{"id":592,"date":"2015-12-11T12:15:30","date_gmt":"2015-12-11T21:15:30","guid":{"rendered":"\/blog\/?p=592"},"modified":"2023-09-21T09:38:07","modified_gmt":"2023-09-21T00:38:07","slug":"pixhawk-apm_config-h-reference","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=592","title":{"rendered":"pixhawk APM_Config.h Reference"},"content":{"rendered":"\n
\uc704\uce58 : ArduCopter\/APM_Config.h<\/span><\/font><\/div>

<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Example and reference ArduPilot Mega configuration file<\/span><\/font><\/div>
\/\/ =======================================================<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ This file contains documentation and examples for configuration options<\/span><\/font><\/div>
\/\/ supported by the ArduPilot Mega software.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Most of these options are just that - optional.  You should create<\/span><\/font><\/div>
\/\/ the APM_Config.h file and use this file as a reference for options<\/span><\/font><\/div>
\/\/ that you want to change.  Don't copy this file directly; the options<\/span><\/font><\/div>
\/\/ described here and their default values may change over time.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Each item is marked with a keyword describing when you should set it:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ REQUIRED<\/span><\/font><\/div>
\/\/          You must configure this in your APM_Config.h file.  The<\/span><\/font><\/div>
\/\/          software will not compile if the option is not set.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ OPTIONAL<\/span><\/font><\/div>
\/\/          The option has a sensible default (which will be described<\/span><\/font><\/div>
\/\/          here), but you may wish to override it.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ EXPERIMENTAL<\/span><\/font><\/div>
\/\/          You should configure this option unless you are prepared<\/span><\/font><\/div>
\/\/          to deal with potential problems.  It may relate to a feature<\/span><\/font><\/div>
\/\/          still in development, or which is not yet adequately tested.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ DEBUG<\/span><\/font><\/div>
\/\/          The option should only be set if you are debugging the<\/span><\/font><\/div>
\/\/          software, or if you are gathering information for a bug<\/span><\/font><\/div>
\/\/          report.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NOTE:<\/span><\/font><\/div>
\/\/   Many of these settings are considered 'factory defaults', and the<\/span><\/font><\/div>
\/\/   live value is stored and managed in the ArduPilot Mega EEPROM.<\/span><\/font><\/div>
\/\/   Use the setup 'factoryreset' command after changing options in<\/span><\/font><\/div>
\/\/   your APM_Config.h file.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Units<\/span><\/font><\/div>
\/\/ -----<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Unless indicated otherwise, numeric quantities use the following units:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Measurement | Unit<\/span><\/font><\/div>
\/\/ ------------+-------------------------------------<\/span><\/font><\/div>
\/\/ angle       | degrees<\/span><\/font><\/div>
\/\/ distance    | metres<\/span><\/font><\/div>
\/\/ speed       | metres per second<\/span><\/font><\/div>
\/\/ servo angle | microseconds<\/span><\/font><\/div>
\/\/ voltage     | volts<\/span><\/font><\/div>
\/\/ times       | seconds<\/span><\/font><\/div>
\/\/ throttle    | percent<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ HARDWARE CONFIGURATION AND CONNECTIONS<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL                             REQUIRED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ GPS configuration, must be one of:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_AUTO            Auto detect GPS type (must be a supported GPS)<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_NONE        No GPS attached<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_IMU         X-Plane interface or ArduPilot IMU.<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_MTK         MediaTek-based GPS running the DIYDrones firmware 1.4<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_MTK19       MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_UBLOX       UBLOX GPS<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_SIRF        SiRF-based GPS in Binary mode.  NOT TESTED<\/span><\/font><\/div>
\/\/ GPS_PROTOCOL_NMEA        Standard NMEA GPS.      NOT SUPPORTED (yet?)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define GPS_PROTOCOL  GPS_PROTOCOL_AUTO<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ AIRSPEED_SENSOR                          OPTIONAL<\/span><\/font><\/div>
\/\/ AIRSPEED_RATIO                           OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Set AIRSPEED_SENSOR to ENABLED if you have an airspeed sensor attached.<\/span><\/font><\/div>
\/\/ Adjust AIRSPEED_RATIO in small increments to calibrate the airspeed<\/span><\/font><\/div>
\/\/ sensor relative to your GPS.  The calculation and default value are optimized for speeds around 12 m\/s<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default assumes that an airspeed sensor is connected.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define AIRSPEED_SENSOR     ENABLED<\/span><\/font><\/div>
\/\/#define AIRSPEED_RATIO      1.9936<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ MAGNETOMETER                          OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Set MAGNETOMETER to ENABLED if you have a magnetometer attached.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default assumes that a magnetometer is not connected.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define MAGNETOMETER          DISABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ HIL_PROTOCOL                             OPTIONAL<\/span><\/font><\/div>
\/\/ HIL_MODE                                 OPTIONAL<\/span><\/font><\/div>
\/\/ HIL_PORT                                 OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Configuration for Hardware-in-the-loop simulation.  In these modes,<\/span><\/font><\/div>
\/\/ APM is connected via one or more interfaces to simulation software<\/span><\/font><\/div>
\/\/ running on another system.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ HIL_PROTOCOL_XPLANE    Configure for the X-plane HIL interface.<\/span><\/font><\/div>
\/\/ HIL_PROTOCOL_MAVLINK   Configure for HIL over MAVLink.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ HIL_MODE_DISABLED      Configure for standard flight.<\/span><\/font><\/div>
\/\/ HIL_MODE_SENSORS       Simulator provides raw sensor values.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Note that currently HIL_PROTOCOL_MAVLINK requires HIL_MODE_SENSORS.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define HIL_MODE                              HIL_MODE_DISABLED<\/span><\/font><\/div>
\/\/#define HIL_PORT                              0<\/span><\/font><\/div>
\/\/#define HIL_PROTOCOL                  HIL_PROTOCOL_MAVLINK<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ GCS_PROTOCOL                             OPTIONAL<\/span><\/font><\/div>
\/\/ GCS_PORT                                 OPTIONAL<\/span><\/font><\/div>
\/\/ MAV_SYSTEM_ID                                                        OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The GCS_PROTOCOL option determines which (if any) ground control station<\/span><\/font><\/div>
\/\/ protocol will be used.  Must be one of:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ GCS_PROTOCOL_NONE        No GCS output<\/span><\/font><\/div>
\/\/ GCS_PROTOCOL_MAVLINK     QGroundControl protocol<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The GCS_PORT option determines which serial port will be used by the<\/span><\/font><\/div>
\/\/ GCS protocol.   The usual values are 0 for the console\/USB port,<\/span><\/font><\/div>
\/\/ or 3 for the telemetry port on the oilpan.  Note that some protocols<\/span><\/font><\/div>
\/\/ will ignore this value and always use the console port.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The MAV_SYSTEM_ID is a unique identifier for this UAV.  The default value is 1.<\/span><\/font><\/div>
\/\/ If you will be flying multiple UAV's each should be assigned a different ID so<\/span><\/font><\/div>
\/\/ that ground stations can tell them apart.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define GCS_PROTOCOL          GCS_PROTOCOL_MAVLINK<\/span><\/font><\/div>
\/\/#define GCS_PORT                      3<\/span><\/font><\/div>
\/\/#define MAV_SYSTEM_ID         1<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Serial port speeds.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERIAL0_BAUD                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Baudrate for the console port.  Default is 115200bps.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERIAL3_BAUD                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Baudrate for the telemetry port.  Default is 57600bps.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define SERIAL0_BAUD        115200<\/span><\/font><\/div>
\/\/#define SERIAL3_BAUD         57600<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Battery monitoring                       OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ See the manual for details on selecting divider resistors for battery<\/span><\/font><\/div>
\/\/ monitoring via the oilpan.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ BATTERY_EVENT                            OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Set BATTERY_EVENT to ENABLED to enable low voltage or high discharge warnings.<\/span><\/font><\/div>
\/\/ The default is DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOW_VOLTAGE                              OPTIONAL if BATTERY_EVENT is set.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Value in volts at which ArduPilot Mega should consider the<\/span><\/font><\/div>
\/\/ battery to be \"low\".<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ VOLT_DIV_RATIO                           OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ See the manual for details.  The default value corresponds to the resistors<\/span><\/font><\/div>
\/\/ recommended by the manual.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ CURR_AMPS_PER_VOLT                                           OPTIONAL<\/span><\/font><\/div>
\/\/ CURR_AMPS_OFFSET                                                     OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The sensitivity of the current sensor.  This must be scaled if a resistor is installed on APM<\/span><\/font><\/div>
\/\/ for a voltage divider on input 2 (not recommended).  The offset is used for current sensors with an offset<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ HIGH_DISCHARGE                                                       OPTIONAL if BATTERY_EVENT is set.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Value in milliamp-hours at which a warning should be triggered.  Recommended value = 80% of<\/span><\/font><\/div>
\/\/ battery capacity.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define BATTERY_EVENT                 DISABLED<\/span><\/font><\/div>
\/\/#define LOW_VOLTAGE                   9.6<\/span><\/font><\/div>
\/\/#define VOLT_DIV_RATIO                3.56<\/span><\/font><\/div>
\/\/#define CURR_AMPS_PER_VOLT    27.32<\/span><\/font><\/div>
\/\/#define CURR_AMPS_OFFSET              0.0<\/span><\/font><\/div>
\/\/#define HIGH_DISCHARGE                1760<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ INPUT_VOLTAGE                            OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ In order to have accurate pressure and battery voltage readings, this<\/span><\/font><\/div>
\/\/ value should be set to the voltage measured at the processor.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ See the manual for more details.  The default value should be close if you are applying 5 volts to the servo rail.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define INPUT_VOLTAGE 4.68    \/\/  4.68 is the average value for a sample set.  This is the value at the processor with 5.02 applied at the servo rail<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ RADIO CONFIGURATION<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ FLIGHT_MODE                                                          OPTIONAL<\/span><\/font><\/div>
\/\/ FLIGHT_MODE_CHANNEL                                  OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Flight modes assigned to the control channel, and the input channel that<\/span><\/font><\/div>
\/\/ is read for the control mode.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Use a servo tester, or the ArduPilotMega_demo test program to check your<\/span><\/font><\/div>
\/\/ switch settings.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ ATTENTION: Some ArduPilot Mega boards have radio channels marked 0-7, and<\/span><\/font><\/div>
\/\/ others have them marked the standard 1-8.  The FLIGHT_MODE_CHANNEL option<\/span><\/font><\/div>
\/\/ uses channel numbers 1-8 (and defaults to 8).<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If you only have a three-position switch or just want three modes, set your<\/span><\/font><\/div>
\/\/ switch to produce 1165, 1425, and 1815 microseconds and configure<\/span><\/font><\/div>
\/\/ FLIGHT_MODE 1 & 2, 3 & 4 and 5 & 6 to be the same.  This is the default.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If you have FLIGHT_MODE_CHANNEL set to 8 (the default) and your control<\/span><\/font><\/div>
\/\/ channel connected to input channel 8, the hardware failsafe mode will<\/span><\/font><\/div>
\/\/ activate for any control input over 1750ms.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ For more modes (up to six), set your switch(es) to produce any of 1165,<\/span><\/font><\/div>
\/\/ 1295, 1425, 1555, 1685, and 1815 microseconds.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Flight mode |  Switch Setting (ms)<\/span><\/font><\/div>
\/\/ ------------+---------------------<\/span><\/font><\/div>
\/\/      1      |     1165<\/span><\/font><\/div>
\/\/      2      |     1295<\/span><\/font><\/div>
\/\/      3      |     1425<\/span><\/font><\/div>
\/\/      4      |     1555<\/span><\/font><\/div>
\/\/      5      |     1685<\/span><\/font><\/div>
\/\/      6      |     1815       (FAILSAFE if using channel 8)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The following standard flight modes are available:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/  Name            | Description<\/span><\/font><\/div>
\/\/ -----------------+--------------------------------------------<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  MANUAL          | Full manual control via the hardware multiplexer.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  STABILIZE       | Tries to maintain level flight, but can be overridden with radio control inputs.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  FLY_BY_WIRE_A   | Autopilot style control via user input, with manual throttle.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  FLY_BY_WIRE_B   | Autopilot style control via user input, aispeed controlled with throttle.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  RTL             | Returns to the Home location and then LOITERs at a safe altitude.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  AUTO            | Autonomous flight based on programmed waypoints.  Use the WaypointWriter<\/span><\/font><\/div>
\/\/                  | application or your Ground Control System to edit and upload<\/span><\/font><\/div>
\/\/                  | waypoints and other commands.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/air<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The following non-standard modes are EXPERIMENTAL:<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/  Name            | Description<\/span><\/font><\/div>
\/\/ -----------------+--------------------------------------------<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  LOITER          | Flies in a circle around the current location.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/  CIRCLE          | Flies in a stabilized 'dumb' circle.<\/span><\/font><\/div>
\/\/                  |<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If you are using channel 8 for mode switching then FLIGHT_MODE_5 and<\/span><\/font><\/div>
\/\/ FLIGHT_MODE_6 should be MANUAL.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_CHANNEL   8<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_1         RTL<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_2         RTL<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_3         STABILIZE<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_4         STABILIZE<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_5         MANUAL<\/span><\/font><\/div>
\/\/#define FLIGHT_MODE_6         MANUAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ For automatic flap operation based on speed setpoint.  If the speed setpoint is above flap_1_speed<\/span><\/font><\/div>
\/\/ then the flap position shall be 0%.  If the speed setpoint is between flap_1_speed and flap_2_speed<\/span><\/font><\/div>
\/\/ then the flap position shall be flap_1_percent.  If the speed setpoint is below flap_2_speed<\/span><\/font><\/div>
\/\/ then the flap position shall be flap_2_percent.  Speed setpoint is the current value of<\/span><\/font><\/div>
\/\/ airspeed_cruise (if airspeed sensor enabled) or throttle_cruise (if no airspeed sensor)<\/span><\/font><\/div>

<\/font><\/div>
\/\/ FLAP_1_PERCENT                                                       OPTIONAL<\/span><\/font><\/div>
\/\/ FLAP_1_SPEED                                                         OPTIONAL<\/span><\/font><\/div>
\/\/ FLAP_2_PERCENT                                                       OPTIONAL<\/span><\/font><\/div>
\/\/ FLAP_2_SPEED                                                         OPTIONAL<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_FAILSAFE                        OPTIONAL<\/span><\/font><\/div>
\/\/ THROTTLE_FS_VALUE                        OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The throttle failsafe allows you to configure a software failsafe activated<\/span><\/font><\/div>
\/\/ by a setting on the throttle input channel (channel 3).  Enabling this failsafe<\/span><\/font><\/div>
\/\/ also enables \"short failsafe\" conditions (see below) based on loss of<\/span><\/font><\/div>
\/\/ rc override control from the GCS<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ This can be used to achieve a failsafe override on loss of radio control<\/span><\/font><\/div>
\/\/ without having to sacrifice one of your FLIGHT_MODE settings, as the<\/span><\/font><\/div>
\/\/ throttle failsafe overrides the switch-selected mode.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Throttle failsafe is enabled by setting THROTTLE_FAILSAFE to 1.  The default<\/span><\/font><\/div>
\/\/ is for it to be enabled.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If the throttle failsafe is enabled, THROTTLE_FS_VALUE sets the channel value<\/span><\/font><\/div>
\/\/ below which the failsafe engages.  The default is 975ms, which is a very low<\/span><\/font><\/div>
\/\/ throttle setting.  Most transmitters will let you trim the manual throttle<\/span><\/font><\/div>
\/\/ position up so that you cannot engage the failsafe with a regular stick movement.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Configure your receiver's failsafe setting for the throttle channel to the<\/span><\/font><\/div>
\/\/ absolute minimum, and use the ArduPilotMega_demo program to check that<\/span><\/font><\/div>
\/\/ you cannot reach that value with the throttle control.  Leave a margin of<\/span><\/font><\/div>
\/\/ at least 50 microseconds between the lowest throttle setting and<\/span><\/font><\/div>
\/\/ THROTTLE_FS_VALUE.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define THROTTLE_FAILSAFE   ENABLED<\/span><\/font><\/div>
\/\/#define THROTTLE_FS_VALUE   950<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/ GCS_HEARTBEAT_FAILSAFE                               OPTIONAL<\/span><\/font><\/div>
\/\/ SHORT_FAILSAFE_ACTION                                OPTIONAL<\/span><\/font><\/div>
\/\/ LONG_FAILSAFE_ACTION                                 OPTIONAL<\/span><\/font><\/div>

<\/font><\/div>
\/\/ There are two basic conditions which can trigger a failsafe.  One is a loss of control signal.<\/span><\/font><\/div>
\/\/ Normally this means a loss of the radio control RC signal.  However if rc override from the<\/span><\/font><\/div>
\/\/ GCS is in use then this can mean a loss of communication with the GCS.  Such a failsafe will be<\/span><\/font><\/div>
\/\/ classified as either short (greater than 1.5 seconds but less than 20) or long (greater than 20).<\/span><\/font><\/div>
\/\/ Also, if GCS_HEARTBEAT_FAILSAFE is enabled and a heartbeat signal from the GCS has not been received<\/span><\/font><\/div>
\/\/ in the preceeding 20 seconds then this will also trigger a \"long\" failsafe.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The SHORT_FAILSAFE_ACTION and LONG_FAILSAFE_ACTION settings determines what APM will do when<\/span><\/font><\/div>
\/\/ a failsafe mode is entered while flying in AUTO or LOITER mode.  This is important in order to avoid<\/span><\/font><\/div>
\/\/ accidental failsafe behaviour when flying waypoints that take the aircraft<\/span><\/font><\/div>
\/\/ out of radio range.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If SHORT_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,<\/span><\/font><\/div>
\/\/ the aircraft will head for home in RTL mode.  If the failsafe condition is<\/span><\/font><\/div>
\/\/ resolved, it will return to AUTO or LOITER mode.<\/span><\/font><\/div>

<\/font><\/div>
\/\/ If LONG_FAILSAFE_ACTION is 1, when failsafe is entered in AUTO or LOITER modes,<\/span><\/font><\/div>
\/\/ the aircraft will head for home in RTL mode.  If the failsafe condition is<\/span><\/font><\/div>
\/\/ resolved the aircraft will not be returned to AUTO or LOITER mode, but will continue home<\/span><\/font><\/div>

<\/font><\/div>
\/\/ If XX_FAILSAFE_ACTION is 0 and the applicable failsafe occurs while in AUTO or LOITER<\/span><\/font><\/div>
\/\/ mode the aircraft will continue in that mode ignoring the failsafe condition.<\/span><\/font><\/div>

<\/font><\/div>
\/\/ Note that for Manual, Stabilize, and Fly-By-Wire (A and B) modes the aircraft will always<\/span><\/font><\/div>
\/\/ enter a circling mode for short failsafe conditions and will be switched to RTL for long<\/span><\/font><\/div>
\/\/ failsafe conditions.  RTL mode is unaffected by failsafe conditions.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to have GCS Heartbeat failsafes DISABLED<\/span><\/font><\/div>
\/\/ The default behaviour is to ignore failsafes in AUTO and LOITER modes.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define GCS_HEARTBEAT_FAILSAFE        DISABLED<\/span><\/font><\/div>
\/\/#define SHORT_FAILSAFE_ACTION         0<\/span><\/font><\/div>
\/\/#define LONG_FAILSAFE_ACTION          0<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ AUTO_TRIM                                OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ ArduPilot Mega can update its trim settings by looking at the<\/span><\/font><\/div>
\/\/ radio inputs when switching out of MANUAL mode.  This allows you to<\/span><\/font><\/div>
\/\/ manually trim your aircraft before switching to an assisted mode, but it<\/span><\/font><\/div>
\/\/ also means that you should avoid switching out of MANUAL while you have<\/span><\/font><\/div>
\/\/ any control stick deflection.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to disable AUTO_TRIM.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define AUTO_TRIM           DISABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_REVERSE                         OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ A few speed controls require the throttle servo signal be reversed.  Setting<\/span><\/font><\/div>
\/\/ this to ENABLED will reverse the throttle output signal.  Ensure that your<\/span><\/font><\/div>
\/\/ throttle needs to be reversed by using the hardware failsafe and the<\/span><\/font><\/div>
\/\/ ArduPilotMega_demo program before setting this option.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to not reverse the signal.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define THROTTLE_REVERSE    DISABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ ENABLE_STICK_MIXING                     OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If this option is set to ENABLED, manual control inputs are are respected<\/span><\/font><\/div>
\/\/ while in the autopilot modes (AUTO, RTL, LOITER, CIRCLE etc.)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to enable stick mixing, allowing the pilot to take<\/span><\/font><\/div>
\/\/ emergency action without switching modes.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define ENABLE_STICK_MIXING ENABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_OUT                             DEBUG<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ When debugging, it can be useful to disable the throttle output.  Set<\/span><\/font><\/div>
\/\/ this option to DISABLED to disable throttle output signals.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to not disable throttle output.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define THROTTLE_OUT        ENABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ STARTUP BEHAVIOUR<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ GROUND_START_DELAY                       OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If configured, inserts a delay between power-up and the beginning of INS<\/span><\/font><\/div>
\/\/ calibration during a ground start.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Use this setting to give you time to position the aircraft horizontally<\/span><\/font><\/div>
\/\/ for the INS calibration.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to begin INS calibration immediately at startup.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define GROUND_START_DELAY  0<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ ENABLE_AIR_START                         OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If air start is disabled then you will get a ground start (including INS<\/span><\/font><\/div>
\/\/ calibration) every time the AP is powered up. This means that if you get<\/span><\/font><\/div>
\/\/ a power glitch or reboot for some reason in the air, you will probably<\/span><\/font><\/div>
\/\/ crash, but it prevents a lot of problems on the ground like unintentional<\/span><\/font><\/div>
\/\/ motor start-ups, etc.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ If air start is enabled then you will get an air start at power up and a<\/span><\/font><\/div>
\/\/ ground start will be performed if the speed is near zero when we get gps<\/span><\/font><\/div>
\/\/ lock.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to disable air start.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define ENABLE_AIR_START    0<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ FLIGHT AND NAVIGATION CONTROL<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Altitude measurement and control.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ ALT_EST_GAIN                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The gain of the altitude estimation function; a lower number results<\/span><\/font><\/div>
\/\/ in slower error correction and smoother output.  The default is a<\/span><\/font><\/div>
\/\/ reasonable starting point.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define ALT_EST_GAIN        0.01<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ ALTITUDE_MIX                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Configures the blend between GPS and pressure altitude.<\/span><\/font><\/div>
\/\/ 0 = GPS altitude, 1 = Press alt, 0.5 = half and half, etc.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The default is to use only pressure altitude.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define ALTITUDE_MIX        1<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ AIRSPEED_CRUISE                          OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The speed in metres per second to maintain during cruise.  The default<\/span><\/font><\/div>
\/\/ is 10m\/s, which is a conservative value suitable for relatively small,<\/span><\/font><\/div>
\/\/ light aircraft.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define AIRSPEED_CRUISE     12<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ MIN_GNDSPEED                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The minimum ground speed in metres per second to maintain during<\/span><\/font><\/div>
\/\/ cruise. A value of 0 will disable any attempt to maintain a minumum<\/span><\/font><\/div>
\/\/ speed over ground.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
#define MIN_GNDSPEED    0<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ FLY_BY_WIRE_B airspeed control (also used for throttle \"nudging\" in AUTO)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ AIRSPEED_FBW_MIN                         OPTIONAL<\/span><\/font><\/div>
\/\/ AIRSPEED_FBW_MAX                         OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Airspeed corresponding to minimum and maximum throttle in Fly By Wire B mode.<\/span><\/font><\/div>
\/\/ The defaults are 6 and 30 metres per second.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ AIRSPEED_FBW_MAX also sets the maximum airspeed that the cruise airspeed can be \"nudged\" to in AUTO mode when ENABLE_STICK_MIXING is set.<\/span><\/font><\/div>
\/\/ In AUTO the cruise airspeed can be increased between AIRSPEED_CRUISE and AIRSPEED_FBW_MAX by positioning the throttle<\/span><\/font><\/div>
\/\/ stick in the top 1\/2 of its range.  Throttle stick in the bottom 1\/2 provide regular AUTO control.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define AIRSPEED_FBW_MIN    6<\/span><\/font><\/div>
\/\/#define AIRSPEED_FBW_MAX    22<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Servo mapping<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_MIN                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The minimum throttle setting to which the autopilot will reduce the<\/span><\/font><\/div>
\/\/ throttle while descending.  The default is zero, which is<\/span><\/font><\/div>
\/\/ suitable for aircraft with a steady power-off glide.  Increase this<\/span><\/font><\/div>
\/\/ value if your aircraft needs throttle to maintain a stable descent in<\/span><\/font><\/div>
\/\/ level flight.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_CRUISE                          OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.<\/span><\/font><\/div>
\/\/ The default is 45%, which is reasonable for a modestly powered aircraft.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_MAX                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The maximum throttle setting the autopilot will apply.  The default is 75%.<\/span><\/font><\/div>
\/\/ Reduce this value if your aicraft is overpowered, or has complex flight<\/span><\/font><\/div>
\/\/ characteristics at high throttle settings.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define THROTTLE_MIN                  0 \/\/ percent<\/span><\/font><\/div>
\/\/#define THROTTLE_CRUISE               45<\/span><\/font><\/div>
\/\/#define THROTTLE_MAX                  75<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Autopilot control limits<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ HEAD_MAX                                 OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The maximum commanded bank angle in either direction.<\/span><\/font><\/div>
\/\/ The default is 45 degrees.  Decrease this value if your aircraft is not<\/span><\/font><\/div>
\/\/ stable or has difficulty maintaining altitude in a steep bank.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ PITCH_MAX                                OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The maximum commanded pitch up angle.<\/span><\/font><\/div>
\/\/ The default is 15 degrees.  Care should be taken not to set this value too<\/span><\/font><\/div>
\/\/ large, as the aircraft may stall.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ PITCH_MIN<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The maximum commanded pitch down angle.  Note that this value must be<\/span><\/font><\/div>
\/\/ negative.  The default is -25 degrees.  Care should be taken not to set<\/span><\/font><\/div>
\/\/ this value too large as it may result in overspeeding the aircraft.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ PITCH_TARGET<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The target pitch for cruise flight.  When the APM measures this pitch<\/span><\/font><\/div>
\/\/ value, the pitch error will be calculated to be 0 for the pitch PID<\/span><\/font><\/div>
\/\/ control loop.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define HEAD_MAX            45<\/span><\/font><\/div>
\/\/#define PITCH_MAX           15<\/span><\/font><\/div>
\/\/#define PITCH_MIN           -25<\/span><\/font><\/div>
\/\/#define PITCH_TARGET        0<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Attitude control gains<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Tuning values for the attitude control PID loops.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The P term is the primary tuning value.  This determines how the control<\/span><\/font><\/div>
\/\/ deflection varies in proportion to the required correction.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The I term is used to help control surfaces settle.  This value should<\/span><\/font><\/div>
\/\/ normally be kept low.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The D term is used to control overshoot.  Avoid using or adjusting this<\/span><\/font><\/div>
\/\/ term if you are not familiar with tuning PID loops.  It should normally<\/span><\/font><\/div>
\/\/ be zero for most aircraft.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Note: When tuning these values, start with changes of no more than 25% at<\/span><\/font><\/div>
\/\/ a time.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_ROLL_P                             OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_ROLL_I                             OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_ROLL_D                             OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for roll control.  Defaults are 0.4, 0, 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_ROLL_INT_MAX                       OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum control offset due to the integral.  This prevents the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (e.g. crosstracking).<\/span><\/font><\/div>
\/\/ Default is 5 degrees.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ ROLL_SLEW_LIMIT                          EXPERIMENTAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Limits the slew rate of the roll control in degrees per second.  If zero,<\/span><\/font><\/div>
\/\/ slew rate is not limited.  Default is to not limit the roll control slew rate.<\/span><\/font><\/div>
\/\/ (This feature is currently not implemented.)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_PITCH_P                            OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_PITCH_I                            OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_PITCH_D                            OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for the pitch control.  Defaults are 0.6, 0, 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_PITCH_INT_MAX                      OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum control offset due to the integral.  This prevents the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (e.g. native flight<\/span><\/font><\/div>
\/\/ AoA).<\/span><\/font><\/div>
\/\/ Default is 5 degrees.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ PITCH_COMP                               OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Adds pitch input to compensate for the loss of lift due to roll control.<\/span><\/font><\/div>
\/\/ Default is 0.20 (20% of roll control also applied to pitch control).<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_YAW_P                              OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_YAW_I                              OPTIONAL<\/span><\/font><\/div>
\/\/ SERVO_YAW_D                              OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for the YAW control.  Defaults are 0., 0., 0.<\/span><\/font><\/div>
\/\/ Note units of this control loop are unusual.  PID input is in m\/s**2.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ SERVO_YAW_INT_MAX                        OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum control offset due to the integral.  This prevents the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (e.g. crosstracking).<\/span><\/font><\/div>
\/\/ Default is 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ RUDDER_MIX                               OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Roll to yaw mixing.  This allows for co-ordinated turns.<\/span><\/font><\/div>
\/\/ Default is 0.50 (50% of roll control also applied to yaw control.)<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define SERVO_ROLL_P        0.4<\/span><\/font><\/div>
\/\/#define SERVO_ROLL_I        0.0<\/span><\/font><\/div>
\/\/#define SERVO_ROLL_D        0.0<\/span><\/font><\/div>
\/\/#define SERVO_ROLL_INT_MAX  5<\/span><\/font><\/div>
\/\/#define ROLL_SLEW_LIMIT     0<\/span><\/font><\/div>
\/\/#define SERVO_PITCH_P       0.6<\/span><\/font><\/div>
\/\/#define SERVO_PITCH_I       0.0<\/span><\/font><\/div>
\/\/#define SERVO_PITCH_D       0.0<\/span><\/font><\/div>
\/\/#define SERVO_PITCH_INT_MAX 5<\/span><\/font><\/div>
\/\/#define PITCH_COMP          0.2<\/span><\/font><\/div>
\/\/#define SERVO_YAW_P         0.0               \/\/ Default is zero.  A suggested value if you want to use this parameter is 0.5<\/span><\/font><\/div>
\/\/#define SERVO_YAW_I         0.0<\/span><\/font><\/div>
\/\/#define SERVO_YAW_D         0.0<\/span><\/font><\/div>
\/\/#define SERVO_YAW_INT_MAX   5<\/span><\/font><\/div>
\/\/#define RUDDER_MIX          0.5<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Navigation control gains<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Tuning values for the navigation control PID loops.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The P term is the primary tuning value.  This determines how the control<\/span><\/font><\/div>
\/\/ deflection varies in proportion to the required correction.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The I term is used to control drift.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The D term is used to control overshoot.  Avoid adjusting this term if<\/span><\/font><\/div>
\/\/ you are not familiar with tuning PID loops.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Note: When tuning these values, start with changes of no more than 25% at<\/span><\/font><\/div>
\/\/ a time.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_ROLL_P                               OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_ROLL_I                               OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_ROLL_D                               OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for navigation control over roll, normally used for<\/span><\/font><\/div>
\/\/ controlling the aircraft's course.  The P term controls how aggressively<\/span><\/font><\/div>
\/\/ the aircraft will bank to change or hold course.<\/span><\/font><\/div>
\/\/ Defaults are 0.7, 0.0, 0.02.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_ROLL_INT_MAX                         OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum control offset due to the integral.  This prevents the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (e.g. crosstracking).<\/span><\/font><\/div>
\/\/ Default is 5 degrees.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_PITCH_ASP_P                          OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_PITCH_ASP_I                          OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_PITCH_ASP_D                          OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for pitch adjustments made to maintain airspeed.<\/span><\/font><\/div>
\/\/ Defaults are 0.65, 0, 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_PITCH_ASP_INT_MAX                    OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum pitch offset due to the integral.  This limits the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (eg. inability<\/span><\/font><\/div>
\/\/ to maintain the programmed airspeed).<\/span><\/font><\/div>
\/\/ Default is 5 degrees.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_PITCH_ALT_P                          OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_PITCH_ALT_I                          OPTIONAL<\/span><\/font><\/div>
\/\/ NAV_PITCH_ALT_D                          OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for pitch adjustments made to maintain altitude.<\/span><\/font><\/div>
\/\/ Defaults are 0.65, 0, 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ NAV_PITCH_ALT_INT_MAX                    OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum pitch offset due to the integral.  This limits the control<\/span><\/font><\/div>
\/\/ output from being overdriven due to a persistent offset (eg. inability<\/span><\/font><\/div>
\/\/ to maintain the programmed altitude).<\/span><\/font><\/div>
\/\/ Default is 5 meters.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define NAV_ROLL_P          0.7<\/span><\/font><\/div>
\/\/#define NAV_ROLL_I          0.01<\/span><\/font><\/div>
\/\/#define NAV_ROLL_D          0.02<\/span><\/font><\/div>
\/\/#define NAV_ROLL_INT_MAX    5<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ASP_P     0.65<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ASP_I     0.0<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ASP_D     0.0<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ASP_INT_MAX 5<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ALT_P     0.65<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ALT_I     0.0<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ALT_D     0.0<\/span><\/font><\/div>
\/\/#define NAV_PITCH_ALT_INT_MAX 5<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Energy\/Altitude control gains<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The Energy\/altitude control system uses throttle input to control aircraft<\/span><\/font><\/div>
\/\/ altitude.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The P term is the primary tuning value.  This determines how the throttle<\/span><\/font><\/div>
\/\/ setting varies in proportion to the required correction.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The I term is used to compensate for small offsets.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The D term is used to control overshoot.  Avoid adjusting this term if<\/span><\/font><\/div>
\/\/ you are not familiar with tuning PID loops.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Note units of this control loop are unusual.  PID input is in m**2\/s**2.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_TE_P                            OPTIONAL<\/span><\/font><\/div>
\/\/ THROTTLE_TE_I                            OPTIONAL<\/span><\/font><\/div>
\/\/ THROTTLE_TE_D                            OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P, I and D terms for throttle adjustments made to control altitude.<\/span><\/font><\/div>
\/\/ Defaults are 0.5, 0, 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_TE_INT_MAX                      OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum throttle input due to the integral term.  This limits the<\/span><\/font><\/div>
\/\/ throttle from being overdriven due to a persistent offset (e.g.<\/span><\/font><\/div>
\/\/ inability to maintain the programmed altitude).<\/span><\/font><\/div>
\/\/ Default is 20%.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ THROTTLE_SLEW_LIMIT                      OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Limits the slew rate of the throttle, in percent per second.  Helps<\/span><\/font><\/div>
\/\/ avoid sudden throttle changes, which can destabilise the aircraft.<\/span><\/font><\/div>
\/\/ A setting of zero disables the feature.  Range 1 to 100.<\/span><\/font><\/div>
\/\/ Default is zero (disabled).<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ P_TO_T                                   OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Pitch to throttle feed-forward gain.  Default is 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ T_TO_P                                   OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Throttle to pitch feed-forward gain.  Default is 0.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define THROTTLE_TE_P       0.50<\/span><\/font><\/div>
\/\/#define THROTTLE_TE_I       0.0<\/span><\/font><\/div>
\/\/#define THROTTLE_TE_D       0.0<\/span><\/font><\/div>
\/\/#define THROTTLE_TE_INT_MAX 20<\/span><\/font><\/div>
\/\/#define THROTTLE_SLEW_LIMIT 0<\/span><\/font><\/div>
\/\/#define P_TO_T              0<\/span><\/font><\/div>
\/\/#define T_TO_P              0<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Crosstrack compensation<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ XTRACK_GAIN                              OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Crosstrack compensation in degrees per metre off track.<\/span><\/font><\/div>
\/\/ Default value is 1.0 degrees per metre.  Values lower than 0.001 will<\/span><\/font><\/div>
\/\/ disable crosstrack compensation.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ XTRACK_ENTRY_ANGLE                       OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Maximum angle used to correct for track following.<\/span><\/font><\/div>
\/\/ Default value is 30 degrees.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define XTRACK_GAIN         1  \/\/ deg\/m<\/span><\/font><\/div>
\/\/#define XTRACK_ENTRY_ANGLE  30 \/\/ deg<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ DEBUGGING<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Dataflash logging control<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Each of these logging options may be set to ENABLED to enable, or DISABLED<\/span><\/font><\/div>
\/\/ to disable the logging of the respective data.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_ATTITUDE_FAST                        DEBUG<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs basic attitude info to the dataflash at 50Hz (uses more space).<\/span><\/font><\/div>
\/\/ Defaults to DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_ATTITUDE_MED                         OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs basic attitude info to the dataflash at 10Hz (uses less space than<\/span><\/font><\/div>
\/\/ LOG_ATTITUDE_FAST).  Defaults to ENABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_GPS                                  OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs GPS info to the dataflash at 10Hz.  Defaults to ENABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_PM                                   OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs INS performance monitoring info every 20 seconds.<\/span><\/font><\/div>
\/\/ Defaults to DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_CTUN                                 OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs control loop tuning info at 10 Hz.  This information is useful for tuning<\/span><\/font><\/div>
\/\/ servo control loop gain values.  Defaults to DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_NTUN                                 OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs navigation tuning info at 10 Hz.  This information is useful for tuning<\/span><\/font><\/div>
\/\/ navigation control loop gain values.  Defaults to DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_ MODE                                OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs changes to the flight mode upon occurrence.  Defaults to ENABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_RAW                                  DEBUG<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs raw accelerometer and gyro data at 50 Hz (uses more space).<\/span><\/font><\/div>
\/\/ Defaults to DISABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOG_CMD                                  OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Logs new commands when they process.<\/span><\/font><\/div>
\/\/ Defaults to ENABLED.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define LOG_ATTITUDE_FAST   DISABLED<\/span><\/font><\/div>
\/\/#define LOG_ATTITUDE_MED    ENABLED<\/span><\/font><\/div>
\/\/#define LOG_GPS             ENABLED<\/span><\/font><\/div>
\/\/#define LOG_PM              ENABLED<\/span><\/font><\/div>
\/\/#define LOG_CTUN            DISABLED<\/span><\/font><\/div>
\/\/#define LOG_NTUN            DISABLED<\/span><\/font><\/div>
\/\/#define LOG_MODE            ENABLED<\/span><\/font><\/div>
\/\/#define LOG_RAW             DISABLED<\/span><\/font><\/div>
\/\/#define LOG_CMD             ENABLED<\/span><\/font><\/div>
\/\/#define LOG_CUR                       DISABLED<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Navigation defaults<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ WP_RADIUS_DEFAULT                        OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ When the user performs a factory reset on the APM, set the waypoint radius<\/span><\/font><\/div>
\/\/ (the radius from a target waypoint within which the APM will consider<\/span><\/font><\/div>
\/\/ itself to have arrived at the waypoint) to this value in meters.  This is<\/span><\/font><\/div>
\/\/ mainly intended to allow users to start using the APM without running the<\/span><\/font><\/div>
\/\/ WaypointWriter first.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ LOITER_RADIUS_DEFAULT                    OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ When the user performs a factory reset on the APM, set the loiter radius<\/span><\/font><\/div>
\/\/ (the distance the APM will attempt to maintain from a waypoint while<\/span><\/font><\/div>
\/\/ loitering) to this value in meters.  This is mainly intended to allow<\/span><\/font><\/div>
\/\/ users to start using the APM without running the WaypointWriter first.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ USE_CURRENT_ALT                                                      OPTIONAL<\/span><\/font><\/div>
\/\/ ALT_HOLD_HOME                                                        OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ When the user performs a factory reset on the APM, set the flag for weather<\/span><\/font><\/div>
\/\/ the current altitude or ALT_HOLD_HOME altitude should be used for Return To Launch.<\/span><\/font><\/div>
\/\/ Also, set the value of USE_CURRENT_ALT in meters.  This is mainly intended to allow<\/span><\/font><\/div>
\/\/ users to start using the APM without running the WaypointWriter first.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define WP_RADIUS_DEFAULT             30<\/span><\/font><\/div>
\/\/#define LOITER_RADIUS_DEFAULT 60<\/span><\/font><\/div>
\/\/#define USE_CURRENT_ALT               FALSE<\/span><\/font><\/div>
\/\/#define ALT_HOLD_HOME                 100<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/font><\/div>
\/\/ Debugging interface<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ DEBUG_PORT                               OPTIONAL<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ The APM will periodically send messages reporting what it is doing; this<\/span><\/font><\/div>
\/\/ variable determines to which serial port they will be sent.  Port 0 is the<\/span><\/font><\/div>
\/\/ USB serial port on the shield, port 3 is the telemetry port.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/#define DEBUG_PORT                    0<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\/\/<\/span><\/font><\/div>
\/\/ Do not remove - this is to discourage users from copying this file<\/span><\/font><\/div>
\/\/ and using it as-is rather than editing their own.<\/span><\/font><\/div>
\/\/<\/span><\/font><\/div>
#error You should not copy APM_Config.h.reference - make your own APM_Config.h file with just the options you need.<\/span><\/font><\/div>

<\/div>\n","protected":false},"excerpt":{"rendered":"

\uc704\uce58 : ArduCopter\/APM_Config.h \/\/ \/\/ Example and reference ArduPilot Mega configuration file \/\/ ======================================================= \/\/ \/\/ This file contains documentation and examples for configuration options \/\/ supported by the ArduPilot Mega software. \/\/ \/\/ Most of these options are just that – optional.  You should create \/\/ the APM_Config.h file and use this file as […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[30],"tags":[],"class_list":["post-592","post","type-post","status-publish","format-standard","hentry","category-multi_copter_fc"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/592","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=592"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/592\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=592"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=592"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=592"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}