// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __ARDUCOPTER_APMCONFIG_H__
#define __ARDUCOPTER_APMCONFIG_H__
// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_CRIUS_AIO_PRO_V2
/*
PIRATES_ALLINONE
PIRATES_FFIMU
PIRATES_FREEIMU
PIRATES_BLACKVORTEX
PIRATES_FREEIMU_4 // New FreeIMU 0.4.1 with MPU6050, MS5611 and 5883L
PIRATES_DROTEK_10DOF_MPU // MPU6050, MS5611 and 5883L
PIRATES_CRIUS_AIO_PRO_V1 // Crius AllInOne Pro v1(1.1)
PIRATES_CRIUS_AIO_PRO_V2 // Crius AllInOne Pro v2
*/
// RC configuration
// PPM_SUM(CPPM) Signal processing
#define SERIAL_PPM SERIAL_PPM_ENABLED_PL1
/*
SERIAL_PPM_DISABLED
SERIAL_PPM_ENABLED // For all boards, PPM_SUM pin is A8
SERIAL_PPM_ENABLED_PL1 // Use for CRIUS AIOP Pro v2,
*/
#define TX_CHANNEL_SET TX_mwi
/*
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
TX_JR //JR layout FLAPS:MODE, GEAR:SAVE TRIMM = apm ch7
*/
// Select your baro sensor
#define CONFIG_BARO AP_BARO_MS5611_I2C
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/
// Warning: COPTER_LEDS is not compatible with LED_SEQUENCER, so enable only one option
// Connect LEDs to A4 - A7
//#define COPTER_LEDS ENABLED // Native ArduCopter LEDs
//#define LED_SEQUENCER ENABLED // Old Syberian's LED Sequencer, see leds.pde for more info
#define MAX_SONAR_RANGE 400
// This OSD works on the Serial1 port
#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
OSD_PROTOCOL_FRSKY // FrSky Telemetry protocol
*/
// 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
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_BLACKVORTEX
GPS_PROTOCOL_AUTO auto select GPS, may not work
*/
#define SERIAL0_BAUD 115200 // Console port
#define SERIAL2_BAUD 115200 // 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_FLIP
* CH7_SIMPLE_MODE
* CH7_RTL
* CH7_SAVE_TRIM
* CH7_SAVE_WP
* CH7_CAMERA_TRIGGER
*/
// Inertia based contollers
//#define INERTIAL_NAV_XY ENABLED
#define INERTIAL_NAV_Z ENABLED
// 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 on 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 included 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"
#if PIRATES_SENSOR_BOARD == PIRATES_CRIUS_AIO_PRO_V2
#define LOGGING_ENABLED ENABLED
#else
#define LOGGING_ENABLED DISABLED
#endif
// ************** EXPERIMENTAL FEATURES *****************
// #define LOITER_REPOSITIONING ENABLED // Experimental Do Not Use
// #define LOITER_RP ROLL_PITCH_LOITER_PR // Experimental Do Not Use
#endif //__ARDUCOPTER_APMCONFIG_H__
ich werde das Ubec mal direkt auf den Mot Ausgang verbinden.
