/**************************************************************************************/
/*********************** GPS **************************/
/**************************************************************************************/
/* PositionHoldOverride Info: [url]http://fpv-community.de/showthread.php?14199-Baro-Code-%C4nderungen&p=189821&viewfull=1#post189821[/url]
Purpose: You can fly in position hold and override it with nick(pitch) and roll movements (defined in Blindzones below). When you return
those sticks to center a new position for pos.Hold is defined after a timeinterval defined in PosHoldBlindTime.*/
#define PositionHoldOverride // Uncomment to activate
/*Parameters for Position hold Override You see here the default values. Uncomment and change if you want */
//#define PosHoldBlindTime 300000 // Time in microseconds (def. 0.3 sec) before PH is re-engaged after returning to Stickcenter
//#define BlindZonePitch 30 // Defines the Blindzone around Pitchaxiscenter
//#define BlindZoneRoll 30 // Defines the Blindzone around Rollaxiscenter
/* GPS using a SERIAL port
only available on MEGA boards (this might be possible on 328 based boards in the future)
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used, the GPS is not configured by multiwii
the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
#define GPS_BAUD 115200
//#define GPS_PROMINI_SERIAL 57600 // Will Autosense if GPS is connected when ardu boots
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi [url]http://code.google.com/p/i2c-gps-nav/[/url]
You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
/* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
optional sonar device. [url]https://github.com/wertarbyte/tiny-gps/[/url] */
/* get GPS data from Tiny-GPS */
//#define TINY_GPS
/* get sonar data from Tiny-GPS */
//#define TINY_GPS_SONAR
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED? */
#define GPS_LED_INDICATOR
/* GPS data readed from OSD -- still need some more code to work */
//#define GPS_FROM_OSD
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
//Uncomment it if you are planning to use WinGUI - Will cost +208 bytes of Flash
//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for it
#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction
/* Get your magnetic decliniation from here : [url]http://magnetic-declination.com/[/url]
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINIATION 3.96f //For Budapest Hungary.
#define MAG_DECLINIATION 1.3f
#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
#define GPS_LOW_SPEED_D_FILTER // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise commnent out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes
gogo...
