APM:Copter
APM_Config.h
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1 // User specific config file. Any items listed in config.h can be overridden here.
2 
3 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
4 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
5 
6 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
7 //#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
8 //#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
9 //#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
10 //#define AC_FENCE DISABLED // disable fence to save 2k of flash
11 //#define CAMERA DISABLED // disable camera trigger to save 1k of flash
12 //#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash
13 //#define PROXIMITY_ENABLED DISABLED // disable proximity sensors
14 //#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
15 //#define AC_AVOID_ENABLED DISABLED // disable stop-at-fence library
16 //#define AC_TERRAIN DISABLED // disable terrain library
17 //#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
18 //#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
19 //#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
20 //#define VISUAL_ODOMETRY_ENABLED DISABLED // disable visual odometry to save 2K of flash space
21 //#define FRSKY_TELEM_ENABLED DISABLED // disable FRSky telemetry
22 //#define ADSB_ENABLED DISABLED // disable ADSB support
23 //#define PRECISION_LANDING DISABLED // disable precision landing using companion computer or IRLock sensor
24 //#define BEACON_ENABLED DISABLED // disable beacon support
25 //#define SPRAYER DISABLED // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
26 //#define WINCH_ENABLED DISABLED // disable winch support
27 //#define GRIPPER_ENABLED DISABLED // disable gripper support
28 //#define RPM_ENABLED DISABLED // disable rotations per minute sensor support
29 //#define MAGNETOMETER DISABLED // disable magnetometer support
30 //#define STATS_ENABLED DISABLED // disable statistics support
31 //#define MODE_ACRO_ENABLED DISABLED // disable acrobatic mode support
32 //#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
33 //#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support
34 //#define MODE_CIRCLE_ENABLED DISABLED // disable circle mode support
35 //#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
36 //#define MODE_FOLLOW_ENABLED DISABLED // disable follow mode support
37 //#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
38 //#define MODE_GUIDED_NOGPS_ENABLED DISABLED // disable guided/nogps mode support
39 //#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support
40 //#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
41 //#define MODE_RTL_ENABLED DISABLED // disable rtl mode support
42 //#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support
43 //#define MODE_SPORT_ENABLED DISABLED // disable sport mode support
44 //#define MODE_THROW_ENABLED DISABLED // disable throw mode support
45 //#define DEVO_TELEM_ENABLED DISABLED // disable DEVO telemetry, if you don't use Walkera RX-707 (or newer) receivers
46 
47 
48 // features below are disabled by default on all boards
49 //#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
50 //#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
51 //#define ADVANCED_FAILSAFE ENABLED // enabled advanced failsafe which allows running a portion of the mission in failsafe events
52 
53 // other settings
54 //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
55 
56 //#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
57 
58 // User Hooks : For User Developed code that you wish to run
59 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
60 //#define USERHOOK_VARIABLES "UserVariables.h"
61 // Put your custom code into the UserCode.cpp with function names matching those listed below and ensure the appropriate #define below is uncommented below
62 //#define USERHOOK_INIT userhook_init(); // for code to be run once at startup
63 //#define USERHOOK_FASTLOOP userhook_FastLoop(); // for code to be run at 100hz
64 //#define USERHOOK_50HZLOOP userhook_50Hz(); // for code to be run at 50hz
65 //#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz
66 //#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz
67 //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz