First commit

First Commit
anqitong · Jun 28, 2014 · 6279d5e · 6279d5e
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diff --git a/3D-Quadricoptere/Fixation gopro v2.SLDPRT b/3D-Quadricoptere/Fixation gopro v2.SLDPRT
diff --git a/3D-Quadricoptere/GoPro.SLDPRT b/3D-Quadricoptere/GoPro.SLDPRT
diff --git a/3D-Quadricoptere/Manche.SLDPRT b/3D-Quadricoptere/Manche.SLDPRT
diff --git a/3D-Quadricoptere/Manche.STL b/3D-Quadricoptere/Manche.STL
diff --git a/3D-Quadricoptere/Manche2.STL b/3D-Quadricoptere/Manche2.STL
diff --git a/3D-Quadricoptere/Manche_impr.SLDPRT b/3D-Quadricoptere/Manche_impr.SLDPRT
diff --git a/3D-Quadricoptere/Manche_impr.STL b/3D-Quadricoptere/Manche_impr.STL
diff --git a/3D-Quadricoptere/Manche_impr_quart.SLDPRT b/3D-Quadricoptere/Manche_impr_quart.SLDPRT
diff --git a/3D-Quadricoptere/Manche_impr_quart.STL b/3D-Quadricoptere/Manche_impr_quart.STL
diff --git a/3D-Quadricoptere/Manche_impr_quart11H.gcode b/3D-Quadricoptere/Manche_impr_quart11H.gcode
diff --git a/3D-Quadricoptere/Quadritoto.SLDASM b/3D-Quadricoptere/Quadritoto.SLDASM
diff --git a/3D-Quadricoptere/Support_GY80_V1.SLDPRT b/3D-Quadricoptere/Support_GY80_V1.SLDPRT
diff --git a/3D-Quadricoptere/Support_GY80_V2.SLDPRT b/3D-Quadricoptere/Support_GY80_V2.SLDPRT
diff --git a/3D-Quadricoptere/Support_GY80_V2.STL b/3D-Quadricoptere/Support_GY80_V2.STL
diff --git a/3D-Quadricoptere/alu_U.SLDPRT b/3D-Quadricoptere/alu_U.SLDPRT
diff --git a/3D-Quadricoptere/axe.SLDPRT b/3D-Quadricoptere/axe.SLDPRT
diff --git a/3D-Quadricoptere/bouchon.SLDPRT b/3D-Quadricoptere/bouchon.SLDPRT
diff --git a/3D-Quadricoptere/ecrou_3.SLDPRT b/3D-Quadricoptere/ecrou_3.SLDPRT
diff --git a/3D-Quadricoptere/helice.SLDPRT b/3D-Quadricoptere/helice.SLDPRT
diff --git a/3D-Quadricoptere/helice_2.SLDPRT b/3D-Quadricoptere/helice_2.SLDPRT
diff --git a/3D-Quadricoptere/helice_assemblee.SLDASM b/3D-Quadricoptere/helice_assemblee.SLDASM
diff --git a/3D-Quadricoptere/pied.SLDPRT b/3D-Quadricoptere/pied.SLDPRT
diff --git a/3D-Quadricoptere/pied.STL b/3D-Quadricoptere/pied.STL
diff --git a/3D-Quadricoptere/piedv2.1.SLDPRT b/3D-Quadricoptere/piedv2.1.SLDPRT
diff --git a/3D-Quadricoptere/piedv2.SLDPRT b/3D-Quadricoptere/piedv2.SLDPRT
diff --git a/3D-Quadricoptere/piedv2.STL b/3D-Quadricoptere/piedv2.STL
diff --git a/3D-Quadricoptere/piedv3.SLDPRT b/3D-Quadricoptere/piedv3.SLDPRT
diff --git a/3D-Quadricoptere/piedv3.STL b/3D-Quadricoptere/piedv3.STL
diff --git a/3D-Quadricoptere/plaque_10.SLDPRT b/3D-Quadricoptere/plaque_10.SLDPRT
diff --git a/3D-Quadricoptere/plaque_14.SLDPRT b/3D-Quadricoptere/plaque_14.SLDPRT
diff --git a/3D-Quadricoptere/plastique.SLDPRT b/3D-Quadricoptere/plastique.SLDPRT
diff --git a/3D-Quadricoptere/question bête.txt b/3D-Quadricoptere/question bête.txt
@@ -0,0 +1,25 @@
+Comment on met la carte dans le syst�me d'attache ?
+
+Proposition en plus :
+ - On met le support sur la batterie.  
+un truc du genre:
+
+  |	carte     |
+  -----------------
+  |		  |
+  |		  |
+  |   batterie	  |
+  |		  |
+  ---		---
+
+Le rectangle vide au centre fait la taille de la petite carte. D'ailleurs dans
+les datasheet, c'est bien, y a la taille de tous les composants...
+Mais pas la carte ! Heureusement un petit Google Arduino GY80 et c'est r�gl�,
+mais bon ....
+
+Tu veux un support plus gros ? Peut-�tre on va essayer avec cette version d�j� ...
+
+J'ai ma cartouche chauffante avec un connecteur qui a lach� !
+Mais j'ai imprim� ta v2, plus qu'a voir le r�sultat..
+
+
diff --git a/3D-Quadricoptere/rondelle_3.SLDPRT b/3D-Quadricoptere/rondelle_3.SLDPRT
diff --git a/3D-Quadricoptere/rondelle_6.SLDPRT b/3D-Quadricoptere/rondelle_6.SLDPRT
diff --git a/3D-Quadricoptere/rotor.SLDPRT b/3D-Quadricoptere/rotor.SLDPRT
diff --git a/3D-Quadricoptere/stabilisateur_1.1.SLDPRT b/3D-Quadricoptere/stabilisateur_1.1.SLDPRT
diff --git a/3D-Quadricoptere/stabilisateur_1.SLDPRT b/3D-Quadricoptere/stabilisateur_1.SLDPRT
diff --git a/3D-Quadricoptere/stabilisateur_2.SLDPRT b/3D-Quadricoptere/stabilisateur_2.SLDPRT
diff --git a/3D-Quadricoptere/stabilisateur_assem.SLDASM b/3D-Quadricoptere/stabilisateur_assem.SLDASM
diff --git a/3D-Quadricoptere/stator.SLDPRT b/3D-Quadricoptere/stator.SLDPRT
diff --git a/3D-Quadricoptere/test_écoulement_1.SLDASM b/3D-Quadricoptere/test_écoulement_1.SLDASM
diff --git a/3D-Quadricoptere/tuyere.SLDPRT b/3D-Quadricoptere/tuyere.SLDPRT
diff --git a/3D-Quadricoptere/vis_20.SLDPRT b/3D-Quadricoptere/vis_20.SLDPRT
diff --git a/3D-Quadricoptere/vis_30.SLDPRT b/3D-Quadricoptere/vis_30.SLDPRT
diff --git a/Docs/Bilans/Avril/Bilan du 01-04-2014.docx b/Docs/Bilans/Avril/Bilan du 01-04-2014.docx
diff --git a/Docs/Bilans/Avril/Bilan du 08-04-2014.docx b/Docs/Bilans/Avril/Bilan du 08-04-2014.docx
diff --git a/Docs/Bilans/Avril/Bilan du 15-04-2014.docx b/Docs/Bilans/Avril/Bilan du 15-04-2014.docx
diff --git a/Docs/Bilans/Avril/Bilan du 19-04-2014.docx b/Docs/Bilans/Avril/Bilan du 19-04-2014.docx
diff --git a/Docs/Bilans/Avril/Bilan du 22-04-2014.docx b/Docs/Bilans/Avril/Bilan du 22-04-2014.docx
diff --git a/Docs/Bilans/Bilan - type.docx b/Docs/Bilans/Bilan - type.docx
diff --git a/Docs/Bilans/Bilan de 2013.docx b/Docs/Bilans/Bilan de 2013.docx
diff --git a/Docs/Bilans/Février/Bilan du 08-02-2014.docx b/Docs/Bilans/Février/Bilan du 08-02-2014.docx
diff --git a/Docs/Bilans/Février/Bilan du 18-02-2014.docx b/Docs/Bilans/Février/Bilan du 18-02-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 07-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 07-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 11-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 11-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 14-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 14-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 18-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 18-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 21-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 21-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 25-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 25-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 28-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 28-01-2014.docx
diff --git a/Docs/Bilans/Janvier/Bilan du 30-01-2014.docx b/Docs/Bilans/Janvier/Bilan du 30-01-2014.docx
diff --git a/Docs/Bilans/Mars/Bilan du 15-03-2014.docx b/Docs/Bilans/Mars/Bilan du 15-03-2014.docx
diff --git a/Docs/Bilans/Mars/Bilan du 18-03-2014 .docx b/Docs/Bilans/Mars/Bilan du 18-03-2014 .docx
diff --git a/Docs/Bilans/Mars/Bilan du 22-03-2014 - A FAIRE.docx b/Docs/Bilans/Mars/Bilan du 22-03-2014 - A FAIRE.docx
diff --git a/Docs/Bilans/Mars/Bilan du 26-03-2014.docx b/Docs/Bilans/Mars/Bilan du 26-03-2014.docx
diff --git a/Docs/Bilans/Mars/Bilan du 29-03-2014.docx b/Docs/Bilans/Mars/Bilan du 29-03-2014.docx
diff --git a/Docs/Cahier des charges.docx b/Docs/Cahier des charges.docx
diff --git a/Docs/Diagramme Gantt - Quadricoptère.xlsx b/Docs/Diagramme Gantt - Quadricoptère.xlsx
diff --git a/Docs/Manuel d'utilisation.docx b/Docs/Manuel d'utilisation.docx
diff --git a/Docs/Schema électrique/.picasa.ini b/Docs/Schema électrique/.picasa.ini
@@ -0,0 +1,4 @@
+[Entrée sortie prog.jpg]
+rotate=rotate(0)
+[Schéma global sur prog.jpg]
+rotate=rotate(1)
diff --git a/Docs/Schema électrique/GY80-noted.jpg b/Docs/Schema électrique/GY80-noted.jpg
diff --git a/Docs/Schema électrique/MultiWii_Nano_V3_by_Pepetone_sch2.pdf b/Docs/Schema électrique/MultiWii_Nano_V3_by_Pepetone_sch2.pdf
diff --git a/Docs/Schema électrique/breadboard.jpg b/Docs/Schema électrique/breadboard.jpg
diff --git a/Docs/Schema électrique/gy-80-connected-with-arduino.jpg b/Docs/Schema électrique/gy-80-connected-with-arduino.jpg
diff --git a/Docs/Schema électrique/quadX.jpg b/Docs/Schema électrique/quadX.jpg
diff --git a/Docs/vrac/Achat 02-12-2013.PNG b/Docs/vrac/Achat 02-12-2013.PNG
diff --git a/Docs/vrac/AeroQuad Manual v10.pdf b/Docs/vrac/AeroQuad Manual v10.pdf
diff --git a/Docs/vrac/Etude d'un Hélicoptère - A faire .... .pdf b/Docs/vrac/Etude d'un Hélicoptère - A faire .... .pdf
diff --git a/Docs/vrac/La prise de décision au sein d'un groupe de robots .pdf b/Docs/vrac/La prise de décision au sein d'un groupe de robots .pdf
diff --git a/Docs/vrac/Liens.docx b/Docs/vrac/Liens.docx
diff --git a/... Next Generation Open Source UAV Autopilot - The Next Generation Open Source UAV ….webloc b/... Next Generation Open Source UAV Autopilot - The Next Generation Open Source UAV ….webloc
diff --git a/Docs/vrac/Quad + Kalman filter.pdf b/Docs/vrac/Quad + Kalman filter.pdf
diff --git a/Docs/vrac/Robotique Collective Implémentation d’un2.pdf b/Docs/vrac/Robotique Collective Implémentation d’un2.pdf
diff --git a/Docs/vrac/demarche_projet_en_stidd_quadricoptere.pdf b/Docs/vrac/demarche_projet_en_stidd_quadricoptere.pdf
diff --git a/Docs/vrac/liens.txt b/Docs/vrac/liens.txt
@@ -0,0 +1,2 @@
+http://forge.clermont-universite.fr/projects/202/wiki
+
diff --git a/Electronique à embarquer/Circuit/Alimentation_moteur.pcb b/Electronique à embarquer/Circuit/Alimentation_moteur.pcb
diff --git a/Electronique à embarquer/Circuit/Alimentation_moteur.sch b/Electronique à embarquer/Circuit/Alimentation_moteur.sch
diff --git a/Electronique à embarquer/Circuit/Design1.pcb b/Electronique à embarquer/Circuit/Design1.pcb
diff --git a/Electronique à embarquer/Circuit/Design1.sch b/Electronique à embarquer/Circuit/Design1.sch
diff --git a/Electronique à embarquer/Circuit/Design2.pcb b/Electronique à embarquer/Circuit/Design2.pcb
diff --git a/Electronique à embarquer/Circuit/Design2.sch b/Electronique à embarquer/Circuit/Design2.sch
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.cml b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.cml
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.cmx b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.cmx
@@ -0,0 +1,11 @@
+3_bornes||#USER=3||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+10_broches||#USER=10||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+10_broches_IMU||#USER=10||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+16Pin||#USER=15||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+ArduinoNano||#USER=30||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+GPS||#USER=22||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+Regulateur||#USER=8||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+Regulator||#USER=8||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+support_34B||#USER=30||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+Support_GPS||#USER=20||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
+Switch_manuel||#USER=2||@Manufacturer_Part_Number=||@Manufacturer_Name=||@RS Part Number=||@Allied_Number=||@Other Part Number=||@3D Package=||@Height=
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.psl b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.psl
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.psx b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.psx
@@ -0,0 +1,9 @@
+3_bornes||3
+10_broches||10
+15pin||15
+ArduinoNano||30
+GPS||22
+Regulator||8
+Support_34broches||30
+Support_GPS||20
+switch_manuel||2
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.ssl b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.ssl
diff --git a/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.ssx b/...rquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Arduino_nano.ssx
@@ -0,0 +1,11 @@
+3_bornes||3
+6WP||6
+10_broches||10
+15Pin||15
+ArduinoNano||30
+GPS||22
+Regulator||4
+Support_30borches||30
+Support_34broches||34
+Support_GPS||20
+switch_manuel||2
diff --git a/...mbarquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Regulator.psl b/...mbarquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Regulator.psl
diff --git a/...mbarquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Regulator.psx b/...mbarquer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/Regulator.psx
@@ -0,0 +1 @@
+Regulator||8
diff --git a/...uer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/backup/Design1.pcb b/...uer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/backup/Design1.pcb
diff --git a/...uer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/backup/Design1.sch b/...uer/Circuit/LibraireA rajouter dans DesignSpark PCB 6.0--Library--User/backup/Design1.sch
diff --git a/Electronique à embarquer/Circuit/Regulator.psl b/Electronique à embarquer/Circuit/Regulator.psl
diff --git a/Electronique à embarquer/Circuit/Regulator.psx b/Electronique à embarquer/Circuit/Regulator.psx
@@ -0,0 +1 @@
+Regulator||8
diff --git a/Electronique à embarquer/MCFC_Config.png b/Electronique à embarquer/MCFC_Config.png
diff --git a/Electronique à embarquer/Quelques Idées - Elec .docx b/Electronique à embarquer/Quelques Idées - Elec .docx
diff --git a/Electronique à embarquer/Tuto Booltoader Arduino.url b/Electronique à embarquer/Tuto Booltoader Arduino.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,11
+[InternetShortcut]
+IDList=
+URL=https://learn.sparkfun.com/tutorials/installing-an-arduino-bootloader/all
diff --git a/Electronique à embarquer/datasheets/GPS/Fournisseur.url b/Electronique à embarquer/datasheets/GPS/Fournisseur.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,2
+[InternetShortcut]
+IDList=
+URL=http://www.mouser.fr/ProductDetail/Linx-Technologies/RXM-GPS-FM-B/?qs=sGAEpiMZZMtQ1ytNl72Bk41Ffm%2fcQAf4CCaplydCHsI%3d
diff --git a/Electronique à embarquer/datasheets/GPS/RXM-GPS-FM Data Guide 131017-270385.pdf b/Electronique à embarquer/datasheets/GPS/RXM-GPS-FM Data Guide 131017-270385.pdf
diff --git a/Electronique à embarquer/datasheets/GY-80/ADXL345 - Acc 3 axes.pdf b/Electronique à embarquer/datasheets/GY-80/ADXL345 - Acc 3 axes.pdf
diff --git a/Electronique à embarquer/datasheets/GY-80/BMP085 - Pression + Température.pdf b/Electronique à embarquer/datasheets/GY-80/BMP085 - Pression + Température.pdf
diff --git a/Electronique à embarquer/datasheets/GY-80/Code test 2.url b/Electronique à embarquer/datasheets/GY-80/Code test 2.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,2
+[InternetShortcut]
+IDList=
+URL=http://www.forkrobotics.com/2013/06/using-the-gy80-10dof-module-with-arduino/
diff --git a/Electronique à embarquer/datasheets/GY-80/Code test.url b/Electronique à embarquer/datasheets/GY-80/Code test.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,2
+[InternetShortcut]
+IDList=
+URL=http://selfbuilt.net/shop/gy-80-inertial-management-unit
diff --git a/Electronique à embarquer/datasheets/GY-80/HMC5883L - Magnetomètre 3 axes.pdf b/Electronique à embarquer/datasheets/GY-80/HMC5883L - Magnetomètre 3 axes.pdf
diff --git a/Electronique à embarquer/datasheets/GY-80/L3G4200D - Gyro 3 axes.pdf b/Electronique à embarquer/datasheets/GY-80/L3G4200D - Gyro 3 axes.pdf
diff --git a/Electronique à embarquer/datasheets/GY-85/ADXL345 - Acc 3 axes.pdf b/Electronique à embarquer/datasheets/GY-85/ADXL345 - Acc 3 axes.pdf
diff --git a/Electronique à embarquer/datasheets/GY-85/HMC5883L - Magnetomètre 3 axes.pdf b/Electronique à embarquer/datasheets/GY-85/HMC5883L - Magnetomètre 3 axes.pdf
diff --git a/Electronique à embarquer/datasheets/GY-85/ITG3205 - Gyro 3 axes.pdf b/Electronique à embarquer/datasheets/GY-85/ITG3205 - Gyro 3 axes.pdf
diff --git a/Electronique à embarquer/tools.txt b/Electronique à embarquer/tools.txt
@@ -0,0 +1,2 @@
+isis (composants )
+ares ( export)
diff --git a/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/.gitignore b/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/.gitignore
@@ -0,0 +1 @@
+arducopter.cpp
diff --git a/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/APM_Config.h b/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/APM_Config.h
@@ -0,0 +1,122 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.
+
+//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
+
+// Ordinary users should please ignore the following define.
+// APM2_BETA_HARDWARE is used to support early (September-October 2011) APM2
+// hardware which had the BMP085 barometer onboard. Only a handful of
+// developers have these boards.
+//#define APM2_BETA_HARDWARE
+
+// GPS is auto-selected
+
+//#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
+//#define HIL_MODE				HIL_MODE_ATTITUDE
+//#define DMP_ENABLED ENABLED
+//#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes
+
+//#define FRAME_CONFIG QUAD_FRAME
+/*
+ *  options:
+ *  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_SAVE_WP
+/*
+ *  CH7_DO_NOTHING
+ *  CH7_SET_HOVER
+ *  CH7_FLIP
+ *  CH7_SIMPLE_MODE
+ *  CH7_RTL
+ *  CH7_AUTO_TRIM
+ *  CH7_ADC_FILTER (experimental)
+ *  CH7_SAVE_WP
+ *  CH7_MULTI_MODE
+ */
+
+//#define TOY_EDF	ENABLED
+//#define TOY_MIXER TOY_LOOKUP_TABLE
+
+// Inertia based contollers.  disabled by default, work in progress
+//#define ACCEL_ALT_HOLD 0
+//#define INERTIAL_NAV ENABLED
+
+
+#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
+
+
+//#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 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"
+
+// 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_ channels 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
diff --git a/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/APM_Config_mavlink_hil.h b/Progra - Sécurité - Algo/ArduCopter-2.8.1/ArduCopter/APM_Config_mavlink_hil.h
@@ -0,0 +1,42 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// HIL_MODE SELECTION
+//
+// Mavlink supports
+// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
+// 2. HIL_MODE_SENSORS: full sensor simulation
+#define HIL_MODE            HIL_MODE_ATTITUDE
+
+// HIL_PORT SELCTION
+//
+// PORT 1
+// If you would like to run telemetry communications for a groundstation
+// while you are running hardware in the loop it is necessary to set
+// HIL_PORT to 1. This uses the port that would have been used for the gps
+// as the hardware in the loop port. You will have to solder
+// headers onto the gps port connection on the apm
+// and connect via an ftdi cable.
+//
+// The baud rate is set to 115200 in this mode.
+//
+// PORT 3
+// If you don't require telemetry communication with a gcs while running
+// hardware in the loop you may use the telemetry port as the hardware in
+// the loop port.  Alternatively, use a telemetry/HIL shim like FGShim
+// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
+//
+// The buad rate is controlled by SERIAL3_BAUD in this mode.
+
+#define HIL_PORT            3
+
+// You can set your gps protocol here for your actual
+// hardware and leave it without affecting the hardware
+// in the loop simulation
+#define GPS_PROTOCOL            GPS_PROTOCOL_MTK
+
+// Sensors
+// All sensors are supported in all modes.
+// The magnetometer is not used in
+// HIL_MODE_ATTITUDE but you may leave it
+// enabled if you wish.
+#define MAGNETOMETER        ENABLED
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
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