#ifndef*CONFIG_H_
#define*CONFIG_H_
/*************************************************************************************************/
/***************CONFIGURABLE*PARAMETERS***********************************************************/
/*************************************************************************************************/
/**this*file*consists*of*several*sections
***to*create*a*working*combination*you*must*at*least*make*your*choices*in*section*1.
***1*-*BASIC*SETUP*-*you*must*select*an*option*in*every*block.
********this*assumes*you*have*4*channels*connected*to*your*board*with*standard*ESCs*and*servos.
***2*-*COPTER*TYPE*SPECIFIC*OPTIONS*-*you*likely*want*to*check*for*options*for*your*copter*type
***3*-*RC*SYSTEM*SETUP
***4*-*ALTERNATE*CPUs*&*BOARDS*-*if*you*have
***5*-*ALTERNATE*SETUP*-*select*alternate*RX*(SBUS,*PPM,*etc.),*alternate*ESC-range,*etc.*here
***6*-*OPTIONAL*FEATURES*-*enable*nice*to*have*features*here*(FlightModes,*LCD,*telemetry,*battery*monitor*etc.)
***7*-*TUNING*&*DEVELOPER*-*if*you*know*what*you*are*doing;*you*have*been*warned
*******-*(ESCs*calibration,*Dynamic*Motor/Prop*Balancing,*Diagnostics,Memory*savings.....)
***8*-*DEPRECATED*-*these*features*will*be*removed*in*some*future*release
**/
/**Notes:
***1.*parameters*marked*with*(*)*in*the*comment*are*stored*in*eeprom*and*can*be*changed*via*serial*monitor*or*LCD.
***2.*parameters*marked*with*(**)*in*the*comment*are*stored*in*eeprom*and*can*be*changed*via*the*GUI
**/
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**1*-*BASIC*SETUP*******************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/************************** The type of multicopter ****************************/
****
//#define GIMBAL
****
//#define BI
****
//#define TRI
****#define*QUADP
****
//#define QUADX
****
//#define Y4
****
//#define Y6
****
//#define HEX6
****
//#define HEX6X
****
//#define HEX6H // New Model
****
//#define OCTOX8
****
//#define OCTOFLATP
****
//#define OCTOFLATX
****
//#define FLYING_WING
****
//#define VTAIL4
****
//#define AIRPLANE
****
//#define SINGLECOPTER
****
//#define DUALCOPTER
****
//#define HELI_120_CCPM
****
//#define HELI_90_DEG
**
/**************************** Motor minthrottle *******************************/
****
/* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
*******This*is*the*minimum*value*that*allow*motors*to*run*at*a*idle*speed***/
****
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
****
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
****
//#define MINTHROTTLE 1064 // special ESC (simonk)
****
//#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
****#define*MINTHROTTLE*1100*
// (*) (**)
**
/**************************** Motor maxthrottle *******************************/
****
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
****#define*MAXTHROTTLE*2000
**
/**************************** Mincommand *******************************/
****
/* this is the value for the ESCs when they are not armed
*******in*some*cases,*this*value*must*be*lowered*down*to*900*for*some*specific*ESCs,*otherwise*they*failed*to*initiate**/
****#define*MINCOMMAND**1000
**
/********************************** I2C speed ************************************/
****#define*I2C_SPEED*100000L*****
//100kHz normal mode, this value must be used for a genuine WMP
****
//#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
**
/*************************** Internal i2c Pullups ********************************/
****
/* enable internal I2C pull ups (in most cases it is better to use external pullups) */
****
//#define INTERNAL_I2C_PULLUPS
**
/**************************************************************************************/
**
/***************** boards and sensor definitions ******************/
**
/**************************************************************************************/
****
/*************************** Combined IMU Boards ********************************/
******
/* if you use a specific sensor board:
*********please*submit*any*correction*to*this*list.
***********Note*from*Alex:*I*only*own*some*boards,*for*other*boards,*I'm*not*sure,*the*info*was*gathered*via*rc*forums,*be*cautious**/
******
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex
******
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex
******
//#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
******
//#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1
******
//#define FREEIMUv035 // FreeIMU v0.3.5 no baro
******
//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
******
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
******
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex
******
//#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
******
//#define NANOWII // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
******
//#define PIPO // 9DOF board from erazz
******
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
******
//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition
******
//#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
******
//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU
******
//#define AEROQUADSHIELDv2
******
//#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
******
//#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex
******
//#define SIRIUSGPS // Sirius Navigator IMU using external MAG on GPS board <- confirmed by Alex
******
//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
******
//#define SIRIUS_AIR // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com <- confirmed by Alex
******
//#define SIRIUS_AIR_GPS // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
******
//#define SIRIUS_MEGAv5_OSD // Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox http://www.Multiwiicopter.com <- confirmed by Alex
******
//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex
******
//#define MICROWII // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
******
//#define CITRUSv2_1 // CITRUS from qcrc.ca
******
//#define CHERRY6DOFv1_0
******
//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
******
//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
******
//#define DROTEK_6DOFv2 // Drotek 6DOF v2
******
//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
******#define*DROTEK_10DOF_MPU
//
******
//#define MONGOOSE1_0 // mongoose 1.0 http://store.ckdevices.com/
******
//#define CRIUS_LITE // Crius MultiWii Lite
******
//#define CRIUS_SE // Crius MultiWii SE
******
//#define CRIUS_SE_v2_0 // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
******
//#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
******
//#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
******
//#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro
******
//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
******
//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
******
//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
******
//#define GY_521 // Chinese 6 DOF with MPU6050, LLC
******
//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
******
//#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
******
//#define MultiWiiMega // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
******
//#define PROTO_DIY // 10DOF mega board
******
//#define IOI_MINI_MULTIWII// www.bambucopter.com
******
//#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180
******
//#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
******
//#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
******
//#define FLYDUINO_MPU // MPU6050 Break Out onboard 3.3V reg
******
//#define CRIUS_AIO_PRO_V1
******
//#define DESQUARED6DOFV2GO // DEsquared V2 with ITG3200 only
******
//#define DESQUARED6DOFV4 // DEsquared V4 with MPU6050
******
//#define LADYBIRD
******
//#define MEGAWAP_V2_STD // available here: http://www.multircshop.com <- confirmed by Alex
******
//#define MEGAWAP_V2_ADV
******
//#define HK_MultiWii_SE_V2 // Hobbyking board with MPU6050 + HMC5883L + BMP085
******
//#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back. ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)
******
//#define RCNet_FC // RCNet FC with MPU6050 and MS561101BA http://www.rcnet.com
******
//#define RCNet_FC_GPS // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
******
//#define FLYDU_ULTRA // MEGA+10DOF+MT3339 FC
******
//#define DIYFLYING_MAGE_V1 // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
******
//#define MultiWii_32U4_SE // Hextronik MultiWii_32U4_SE
******
//#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory
******
//#define Flyduino9DOF // Flyduino 9DOF IMU MPU6050+HMC5883l
******
//#define Nano_Plane // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
******
****
/*************************** independent sensors ********************************/
******
/* leave it commented if you already checked a specific board above */
******
/* I2C gyroscope */
******
//#define WMP
******
//#define ITG3200
******
//#define MPU3050
******
//#define L3G4200D
******
//#define MPU6050 //combo + ACC
******
//#define LSM330 //combo + ACC
******
******
/* I2C accelerometer */
******
//#define NUNCHUCK // if you want to use the nunckuk connected to a WMP
******
//#define MMA7455
******
//#define ADXL345
******
//#define BMA020
******
//#define BMA180
******
//#define BMA280
******
//#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
******
//#define LIS3LV02
******
//#define LSM303DLx_ACC
******
//#define MMA8451Q
******
/* I2C barometer */
******
//#define BMP085
******
//#define MS561101BA
******
/* I2C magnetometer */
******
//#define HMC5843
******
//#define HMC5883
******
//#define AK8975
******
//#define MAG3110
******
/* Sonar */ // for visualization purpose currently - no control code behind
******
//#define SRF02 // use the Devantech SRF i2c sensors
******
//#define SRF08
******
//#define SRF10
******
//#define SRF23
******
/* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
******
//#define ADCACC
******
/* enforce your individual sensor orientation - even overrides board specific defaults */
******
//#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;}
******
//#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = Z;}
******
//#define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
******
/* Board orientation shift */
******
/* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
*********you*can*use*one*of*of*this*options*for*virtual*sensors*rotation*by*45*deegres,*then*set*type*of*multicopter*according*to*flight*mode.
*********Check*motors*order*and*directions*of*motors*rotation*for*matching*with*new*front*point!**Uncomment*only*one*option!**/
******
//#define SENSORS_TILT_45DEG_RIGHT // rotate the FRONT 45 degres clockwise
******
//#define SENSORS_TILT_45DEG_LEFT // rotate the FRONT 45 degres counterclockwise
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**2*-*COPTER*TYPE*SPECIFIC*OPTIONS**************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/******************************** PID Controller *********************************/
****
/* choose one of the alternate PID control algorithms
*******1*=*evolved*oldschool*algorithm*(similar*to*v2.2)
*******2*=*new*experimental*algorithm*from*Alex*Khoroshko*-*unsupported*-*http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
********/
****#define*PID_CONTROLLER*1
****
/* NEW: not used anymore for servo coptertypes <== NEEDS FIXING - MOVE TO WIKI */
****#define*YAW_DIRECTION*1
****
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
****#define*ONLYARMWHENFLAT*
//prevent the copter from arming when the copter is tilted
***
/******************************** ARM/DISARM *********************************/
***
/* optionally disable stick combinations to arm/disarm the motors.
*******In*most*cases*one*of*the*two*options*to*arm/disarm*via*TX*stick*is*sufficient**/
****#define*ALLOW_ARM_DISARM_VIA_TX_YAW
****
//#define ALLOW_ARM_DISARM_VIA_TX_ROLL
****
/******************************** SERVOS *********************************/
****
/* info on which servos connect where and how to setup can be found here
*******http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
******/
****
/* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
*******room*for*servo*travel,*then*you*must*enable*and*set*all*three*following*options**/
*****
//#define SERVO_MIN {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
*****
//#define SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
*****
//#define SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
*****
//#define FORCE_SERVO_RATES {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse
**
/*********************** Cam Stabilisation ***********************/
****
/* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
****
//#define SERVO_MIX_TILT
****
//#define SERVO_TILT
****
/* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
****
// trigger interval can be changed via (*GUI*) or via AUX channel
****
//#define CAMTRIG
****#define*CAM_TIME_HIGH*1000***
// the duration of HIGH state servo expressed in ms
**
/*********************** Airplane ***********************/
****
//#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
****
//#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.
****#define*FLAPPERON_EP***{*1500,*1700*}*
// Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
****#define*FLAPPERON_INVERT*{*-1,*1*}****
// Change direction om flapperons { Wing1, Wing2 }
****
****
//#define FLAPS // Traditional Flaps on SERVO3.
****
//#define FLAPSPEED 3 // Make flaps move slowm Higher value is Higher Speed.
**
/*********************** Common for Heli & Airplane ***********************/
****
/* Governor: attempts to maintain rpm through pitch and voltage changes
*******predictive*approach:*observe*input*signals*and*voltage*and*guess*appropriate*corrections.
*******(the*throttle*curve*must*leave*room*for*the*governor,*so*0-50-75-80-80*is*ok,*0-50-95-100-100*is*_not_*ok.
*******Can*be*toggled*via*aux*switch.
******/
****
//#define GOVERNOR_P 7 // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
****
//#define GOVERNOR_D 4 // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
****
//#define VOLTAGEDROP_COMPENSATION // voltage impact correction
**
/*********************** Heli ***********************/
****
/* Channel to control CollectivePitch */
****#define*COLLECTIVE_PITCH******THROTTLE
****
/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
****#define*COLLECTIVE_RANGE*{*80,*0,*80*}
// {Min%, ZeroPitch offset from 1500, Max%}.
****#define*YAWMOTOR*****************0*******
// If a motor is used as YAW Set to 1 else set to 0.
****
/* Servo mixing for heli 120
*************************{Coll,Nick,Roll}**/
****#define*SERVO_NICK***{*+10,*-10,**0*}
****#define*SERVO_LEFT***{*+10,*+5,*+10*}*
****#define*SERVO_RIGHT**{*+10,*+5,*-10*}*
****
/* Limit Maximum controll for Roll & Nick in 0-100% */
****#define*CONTROL_RANGE***{*100,*100*}******
// { ROLL,PITCH }
****
/* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
*******if*inactive,*throttle*output*will*be*treated*as*a*motor*output,*so*it*can*drive*an*ESC**/
****
//#define HELI_USE_SERVO_FOR_THROTTLE
**
/*********************** your individual mixing ***********************/
****
/* if you want to override an existing entry in the mixing table, you may want to avoid editing the
*******mixTable()*function*for*every*version*again*and*again.*
*******howto:*http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
******/
****
//#define MY_PRIVATE_MIXING "filename.h"
**
/*********************** your individual defaults ***********************/
****
/* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
*******you*may*want*to*avoid*editing*the*LoadDefaults()*function*for*every*version*again*and*again.
*******http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
******/
****
//#define MY_PRIVATE_DEFAULTS "filename.h"
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**3*-*RC*SYSTEM*SETUP***************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/* note: no need to uncomment something in this section if you use a standard receiver */
**
/**************************************************************************************/
**
/******** special receiver types ********************/
**
/**************************************************************************************/
****
/**************************** PPM Sum Reciver ***********************************/
******
/* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
*********Select*the*right*line*depending*on*your*radio*brand.*Feel*free*to*modify*the*order*in*your*PPM*order*is*different**/
******#define*SERIAL_SUM_PPM*********PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11*
//For Graupner/Spektrum
******
//#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
******
//#define SERIAL_SUM_PPM ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
******
//#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
******
// Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
******
//#define PPM_ON_THROTTLE
****
/********************** Spektrum Satellite Reciver *******************************/
******
/* The following lines apply only for Spektrum Satellite Receiver
*********Spektrum*Satellites*are*3V*devices.**DO*NOT*connect*to*5V!
*********For*MEGA*boards,*attach*sat*grey*wire*to*RX1,*pin*19.*Sat*black*wire*to*ground.*Sat*orange*wire*to*Mega*board's*3.3V*(or*any*other*3V*to*3.3V*source).
*********For*PROMINI,*attach*sat*grey*to*RX0.**Attach*sat*black*to*ground.**/
******
//#define SPEKTRUM 1024
******
//#define SPEKTRUM 2048
******
//#define SPEK_SERIAL_PORT 1 // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
******
//**************************
******
// Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
******
// Bind mode will be same as declared above, if your TX is capable.
******
// Ground, Power, and Signal must come from three adjacent pins.
******
// By default, these are Ground=4, Power=5, Signal=6. These pins are in a row on most MultiWii shield boards. Pins can be overriden below.
******
// Normally use 3.3V regulator is needed on the power pin!! If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
******
//**************************
******
// For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
******
//#define SPEK_BIND //Un-Comment for Spektrum Satellie Bind Support. Code is ~420 bytes smaller without it.
******
//#define SPEK_BIND_GROUND 4
******
//#define SPEK_BIND_POWER 5
******
//#define SPEK_BIND_DATA 6
****
/******************************* SBUS RECIVER ************************************/
******
/* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
*********You*have*to*invert*the*S-Bus-Serial*Signal*e.g.*with*a*Hex-Inverter*like*IC*SN74*LS*04**/
******
//#define SBUS
******
//#define SBUS_SERIAL_PORT 1
******#define*SBUS_MID_OFFSET*988*
//SBUS Mid-Point at 1500
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**4*-*ALTERNATE*CPUs*&*BOARDS*******************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/**************************************************************************************/
**
/******** Promini Specifig Settings ********************/
**
/**************************************************************************************/
****
/************************** Hexa Motor 5 & 6 Pins *******************************/
******
/* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
*********This*mod*allow*the*use*of*a*standard*receiver*on*a*pro*mini
*********(no*need*to*use*a*PPM*sum*receiver)**/
******
//#define A0_A1_PIN_HEX
****
/********************************* Aux 2 Pin ***********************************/
******
/* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
*********it*deactivates*in*this*case*the*POWER*PIN*(pin*12)*or*the*BUZZER*PIN*(pin*8)**/
******
//#define RCAUXPIN8
******
//#define RCAUXPIN12
**
/**************************************************************************************/
**
/***************** Teensy 2.0 Support ******************/
**
/**************************************************************************************/
****
/* uncomment this if you use a teensy 2.0 with teensyduino
*******it*needs*to*run*at*16MHz**/
****
//#define TEENSY20
**
/**************************************************************************************/
**
/******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/
**
/**************************************************************************************/
****
/********************************* pin Layout **********************************/
******
/* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
******
//#define A32U4ALLPINS
****
/********************************** PWM Setup **********************************/
******
/* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
*********note:*not*possible*on*the*sparkfun*promicro*(pin*11*&*13*are*not*broken*out*there)
*********if*activated:
*********Motor*1-6*=*10-bit*hardware*PWM
*********Motor*7-8*=*8-bit*Software*PWM
*********Servos****=*8-bit*Software*PWM
*********if*deactivated:
*********Motor*1-4*=*10-bit*hardware*PWM
*********Motor*5-8*=*10-bit*Software*PWM
*********Servos****=*10-bit*Software*PWM**/
******
//#define HWPWM6
****
/********************************** Aux 2 Pin **********************************/
******
/* AUX2 pin on pin RXO */
******
//#define RCAUX2PINRXO
******
/* aux2 pin on pin D17 (RXLED) */
******
//#define RCAUX2PIND17
****
/********************************** Buzzer Pin **********************************/
******
/* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
******
//#define D8BUZZER
****
/*********************** Promicro version related ****************************/
******
/* Inverted status LED for Promicro ver 10 */
******
//#define PROMICRO10
**
/**************************************************************************************/
**
/******** override default pin assignments ********************/
**
/**************************************************************************************/
**
/* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
**
/* you may need to change PINx and PORTx plus #shift according to the desired pin! */
**
//#define OVERRIDE_V_BATPIN A0 // instead of A3 // Analog PIN 3
**
//#define OVERRIDE_PSENSORPIN A1 // instead of A2 // Analog PIN 2
**
//#define OVERRIDE_LEDPIN_PINMODE pinMode (A1, OUTPUT); // use A1 instead of d13
**
//#define OVERRIDE_LEDPIN_TOGGLE PINC |= 1<<1; // PINB |= 1<<5; //switch LEDPIN state (digital PIN 13)
**
//#define OVERRIDE_LEDPIN_OFF PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
**
//#define OVERRIDE_LEDPIN_ON PORTC |= 1<<1; // was PORTB |= (1<<5);
**
//#define OVERRIDE_BUZZERPIN_PINMODE pinMode (A2, OUTPUT); // use A2 instead of d8
**
//#define OVERRIDE_BUZZERPIN_ON PORTC |= 1<<2 //PORTB |= 1;
**
//#define OVERRIDE_BUZZERPIN_OFF PORTC &= ~(1<<2); //PORTB &= ~1;
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**5*-*ALTERNATE*SETUP***************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/****** Serial com speed *********************************/
****
/* This is the speed of the serial interfaces */
****#define*SERIAL0_COM_SPEED*115200
****#define*SERIAL1_COM_SPEED*115200
****#define*SERIAL2_COM_SPEED*115200
****#define*SERIAL3_COM_SPEED*115200
****
/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
*******if*the*ACC*calibration*time*is*very*long*(20*or*30s),*try*to*increase*this*delay*up*to*4000
*******it*is*relevent*only*for*a*conf*with*NK**/
****#define*INTERLEAVING_DELAY*3000
****
/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
*******it*is*relevent*only*for*a*conf*with*at*least*a*WMP**/
****#define*NEUTRALIZE_DELAY*100000
**
/**************************************************************************************/
**
/******** Gyro filters ********************/
**
/**************************************************************************************/
****
/********************* Lowpass filter for some gyros ****************************/
******
/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
*********to*decrease*the*LPF*frequency,*only*one*step*per*try.*As*soon*as*twitching*gone,*stick*with*that*setting.
*********It*will*not*help*on*feedback*wobbles,*so*change*only*when*copter*is*randomly*twiching*and*all*dampening*and
*********balancing*options*ran*out.*Uncomment*only*one*option!
*********IMPORTANT!*Change*low*pass*filter*setting*changes*PID*behaviour,*so*retune*your*PID's*after*changing*LPF.*/
******
//#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
******
//#define ITG3200_LPF_188HZ
******
//#define ITG3200_LPF_98HZ
******
//#define ITG3200_LPF_42HZ
******
//#define ITG3200_LPF_20HZ
******
//#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props
******
/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
*********to*decrease*the*LPF*frequency,*only*one*step*per*try.*As*soon*as*twitching*gone,*stick*with*that*setting.
*********It*will*not*help*on*feedback*wobbles,*so*change*only*when*copter*is*randomly*twiching*and*all*dampening*and
*********balancing*options*ran*out.*Uncomment*only*one*option!
*********IMPORTANT!*Change*low*pass*filter*setting*changes*PID*behaviour,*so*retune*your*PID's*after*changing*LPF.*/
******
//#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
******
//#define MPU6050_LPF_188HZ
******
//#define MPU6050_LPF_98HZ
******
//#define MPU6050_LPF_42HZ
******
//#define MPU6050_LPF_20HZ
******
//#define MPU6050_LPF_10HZ
******
//#define MPU6050_LPF_5HZ // Use this only in extreme cases, rather change motors and/or props
****
/****** Gyro smoothing **********************************/
******
/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
*********may*try*this*gyro*smoothing*via*averaging.*Not*suitable*for*multicopters!
*********Good*results*for*helicopter,*airplanes*and*flying*wings*(foamies)*with*lots*of*vibrations.*/
******
//#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw
****
/************************ Moving Average Gyros **********************************/
******
//#define MMGYRO 10 // (*) Active Moving Average Function for Gyros
******
//#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
******
/* Moving Average ServoGimbal Signal Output */
******
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
******
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
**
/************************ Analog Reads **********************************/
****
/* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
****
//#define FASTER_ANALOG_READS
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**6*-*OPTIONAL*FEATURES*************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/************************ Angele throttle correction ********************/
**
/* Automatically increase throttle based on the angle of the copter
*****Original*idea*by*Kraut*Rob,*first*implementation*HAdrian */
**
//#define THROTTLE_ANGLE_CORRECTION 40
**
*
/************************* Advanced Headfree Mode ********************/
*
/* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
****the**bearing*between*home*and*copter*position*will*become*the*control*direction*
IF*copter*come*closer*than*ADV_HEADFREE_RANGE*meters,*then*the*control*direction*freezed*to*the*
bearing*between*home*and*copter*at*the*point*where*it*crosses*the*ADV_HEADFREE_RANGE*meter*distance
first*implementation*by*HAdrian,*mods*by*EOSBandi
**/
***
//#define ADVANCED_HEADFREE //Advanced headfree mode is enabled when this is uncommented
***
//#define ADV_HEADFREE_RANGE 15 //Range where advanced headfree mode activated
**
/************************ continuous gyro calibration ********************/
**
/* Gyrocalibration will be repeated if copter is moving during calibration. */
****
//#define GYROCALIBRATIONFAILSAFE
**
/************************ AP FlightMode **********************************/
****
/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
****#define*AP_MODE*40**
// Create a deadspan for GPS.
********
**
/************************ Assisted AcroTrainer ************************************/
****
/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
*******Remember*to*activate*ANGLE_MODE*first!...
*******A*Value*on*200*will*give*a*very*distinct*transfer**/
****
//#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
**
/******** Failsafe settings ********************/
****
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
*******the*failsafe*procedure*is*initiated.*After*FAILSAFE_DELAY*time*from*failsafe*detection,*the*level*mode*is*on*(if*ACC*or*nunchuk*is*avaliable),
*******PITCH,*ROLL*and*YAW*is*centered*and*THROTTLE*is*set*to*FAILSAFE_THROTTLE*value.*You*must*set*this*value*to*descending*about*1m/s*or*so
*******for*best*results.*This*value*is*depended*from*your*configuration,*AUW*and*some*other*params.**Next,*after*FAILSAFE_OFF_DELAY*the*copter*is*disarmed,*
*******and*motors*is*stopped.*If*RC*pulse*coming*back*before*reached*FAILSAFE_OFF_DELAY*time,*after*the*small*quard*time*the*RC*control*is*returned*to*normal.**/
****
//#define FAILSAFE // uncomment to activate the failsafe function
****#define*FAILSAFE_DELAY*****10*********************
// Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
****#define*FAILSAFE_OFF_DELAY*200********************
// Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
****#define*FAILSAFE_THROTTLE**(MINTHROTTLE*+*200)****
// (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
****
****#define*FAILSAFE_DETECT_TRESHOLD**985
**
/***************** DFRobot LED RING *********************************/
****
/* I2C DFRobot LED RING communication */
****
//#define LED_RING
**
/******************************** LED FLASHER ***********************************/
****
//#define LED_FLASHER
****
//#define LED_FLASHER_DDR DDRB
****
//#define LED_FLASHER_PORT PORTB
****
//#define LED_FLASHER_BIT PORTB4
****
//#define LED_FLASHER_INVERT
****
//#define LED_FLASHER_SEQUENCE 0b00000000 // leds OFF
****
//#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes
****
//#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination
****
//#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination
**
/******************************* Landing lights *********************************/
**
/* Landing lights
*****Use*an*output*pin*to*control*landing*lights.
*****They*can*be*switched*automatically*when*used*in*conjunction
*****with*altitude*data*from*a*sonar*unit.**/
****
//#define LANDING_LIGHTS_DDR DDRC
****
//#define LANDING_LIGHTS_PORT PORTC
****
//#define LANDING_LIGHTS_BIT PORTC0
****
//#define LANDING_LIGHTS_INVERT
****
/* altitude above ground (in cm) as reported by sonar */
****
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50
****
/* adopt the flasher pattern for landing light LEDs */
****
//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
**
/************************* INFLIGHT ACC Calibration *****************************/
****
/* This will activate the ACC-Inflight calibration if unchecked */
****
//#define INFLIGHT_ACC_CALIBRATION
**
/******************************* OSD Switch *************************************/
****
// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
**
//#define OSD_SWITCH
**
/**************************************************************************************/
**
/*********************** TX-related **************************/
**
/**************************************************************************************/
****
/* introduce a deadband around the stick center
*******Must*be*greater*than*zero,*comment*if*you*dont*want*a*deadband*on*roll,*pitch*and*yaw**/
****
//#define DEADBAND 6
**
/**************************************************************************************/
**
/*********************** GPS **************************/
**
/**************************************************************************************/
****
/* GPS using a SERIAL port
*******if*enabled,*define*here*the*Arduino*Serial*port*number*and*the*UART*speed
*******note:*only*the*RX*PIN*is*used*in*case*of*NMEA*mode,*the*GPS*is*not*configured*by*multiwii
*******in*NMEA*mode*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_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
****
// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
****#define*GPS_BAUD***57600
***
/* GPS protocol
*******NMEA**-*Standard*NMEA*protocol*GGA,*GSA*and*RMC**sentences*are*needed
*******UBLOX*-*U-Blox*binary*protocol,*use*the*ublox*config*file*(u-blox-config.ublox.txt)*from*the*source*tree*
*******MTK_BINARY16*and*MTK_BINARY19*-*MTK3329*chipset*based*GPS*with*DIYDrones*binary*firmware*(v1.6*or*v1.9)
*******With*UBLOX*and*MTK_BINARY*you*don't*have*to*use*GPS_FILTERING*in*multiwii*code*!!!**/
****
****
//#define NMEA
****
//#define UBLOX
****
//#define MTK_BINARY16
****
//#define MTK_BINARY19
****
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
****
****
/* I2C GPS device made with an independant arduino + GPS device
*******including*some*navigation*functions
*******contribution*from*EOSBandi***http://code.google.com/p/i2c-gps-nav/*
*******You*have*to*use*at*least*I2CGpsNav*code*r33**/
****
//#define I2C_GPS
****
// If your I2C GPS board has Sonar support enabled
****
//#define I2C_GPS_SONAR
****
/* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
****
//#define GPS_FROM_OSD
****
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
******-*No*GPS*FIX*->*LED*blink*at*speed*of*incoming*GPS*frames
******-*Fix*and*sat*no.*bellow*5*->*LED*off
******-*Fix*and*sat*no.*>=*5*->*LED*blinks,*one*blink*for*5*sat,*two*blinks*for*6*sat,*three*for*7*...**/
****#define*GPS_LED_INDICATOR
****
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
****
//#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 declination from here : http://magnetic-declination.com/
*******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_DECLINATION 3.96f //For Budapest Hungary.
****#define*MAG_DECLINATION**0.0f***
//(**)
****#define*GPS_LEAD_FILTER**********************
// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
****
****
//#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_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
**
/**************************************************************************************/
**
/*********************** LCD/OLED - display settings *********************/
**
/**************************************************************************************/
****
/* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
****
/***************************** The type of LCD **********************************/
******
/* choice of LCD attached for configuration and telemetry, see notes below */
******
//#define LCD_DUMMY // No Physical LCD attached. With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.
******
//#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
******
//#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
******
//#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
******
//#define LCD_TTY // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
******
//#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
******
//#define LCD_LCD03 // I2C LCD: LCD03, which is i2c
******
//#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
******
//#define OLED_DIGOLE // I2C OLED from http://www.digole.com/index.php?productID=550
****
/****************************** Display settings ***********************************/
******#define*LCD_SERIAL_PORT*0****
// must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
******
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
****
/* double font height for better readability. Reduces visible #lines by half.
*******The*lower*part*of*each*page*is*accessible*under*the*name*of*shifted*keyboard*letter*:
*******1*-*!*,*2*-*@*,*3*-*#*,*4*-*$*,*5*-*%*,*6*-*^*,*7*-*&*,*8*-***,*9*-*(
*******You*must*add*both*to*your*lcd.telemetry.**sequences
******/
******
//#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
****
/* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
******
//#define DISPLAY_2LINES
******
//#define DISPLAY_MULTILINE
******
//#define MULTILINE_PRE 2 // multiline configMenu # pref lines
******
//#define MULTILINE_POST 6 // multiline configMenu # post lines
******
//#define DISPLAY_COLUMNS 16
****
/******************************** Navigation ***********************************/
****
/* keys to navigate the LCD menu */
******#define*LCD_MENU_PREV*
'p'
******#define*LCD_MENU_NEXT*
'n'
******#define*LCD_VALUE_UP*
'u'
******#define*LCD_VALUE_DOWN*
'd'
******#define*LCD_MENU_SAVE_EXIT*
's'
******#define*LCD_MENU_ABORT*
'x'
**
/**************************************************************************************/
**
/*********************** LCD configuration menu **************************/
**
/**************************************************************************************/
****
/* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
*******http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu**/
******
//#define LCD_CONF
****
/* to include setting the aux switches for AUX1 -> AUX4 via LCD */
******
//#define LCD_CONF_AUX
****
/* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
******
//#define SUPPRESS_LCD_CONF_AUX2
******
//#define SUPPRESS_LCD_CONF_AUX34
**
/**************************************************************************************/
**
/*********************** LCD telemetry **************************/
**
/**************************************************************************************/
****
/* to monitor system values (battery level, loop time etc. with LCD
*******http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry**/
****
/******************************** Activation ***********************************/
****
//#define LCD_TELEMETRY
****
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */
****
//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
****
//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2
****
/* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
****
//#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
****
/* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
****
//#define SUPPRESS_TELEMETRY_PAGE_1
****
//#define SUPPRESS_TELEMETRY_PAGE_2
****
//#define SUPPRESS_TELEMETRY_PAGE_3
****
//#define SUPPRESS_TELEMETRY_PAGE_4
****
//#define SUPPRESS_TELEMETRY_PAGE_5
****
//#define SUPPRESS_TELEMETRY_PAGE_6
****
//#define SUPPRESS_TELEMETRY_PAGE_7
****
//#define SUPPRESS_TELEMETRY_PAGE_8
****
//#define SUPPRESS_TELEMETRY_PAGE_9
****
//#define SUPPRESS_TELEMETRY_PAGE_R
**
/********************************************************************/
**
/**** RSSI ****/
**
/********************************************************************/
****
//#define RX_RSSI
****
//#define RX_RSSI_PIN A3
**
/********************************************************************/
**
/**** Buzzer ****/
**
/********************************************************************/
****
//#define BUZZER
****
//#define RCOPTIONSBEEP // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
****
//#define ARMEDTIMEWARNING 330 // (*) Trigger an alarm after a certain time of being armed to save you lipo (if your TX does not have a countdown)
****//#define PILOTLAMP //Uncomment if you are using a X-Arcraft Pilot Lamp
**/********************************************************************/
**/**** battery voltage monitoring ****/
**/********************************************************************/
****/* for V BAT monitoring
*******after*the*resistor*divisor*we*should*get*[0V;5V]->[0;1023]*on*analog*V_BATPIN
*******with*R1=33k*and*R2=51k
*******vbat*=*[0;1023]*16/VBATSCALE
*******must*be*associated*with*#define*BUZZER*!**/
****//#define VBAT // uncomment this line to activate the vbat code
****#define*VBATSCALE*******131*// (*) (**) change this value if readed Battery voltage is different than real voltage
****#define*VBATNOMINAL*****126*// 12,6V full battery nominal voltage - only used for lcd.telemetry
****#define*VBATLEVEL_WARN1*107*// (*) (**) 10,7V
****#define*VBATLEVEL_WARN2**99*// (*) (**) 9.9V
****#define*VBATLEVEL_CRIT***93*// (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
****#define*NO_VBAT**********16*// Avoid beeping without any battery
**/********************************************************************/
**/**** powermeter (battery capacity monitoring) ****/
**/********************************************************************/
****/* enable monitoring of the power consumption from battery (think of mAh)
*******allows*to*set*alarm*value*in*GUI*or*via*LCD
******Full*description*and*howto*here*http://www.multiwii.com/wiki/index.php?title=Powermeter
*******Two*options:
*******1*-*hard:*-*(uses*hardware*sensor,*after*configuration*gives*very*good*results)
*******2*-*soft:*-*(good*results*+-5%*for*plush*and*mystery*ESCs*@*2S*and*3S,*not*good*with*SuperSimple*ESC)*****/
****//#define POWERMETER_SOFT
****//#define POWERMETER_HARD
****#define*PSENSORNULL*510*/* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
***********************************gives*1/2*Vss;*that*is*approx*2.49Volt;**/
****#define*PINT2mA*132*****/* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
***********************************soft:*use*fictional*value,*start*with*100.
***********************************for*hard*and*soft:*larger*PINT2mA*will*get*you*larger*value*for*power*(mAh*equivalent)**/
**/********************************************************************/
**/**** altitude hold ****/
**/********************************************************************/
****/* defines the neutral zone of throttle stick during altitude hold, default setting is
*******+/-50*uncommend*and*change*the*value*below*if*you*want*to*change*it.**/
****#define*ALT_HOLD_THROTTLE_NEUTRAL_ZONE****50
****//#define ALT_HOLD_THROTTLE_MIDPOINT 1500 // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
****/* uncomment to disable the altitude hold feature.
*******This*is*useful*if*all*of*the*following*apply
*******+*you*have*a*baro
*******+*want*altitude*readout*and/or*variometer
*******+*do*not*use*altitude*hold*feature
*******+*want*to*save*memory*space**/
****//#define SUPPRESS_BARO_ALTHOLD
**/********************************************************************/
**/**** altitude variometer ****/
**/********************************************************************/
****/* enable to get audio feedback upon rising/falling copter/plane.
*******Requires*a*working*baro.
*******For*now,*Output*gets*sent*to*an*enabled*vt100*terminal*program*over*the*serial*line.
*******choice*of*two*methods*(enable*either*one*or*both)
*******method*1*:*use*short*term*movement*from*baro*(*bigger*code*size)
*******method*2*:*use*long*term*observation*of*altitude*from*baro*(smaller*code*size)
******/
****//#define VARIOMETER 12 // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
****//#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired
****//#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
****//#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals
**/********************************************************************/
**/**** baord naming ****/
**/********************************************************************/
****/*
*******this*name*is*displayed*together*with*the*MultiWii*version*number
*******upon*powerup*on*the*LCD.
*******If*you*are*without*a*DISPLAYD*then*You*may*enable*LCD_TTY*and
*******use*arduino*IDE's*serial*monitor*to*view*the*info.
******
*******You*must*preserve*the*format*of*this*string!
*******It*must*be*16*characters*total,
*******The*last*4*characters*will*be*overwritten*with*the*version*number.
******/
****#define*BOARD_NAME*"MultiWii V-.--"
****// 123456789.123456
**/************* Support multiple configuration profiles in EEPROM ************/
****//#define MULTIPLE_CONFIGURATION_PROFILES
**/************* do no reset constants when change of flashed program is detected ***********/
****#define*NO_FLASH_CHECK
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**7*-*TUNING*&*DEVELOPER************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**/**************************************************************************************/
**/******** special ESC with extended range [0-2000] microseconds ********************/
**/**************************************************************************************/
****//#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
**/**************************************************************************************/
**/*********************** motor, servo and other presets ***********************/
**/**************************************************************************************/
****/* motors will not spin when the throttle command is in low position
*******this*is*an*alternative*method*to*stop*immediately*the*motors**/
****//#define MOTOR_STOP
****/* some radios have not a neutral point centered on 1500. can be changed here */
****#define*MIDRC*1500
**/*********************** Servo Refreshrates ***********************/
****/* Default 50Hz Servo refresh rate*/
****#define*SERVO_RFR_50HZ
****/* up to 160Hz servo refreshrate .. works with the most analog servos*/
****//#define SERVO_RFR_160HZ
****/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
*******for*use*with*digital*servos
*******dont*use*it*with*analog*servos!*thay*may*get*damage.*(some*will*work*but*be*careful)**/
****//#define SERVO_RFR_300HZ
****
**/*********************** HW PWM Servos ***********************/
****/* HW PWM Servo outputs for Arduino Mega.. moves:
******Pitch***=*pin*44
******Roll****=*pin*45
******CamTrig*=*pin*46
******SERVO4**=*pin*11*(aileron*left*for*fixed*wing*or*TRI*YAW*SERVO)
******SERVO5**=*pin*12*(aileron*right*for*fixed*wing)
******SERVO6**=*pin*6***(rudder*for*fixed*wing)
******SERVO7**=*pin*7***(elevator*for*fixed*wing)
******SERVO8**=*pin*8***(motor*for*fixed*wing)********/
****#define*MEGA_HW_PWM_SERVOS
*
****/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
*******one*of*the*3*fixed*servo.refresh.rates**
*******Tested*only*for*heli_120,*i.e.*1*motor*+*4*servos,*moves..
*******motor[0]*=*motor*******=*pin**6
*******servo[3]*=*nick**servo*=*pin*11
*******servo[4]*=*left**servo*=*pin*10
*******servo[5]*=*yaw***servo*=*pin**5
*******servo[6]**=*right*servo=*pin**9
******/
****//#define A32U4_4_HW_PWM_SERVOS
****#define*SERVO_RFR_RATE**50****// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
****//#define SERVO_PIN5_RFR_RATE 200 // separate yaw pwm rate.
******************************************// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
**/********************************************************************/
**/**** Memory savings ****/
**/********************************************************************/
****/* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
****/**** suppress handling of serial commands.***
*******This*does*_not_*affect*handling*of*RXserial,*Spektrum*or*GPS.*Those*will*not*be*affected*and*still*work*the*same.
*******Enable*either*one*or*both*of*the*following*options***/
******/* Remove handling of all commands of the New MultiWii Serial Protocol.
*********This*will*disable*use*of*the*GUI,*winGUI,*android*apps*and*any*other*program*that*makes*use*of*the*MSP.
*********You*must*find*another*way*(like*LCD_CONF)*to*tune*the*parameters*or*live*with*the*defaults.
*********If*you*run*a*LCD/OLED*via*i2c*or*serial/Bluetooth,*this*is*safe*to*use**/
******//#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
******/* Remove handling of other serial commands.
*********This*includes*navigating*via*serial*the*lcd.configuration*menu,*lcd.telemetry*and*permanent.log*.
*********Navigating*via*stick*inputs*on*tx*is*not*affected*and*will*work*the*same.***/
******//#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves approx 0 to 100 bytes, depending on features enabled
****/**** suppress keeping the defaults for initial setup and reset in the code.
*******This*requires*a*manual*initial*setup*of*the*PIDs*etc.*or*load*and*write*from*defaults.mwi;
*******reset*in*GUI*will*not*work*on*PIDs
******/
****//#define SUPPRESS_DEFAULTS_FROM_GUI
****
****//#define DISABLE_SETTINGS_TAB // Saves ~400bytes on ProMini
**/********************************************************************/
**/**** diagnostics ****/
**/********************************************************************/
****/* to log values like max loop time and others to come
*******logging*values*are*visible*via*LCD*config
*******set*to*1,*enable*'R'*option*to*reset*values,*max*current,*max*altitude
*******set*to*2,*adds*min/max*cycleTimes
*******set*to*3,*adds*additional*powerconsumption*on*a*per*motor*basis*(this*uses*the*big*array*and*is*a*memory*hog,*if*POWERMETER*<>*PM_SOFT)**/
****//#define LOG_VALUES 1
****/* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
*******used*to*track*number*of*flights*etc.*over*lifetime*of*controller*board.
*******Writes*to*end*of*eeprom*-*should*not*conflict*with*stored*parameters*yet.
*******Logged*values:*accumulated*lifetime,*#powercycle/reset/initialize*events,*#arm*events,*#disarm*events,*last*armedTime,
**********************#failsafe@disarm,*#i2c_errs@disarm
*******Enable*one*or*more*options*to*show*the*log
******/
****//#define LOG_PERMANENT
****//#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
****//#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
****//#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
****//#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
****/* to add debugging code
*******not*needed*and*not*recommended*for*normal*operation
*******will*add*extra*code*that*may*slow*down*the*main*loop*or*make*copter*non-flyable**/
****//#define DEBUG
****//#define DEBUG_FREE // will add 'F' command to show free memory
****/* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
****//#define LCD_CONF_DEBUG
****/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
****//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
****//#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.
****/* Enable string transmissions from copter to GUI */
****//#define DEBUGMSG
**/********************************************************************/
**/**** ESCs calibration ****/
**/********************************************************************/
****/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
*******Warning:*this*creates*a*special*version*of*MultiWii*Code
*******You*cannot*fly*with*this*special*version.*It*is*only*to*be*used*for*calibrating*ESCs
*******Read*How*To*at*http://code.google.com/p/multiwii/wiki/ESCsCalibration**/
****#define*ESC_CALIB_LOW**MINCOMMAND
****#define*ESC_CALIB_HIGH*2000
****//#define ESC_CALIB_CANNOT_FLY // uncomment to activate
**/**** internal frequencies ****/
****/* frequenies for rare cyclic actions in the main loop, depend on cycle time
*******time*base*is*main*loop*cycle*time*-*a*value*of*6*means*to*trigger*the*action*every*6th*run*through*the*main*loop
*******example:*with*cycle*time*of*approx*3ms,*do*action*every*6*3ms=18ms
*******value*must*be*[1;*65535]**/
****#define*LCD_TELEMETRY_FREQ*23*******// to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
****#define*LCD_TELEMETRY_AUTO_FREQ**967// to step to next telemetry page 967 <=> 3s
****#define*PSENSOR_SMOOTH*16***********// len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
****#define*VBAT_SMOOTH*16**************// len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
****#define*RSSI_SMOOTH*16**************// len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
**/********************************************************************/
**/**** Dynamic Motor/Prop Balancing ****/
**/********************************************************************/
**/* !!! No Fly Mode !!! */
****//#define DYNBALANCE // (**) Dynamic balancing controlled from Gui
**/********************************************************************/
**/**** Regression testing ****/
**/********************************************************************/
****/* for development only:
*******to*allow*for*easier*and*reproducable*config*sets*for*test*compiling,*different*sets*of*config*parameters*are*kept
*******together.*This*is*meant*to*help*detecting*compile*time*errors*for*various*features*in*a*coordinated*way.
*******It*is*not*meant*to*produce*your*flying*firmware
*******To*use:
*******-*do*not*set*any*options*in*config.h,
*******-*enable*with*#define*COPTERTEST*1,*then*compile
*******-*if*possible,*check*for*the*size
*******-*repeat*with*other*values*of*2,*3,*4*etc.
*********/
****//#define COPTERTEST 1
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**8*-*DEPRECATED********************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**/* these features will be removed in the unforseeable future. Do not build new products or
*****functionality*based*on*such*features.*The*default*for*all*such*features*is*OFF.
****/
**/************************** WMP power pin *******************************/
**//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
**/* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
**#define*DISABLE_POWER_PIN
/*************************************************************************************************/
/***************END*OF*CONFIGURABLE*PARAMETERS****************************************************/
/*************************************************************************************************/
#endif*/* CONFIG_H_ */
