Super
Habe alles so gemacht wie in dem Video und beim Kompilieren werden keine Fehler angezeigt.Kann da vieleich mal jemand drber schauen ob ich alles richtig eingestelt habe oder ob noch was fehlt?
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __ARDUCOPTER_APMCONFIG_H__
#define __ARDUCOPTER_APMCONFIG_H__
// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
// Fast PWM 490Hz enabled by default (490 Hz can be changed in the APM Planner)
// In order to use an old PWM generator (for slow ESC), uncomment this line
//#define INSTANT_PWM ENABLED
// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_ALLINONE
/*
PIRATES_ALLINONE
PIRATES_FFIMU
PIRATES_FREEIMU
PIRATES_BLACKVORTEX
PIRATES_FREEIMU_4 // New FreeIMU 0.4.1 with MPU6000, MS5611 and 5883L
PIRATES_DROTEK_10DOF_MPU // MPU6000, MS5611 and 5883L
PIRATES_CRIUS_AIO_PRO_V1 // Crius AllInOne Pro v1
*/
// RC configuration
// Uncomment if you uses PPM Sum signal from receiver
//#define SERIAL_PPM ENABLED
#define TX_CHANNEL_SET TX_set1
/*
TX_set1 //Graupner/Spektrum PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,CAMPITCH,CAMROLL
TX_standard //standard PPM layout Robbe/Hitec/Sanwa ROLL,PITCH,THROTTLE,YAW,MODE,AUX2,CAMPITCH,CAMROLL
TX_set2 //some Hitec/Sanwa/others PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
TX_mwi //MultiWii layout ROLL,THROTTLE,PITCH,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
*/
// Select your baro sensor
#define CONFIG_BARO AP_BARO_BMP085_PIRATES
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/
// Warning: COPTER_LEDS is not compatible with LED_SEQUENCER, so enable only one option
#define COPTER_LEDS ENABLED // New feature coming from ArduCopter
//#define LED_SEQUENCER ENABLED // Old Oleg's LED Sequencer, see leds.pde for more info
#define MAX_SONAR_RANGE 400
#define OSD_PROTOCOL OSD_PROTOCOL_NONE
/*
OSD_PROTOCOL_NONE
OSD_PROTOCOL_SYBERIAN
OSD_PROTOCOL_REMZIBI // Read more at:
http://www.rcgroups.com/forums/showthread.php?t=921467
*/
// For BlackVortex, just set PIRATES_SENSOR_BOARD as PIRATES_BLACKVORTEX, GPS will be selected automatically
#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX
/*
GPS_PROTOCOL_NONE without GPS
GPS_PROTOCOL_NMEA
GPS_PROTOCOL_SIRF
GPS_PROTOCOL_UBLOX <<< Select this for UBLOX LEA-6 (CRIUS GPS boards and others)
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_BLACKVORTEX
GPS_PROTOCOL_AUTO auto select GPS
*/
#define SERIAL0_BAUD 115200 // Console port
#define SERIAL2_BAUD 38400 // GPS port
#define SERIAL3_BAUD 57600 // Telemetry (MAVLINK) port
// New in 2.0.43, but unused in MegairateNG
// MPNG: Piezo uses AN5 pin in ArduCopter, we uses AN5 for CLI switch
#define PIEZO DISABLED
#define PIEZO_LOW_VOLTAGE DISABLED
#define PIEZO_ARMING DISABLED
#define FRAME_CONFIG QUAD_FRAME
/*
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
OCTA_FRAME
OCTA_QUAD_FRAME
HELI_FRAME
*/
#define FRAME_ORIENTATION X_FRAME
/*
PLUS_FRAME
X_FRAME
V_FRAME
*/
# define CH7_OPTION CH7_DO_NOTHING
/*
CH7_DO_NOTHING
CH7_SET_HOVER
CH7_FLIP
CH7_SIMPLE_MODE
CH7_RTL
CH7_AUTO_TRIM
CH7_ADC_FILTER (experimental)
CH7_SAVE_WP
*/
//#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18
//#define MOTORS_JD880
//#define MOTORS_JD850
// agmatthews USERHOOKS
// the choice of function names is up to the user and does not have to match these
// uncomment these hooks and ensure there is a matching function un your "UserCode.pde" file
//#define USERHOOK_FASTLOOP userhook_FastLoop();
#define USERHOOK_50HZLOOP userhook_50Hz();
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
#define USERHOOK_INIT userhook_init();
// the choice of includeed variables file (*.h) is up to the user and does not have to match this one
// Ensure the defined file exists and is in the arducopter directory
#define USERHOOK_VARIABLES "UserVariables.h"
// to enable, set to 1
// to disable, set to 0
#define AUTO_THROTTLE_HOLD 1
#define LOGGING_ENABLED DISABLED
// Custom channel config - Expert Use Only.
// this for defining your own MOT_n to CH_n mapping.
// Overrides defaults (for APM1 or APM2) found in config_channels.h
// MOT_n variables are used by the Frame mixing code. You must define
// MOT_1 through MOT_m where m is the number of motors on your frame.
// CH_n variables are used for RC output. These can be CH_1 through CH_8,
// and CH_10 or CH_12.
// Sample channel config. Must define all MOT_ chanels used by
// your FRAME_TYPE.
// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
// #define MOT_1 CH_6
// #define MOT_2 CH_3
// #define MOT_3 CH_2
// #define MOT_4 CH_5
// #define MOT_5 CH_1
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8
// ************** EXPERIMENTAL FEATURES *****************
// Alt hold with accelerometer
#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress
#define INERTIAL_NAV DISABLED
#if INERTIAL_NAV == ENABLED
#define ALT_HOLD_P 3
#define ALT_HOLD_I 0
#define ALT_HOLD_IMAX 300
// RATE control
#define THROTTLE_P 5 //
#define THROTTLE_I 0.4 //
#define THROTTLE_D 0.0 //
#define LOITER_P 0.50
#define LOITER_I 0.0
#define LOITER_RATE_P 5 //
#define LOITER_RATE_I 0.1 // Wind control
#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif
// Enabling this will use the GPS lat/long coordinate to get the compass declination
//#define AUTOMATIC_DECLINATION ENABLED
// Enable Jeb Madgwick sensor fusion algo
//#define QUATERNION_ENABLE ENABLED
//#define CLI_ENABLED DISABLED
//#define FAILSAFE
#endif //__ARDUCOPTER_APMCONFIG_H__
