an ftdi cable. | ||
| // | ||
| // The baud rate is set to 115200 in this mode. | ||
| // | ||
| // PORT 3 | ||
| // If you don't require telemetry communication with a gcs while running | ||
| // hardware in the loop you may use the telemetry port as the hardware in | ||
| // the loop port. Alternatively, use a telemetry/HIL shim like FGShim | ||
| // https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear | ||
| // | ||
| // The buad rate is controlled by SERIAL1_BAUD in this mode. | ||
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| #define HIL_PORT 3 | ||
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