Hilfe! Ich bekomme meinen Nanoquad nicht zum fliegen...

B

Bugs-Bunny

Benutzer
#1
#1
Guten Abend,

ich habe mir den Nanoquad von Flyduino zusammen gebaut und verzweifel grad an der Nanowii...

Komponenten:

Motor: Hacker 10a-12s
FC: Nanowii 0.5
ESC: Flyduino 7A Blheli
Empfänger: Spektrum Satellit DSMX
Sender: Spektrum DX6i

Ich habe alle Pins auf dem Board eingelötet un den Buzzer D8 mit dem Mittelpad verbunden.
Die ESC´s haben alle ihre Spannungsversorgung und das Sigal über den Rahmen.
der Akku ist auch hüber den Rahmen angeschlossen.
JP1 & JP2 sind beide offen.

Software:

ich habe mir die multiwii 2.3, sowie die Arduino 1.0.5 heruntergeladen.
Als erstes habe ich Arduino installiert und über das Prog. das Multiwii geöffnet und folgende Einstellungen vorgenommen:

#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*1150*// (*) (**)

**/**************************** Motor maxthrottle *******************************/
****/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
****#define*MAXTHROTTLE*1950

**/**************************** 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**900

**/********************************** 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_ */
Zum Vergrößern anklicken....


Der Upload hat wohl auch gut geklappt...
Sender und Empfänger sind ebenfalls erfolgreich miteinander gebunden...

wenn ich den Akku nun anstecke, ertönnt einne nette Melodie der ESC´s, die gründe LED brennt anhaltend und die rote blinkt in regelmäsigen Abständen.

Und nun fängt es schon an...
ich bekomme weder die Motoren zum laufen, noch bekomm ich die Multiwiiconf zum laufen, denn diese hängt sich leider ständig auf und zeigt einfach keine Werte an, bzw. ich glaube sie verbindet sich garnicht erst mit der Nanowii!?

ich brauche dringend Eure Hilfe, langsam aber sich schmeiß ich das Ding gegen die Wand!!!!
 
konus123

konus123

Erfahrener Benutzer
#2
#2
hoooo brauner . nicht gleich durchdrehen. bitte als erstes mal schauen ob dein Java aktuell und passend zu deinem System ist ( 23bit/64bit). zur not aktuallisieren. wenn das nicht hilft mal das hier ausprobieren

http://code.google.com/p/mw-wingui/downloads/detail?name=WinGUI_2.3pre8(b5).zip&can=2&q=

laufen wird in dem zustand noch nichts. es muss erst der acc callibriert werden ( das blinken) und deine Einstellungen in der gui gemacht werden
also erst das obere abklären und dann geht's weiter

Alex
 
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Kayle

Kayle

Erfahrener Benutzer
#3
#3
Bugs-Bunny hat gesagt.:
ich brauche dringend Eure Hilfe, langsam aber sich schmeiß ich das Ding gegen die Wand!!!!
Zum Vergrößern anklicken....
Dann hast Du Dir den falschen Flightcontroller ausgesucht. Hättest Dir ein KK2.0 oder Naza holen müssen. Bei Multiwii sind solche Probleme nicht selten, aber lösbar. Allerdings sollte man da ruhig Blut bewahren.

Probier mal die WinGUI für Multiwii aus. Dafür brauchste nämlich kein Java.

Gruß Kayle
 
Kaldi

Kaldi

...es funktioniert!
#4
#4
wie Konus schon sagt. Als erstes die Kalibrierung machen - bin ich anfangs auch einige Male drauf "reingefallen".

MultiWii Config läuft bei mir nur unter der 32Bit Variante zuverlässig. Am besten auch unter Windows XP. Unter Win7 64 nehme ich auch die 32Bit Variante.
 
B

Bugs-Bunny

Benutzer
#5
#5
Guten morgen,

Die WinGuI hab ich ebenfalls schon ausprobiert, nachdem ich einen eeprom clear durchgeführt habe und alles neu upgeloaded habe, hängt sich das Programm leider nur noch auf wenn ich Auf Connenct klicke!?

Ich verwende im übrigen Win7 64Bit und hier läuft komischerweise nur die Multiwiiconf in der 32bit Version.
 
Kaldi

Kaldi

...es funktioniert!
#9
#9
ich finde die 2.2er wirklich gut und stabil. Man muss sich halt mit den Bezeichnungen etwas umgewöhnen... z.B. ACC (-> Angle)
Horizon Mode mag ich gar nicht - das ist so eine Mischung aus ACC und RATE-Mode. Je nach Knüppelausschlag. Hat in engen Kurven schon zu bösen Überaschungen geführt.

Fazit: für mich 2.2 mit Angle und Rate Mode.
 
konus123

konus123

Erfahrener Benutzer
#11
#11
ich fliege auf allen quads die eine mw drauf haben die 2.3 . vom hk pocketquad über die nanowii bis zum megaboard. ich hatte noch nie Probleme mit der gui. auf keinem rechner. ob mit xp, win 7 23 oder 64bit . wenn halt der rechner ( Stichwort : Treiber ) nicht sauber eingerichtet ist oder bedienfehler vorliegen kann die beste Software nix dafür.
Alex
 
B

Bugs-Bunny

Benutzer
#12
#12
Gibt es hier zufällig jemanden aus dem Raum Stuttgart und Umgebung, der sich mit dem Nanowii auskennt und mich ein wenig unterstützen möchte!?
Ich bekomm das ganze einfach nicht richtig zum laufen...
Ich bekomm nur die GUI 2.2 zum laufen bei 2.3 stürzt das ganze ab oder kommt eine Fehlermeldung.
 
B

Bugs-Bunny

Benutzer
#13
#13
Wenn sonst jemand Lust hat sich dem ganzen anzunehmen, dem sende ich den Kopter mit Fernsteueranlage gerne zu, ich bin wohl etwas zu blöde um es selbst hin zu bekommen..
 
B

Bugs-Bunny

Benutzer
#16
#16
Kurzes Update:
Hab gestern Abend noch mal ein wenig rumprobiert und die geberwege eingestellt.
Im übrigen bekommt man die Werte auch mit einer DX6i auf unter 1100 und über 1900 ganz gut eingestellt, ich sage das, weil ich irgendwo mal gelesen habe, das die Spektrum eher ungeeignet sei!?
Nach wie vor bekomme ich allerdings nur die GUI 2.2 zum laufen warum auch immer?

Heute werde ich mir noch die Mühe machen müssen, die ESCs einzeln ein zu lernen, denn die Motoren laufen nur sehr unterschiedlich an.
Wenn Ichs mir recht überlege ist der ganze Startvorgang ziemlich seltsam...
Wenn ich den Kopter scharf Stelle, muss ich erst ca. Auf Halbgas, dann Vollgas, wieder zurück auf halb und dann startet er, dabei gibt es dann lauter lustige Töne auf die Ohren...
Nun ja, wenigstens ist er schon mal in der Luft gehüpft.
 
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konus123

konus123

Erfahrener Benutzer
#17
#17
regler einlernen ist keine Option !!!! regler einlernen ist IMMER ein zwingendes muss!! wenn das nicht getan ist kann die beste fc nicht funktionieren. wenn ddi fc 1200 ausgibt und der regler 14oo draus macht kann alles nicht funktionieren.
meld dich doch einfach mal per Skype oder tele . bin ab 9 Uhr erreichbar.
PS das einlernen kannst du per sketch machen.

Alex
 
D

Drax1978

Erfahrener Benutzer
#18
#18
Kannst die Regler aber auch mit/bzw im Sketch anlernen mache Ich bei dem Nano auch so und funktioniert ohne Probleme. Ich fliege am lebsten die 2.1 mit der 2.2 habe Ich nicht ganz so gute Erfahrungen gemacht. Werde die 2.3 mal testen die Tage oder die Nav ist auch lustig bestimmt.

mfg
 
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FPV1

Banggood

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