Config Guide - arthurbenemann/ardupilot GitHub Wiki

Almost all user-modifiable settings in APM can be configured in your ground station via MAVLink. However, if for any reason you want to change the defaults, you can do so by modifying the APM_Config.h file, and then compiling and loading the code in Arduino.

Because we are editing computer software we need to speak in computer language, which is done in "Declarations" in the APM_Config.h file.

Declarations

In the APM code, "#define" typically defines a hardware configuration. It's followed by a phrase or sentence that the computer understands, such as "#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX"

If you want to configure the code for your hardware, you need to add or change the "#define" statement in the SELECTED OPTION area by either copying and pasting it from this tutorial, or if's already there and "commented out" with two slashes ("//"), removing the slashes.

Example:

Commented out (APM will ignore statement):

{{{// #define}}}

Uncommented (APM will include statement):

{{{#define}}}

Common Configurations

Click on the one you want and copy that into your APM_Config.h file

Combination 1:

  1. APM
  2. GPS

Combination 2:

  1. APM
  2. GPS
  3. Airspeed Sensor

Combination 3:

  1. APM
  2. GPS
  3. Airspeed Sensor
  4. Xbee

Combination 4:

  1. APM
  2. GPS
  3. Airspeed Sensor
  4. Xbee
  5. Voltage monitor

Combination 5:

  1. APM
  2. GPS
  3. Airspeed Sensor
  4. Xbee
  5. Voltage monitor
  6. Magnetometer