/*************************************************************************************************/
/*************************************************************************************************/
/******************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 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*1150
**
/**************************** Motor maxthrottle *******************************/
****
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
******#define*MAXTHROTTLE*1850
**
/**************************** 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 SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
******
//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex
******
//#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 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 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 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
******
//#define CRIUS_AIO_PRO_V1
******
****
/*************************** independent sensors ********************************/
******
/* leave it commented if you already checked a specific board above */
******
/* I2C gyroscope */
******#define*WMP
******
//#define ITG3200
******
//#define L3G4200D
******
//#define MPU6050 //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 NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
******
//#define LIS3LV02
******
//#define LSM303DLx_ACC
******
/* 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
******
/* individual sensor orientation */
******
//#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;}
******
//#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;}
******
//#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**2*-*COPTER*TYPE*SPECIFIC*OPTIONS**************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/******************************** TRI *********************************/
****#define*YAW_DIRECTION*1
****
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
****
/* you can change the tricopter servo travel here */
******#define*TRI_YAW_CONSTRAINT_MIN*1020
******#define*TRI_YAW_CONSTRAINT_MAX*2000
******#define*TRI_YAW_MIDDLE*1500*
// tail servo center pos. - use this for initial trim; later trim midpoint via LCD
***
/******************************** 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
**
/*********************** 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
****#define*TILT_PITCH_MIN****1020****
//servo travel min, don't set it below 1020
****#define*TILT_PITCH_MAX****2000****
//servo travel max, max value=2000
****#define*TILT_PITCH_MIDDLE*1500****
//servo neutral value
****#define*TILT_PITCH_PROP***10******
//servo proportional (tied to angle) ; can be negative to invert movement
****#define*TILT_ROLL_MIN*****1020
****#define*TILT_ROLL_MAX*****2000
****#define*TILT_ROLL_MIDDLE**1500
****#define*TILT_ROLL_PROP****10
****
/* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
****
//#define CAMTRIG
****#define*CAM_SERVO_HIGH*2000**
// the position of HIGH state servo
****#define*CAM_SERVO_LOW*1020***
// the position of LOW state servo
****#define*CAM_TIME_HIGH*1000***
// the duration of HIGH state servo expressed in ms
****#define*CAM_TIME_LOW*1000****
// the duration of LOW state servo expressed in ms
**
/*********************** Flying Wing ***********************/
****
/* you can change change servo orientation and servo min/max values here
*******valid*for*all*flight*modes,*even*passThrough*mode
*******need*to*setup*servo*directions*here;*no*need*to*swap*servos*amongst*channels*at*rx**/
****#define*PITCH_DIRECTION_L*1*
// left servo - pitch orientation
****#define*PITCH_DIRECTION_R*-1**
// right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
****#define*ROLL_DIRECTION_L*1*
// left servo - roll orientation
****#define*ROLL_DIRECTION_R*1**
// right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
****#define*WING_LEFT_MID**1500*
// left servo center pos. - use this for initial trim; later trim midpoint via LCD
****#define*WING_RIGHT_MID*1500*
// right servo center pos. - use this for initial trim; later trim midpoint via LCD
****#define*WING_LEFT_MIN**1020*
// limit servo travel range must be inside [1020;2000]
****#define*WING_LEFT_MAX**2000*
// limit servo travel range must be inside [1020;2000]
****#define*WING_RIGHT_MIN*1020*
// limit servo travel range must be inside [1020;2000]
****#define*WING_RIGHT_MAX*2000*
// limit servo travel range must be inside [1020;2000]
**
/*********************** Airplane ***********************/
****#define*SERVO_RATES******{100,*100,*100,*100,*100,*100,*100,*100}*
// Rates in 0-100%
****#define*SERVO_DIRECTION**{*-1,***1,***1,***-1,**1,***1,***1,***1*}*
// Invert servos by setting -1
****
//#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_EP { 1200, 1500 } // Or Flapperons up for CrowMix
****#define*FLAPPERON_INVERT*{*1,*-1*}****
// Change direction om flapperons { Wing1, Wing2 }
****
****
//#define FLAPS AUX4 // Traditional Flaps on A2 invert with SERVO_DIRECTION servo[2).
****#define*FLAP_EP******{*1500,*1900*}***
// Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
****
//#define FLAPSPEED 3 // Make flaps move slowm Higher value is Higher Speed.
**
/*********************** Common for Heli & Airplane ***********************/
****
//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
****#define*SERVO_OFFSET*****{**0,***0,***0,**0,***0,***0,**0,***0*}*
// Adjust Servo MID Offset & Swash angles
****
// Selectable channels:= ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4
**
/*********************** Heli ***********************/
****
/* Channel to control CollectivePitch */
****#define*COLLECTIVE_PITCH******THROTTLE
****
/* Set Maximum available movement for the servos. Depending on model */
****#define*SERVO_ENDPOINT_HIGH*{2000,2000,2000,2000,2000,2000,2000,2000};
****#define*SERVO_ENDPOINT_LOW**{1020,1020,1020,1020,1020,1020,1020,1020};
****
/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
****#define*COLLECTIVE_RANGE*{*80,*1500,*80*}
// {Min%, ZeroPitch, Max%}.
****#define*YAW_CENTER*************1500******
// Use servo[5] SERVO_ENDPOINT_HIGH/LOW for the endpoits.
****#define*YAWMOTOR****************0*******
// If a motor is useed as YAW Set to 1 else set to 0.
****
/* Servo mixing for heli 120 Use 1/10 fractions (ex.5 = 5/10 = 1/2)
*************************{Coll,Nick,Roll}**/
****#define*SERVO_NICK***{*+10,*-10,*-0*}
****#define*SERVO_LEFT***{*+10,*+5,*+10*}*
****#define*SERVO_RIGHT**{*+10,*+5,*-10*}*
****
/* Servo mixing for heli 90
****************************{Coll,Nick,Roll}**/
****#define*SERVO_DIRECTIONS*{*+1,*-1,*-1*}*
// -1 will invert servo
****
/* Limit Maximum controll for Roll & Nick in 0-100% */
****#define*CONTROLL_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
**
/*********************** Single and DualCopter Settings ***********************/
****
/* Change to -1 to reverse servomovement per axis
*******Servosettings*for*SingleCopter**/
****#define*SINGLECOPTRER_YAW***{1,*1,*1,*1}*
// Left, Right,Front,Rear
****#define*SINGLECOPTRER_SERVO*{1,-1,*1,-1}*
// Pitch,Pitch,Roll, Roll
**
****
/* Servosettings for DualCopter */
*****#define*DUALCOPTER_SERVO*{1,1}*
//Pitch,Roll
****
/* Use SERVO_OFFSET and SERVO_RATES in Heli and Airplane section for centering and endpoints */
/*************************************************************************************************/
/*************************************************************************************************/
/******************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*
//For Graupner/Spektrum
******
//#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4 //For Robe/Hitec/Futaba
******
//#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4 //For some Hitec/Sanwa/Others
****
/********************** 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
****
/******************************* SBUS RECIVER ************************************/
******
/* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1).
*********You*have*to*invert*the*S-Bus-Serial*Signal*e.g.*with*a*Hex-Inverter*like*IC*SN74*LS*04**/
******
//#define SBUS
****
/******************* RC signal from the serial port via Multiwii Serial Protocol *********/
******
//#define RCSERIAL
/*************************************************************************************************/
/*************************************************************************************************/
/******************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
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**5*-*ALTERNATE*SETUP***************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/****** Serial com speed *********************************/
****
/* This is the speed of the serial interface */
****#define*SERIAL_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 // Active Moving Average Function for Gyros
******
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
******
/* Moving Average ServoGimbal Signal Output */
******
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
******
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**6*-*OPTIONAL*FEATURES*************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**
/* Pseudo-derivative conrtroller for level mode (experimental)
*****Additional*information:*http://www.multiwii.com/forum/viewtopic.php?f=8&t=503**/
****
//#define LEVEL_PDF
**
/******** Failsave settings ********************/
****
/* Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
*******After*FAILSAVE_DELAY*time*of*pulse*absence,*the*level*mode*is*on*(if*ACC*or*nunchuk*is*avaliable),*PITCH,*ROLL*and*YAW*is*centered
*******and*THROTTLE*is*set*to*FAILSAVE_THR0TTLE*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,*afrer*FAILSAVE_OFF_DELAY*the*copter*is*disarmed,*and*motors*is*stopped.
*******If*RC*pulse*coming*back*before*reached*FAILSAVE_OFF_DELAY*time,*after*the*small*quard*time*the*RC*control*is*returned*to*normal.
*******If*you*use*serial*sum*PPM,*the*sum*converter*must*completly*turn*off*the*PPM*SUM*pusles*for*this*FailSafe*functionality.*/
****
//#define FAILSAFE // uncomment to activate the failsafe function
****#define*FAILSAVE_DELAY*****10*********************
// Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
****#define*FAILSAVE_OFF_DELAY*200********************
// Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
****#define*FAILSAVE_THROTTLE**(MINTHROTTLE*+*200)****
// Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
**
/***************** 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_SEQUENCE ( (uint8_t) 0 )
****
// create double flashes
****
//#define LED_FLASHER_SEQUENCE_ARMED ( (uint8_t) (1<<0 | 1<<2) )
****
// full illumination
****
//#define LED_FLASHER_SEQUENCE_MAX 0xFF
**
/******************************* 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
****
/* altitude above ground (in cm) as reported by sonar */
****
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50
**
/************************* INFLIGHT ACC Calibration *****************************/
****
/* This will activate the ACC-Inflight calibration if unchecked */
****
//#define INFLIGHT_ACC_CALIBRATION
**
/************************** Disable WMP power pin *******************************/
****
/* disable use of the POWER PIN
*******(allready*done*if*the*option*RCAUXPIN12*is*selected)**/
****
//#define DISABLE_POWER_PIN
**
/**************************************************************************************/
**
/*********************** 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
****
/* defines the neutral zone of throttle stick during altitude hold, default setting is
*******+/-20*uncommend*and*change*the*value*below*if*you*want*to*change*it.**/
****
//#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 20
**
/**************************************************************************************/
**
/*********************** GPS **************************/
**
/**************************************************************************************/
****
/* GPS using a SERIAL port
*******only*available*on*MEGA*boards*(this*might*be*possible*on*328*based*boards*in*the*future)
*******if*enabled,*define*here*the*Arduino*Serial*port*number*and*the*UART*speed
*******note:*only*the*RX*PIN*is*used,*the*GPS*is*not*configured*by*multiwii
*******the*GPS*must*be*configured*to*output*GGA*and*RMC*NMEA*sentences*(which*is*generally*the*default*conf*for*most*GPS*devices)
*******at*least*5Hz*update*rate.*uncomment*the*first*line*to*select*the*GPS*serial*port*of*the*arduino**/
****#define*GPS_SERIAL*2*
// should be 2 for flyduino v2. It's the serial port number on arduino MEGA
****#define*GPS_BAUD***38400
****
****
//#define GPS_PROMINI_SERIAL 57600 // Will Autosense if GPS is connected when ardu boots
***
****
/* I2C GPS device made with an independant arduino + GPS device
*******including*some*navigation*functions
*******contribution*from*EOSBandi***http://code.google.com/p/i2c-gps-nav/*
*******You*have*to*use*at*least*I2CGpsNav*code*r33**/
****
//#define I2C_GPS
****
/* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
*******optional*sonar*device.****https://github.com/wertarbyte/tiny-gps/**/
****
/* get GPS data from Tiny-GPS */
****
//#define TINY_GPS
****
/* get sonar data from Tiny-GPS */
****
//#define TINY_GPS_SONAR
****
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED? */
****#define*GPS_LED_INDICATOR
****
/* GPS data readed from OSD -- still need some more code to work */
****
//#define GPS_FROM_OSD
****
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
//Uncomment it if you are planning to use WinGUI - Will cost +208 bytes of Flash
****
//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
****
/* GPS navigation can control the heading */
****
****#define*NAV_CONTROLS_HEADING*******
true // copter faces toward the navigation point, maghold must be enabled for it
****#define*NAV_TAIL_FIRST*************
false // true - copter comes in with tail first
****#define*NAV_SET_TAKEOFF_HEADING****
true // true - when copter arrives to home position it rotates it's head to takeoff direction
****
****
****
/* Get your magnetic decliniation from here : 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_DECLINIATION 3.96f //For Budapest Hungary.
****#define*MAG_DECLINIATION**13.94f
****
****#define*GPS_FILTERING************************
// add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
****#define*GPS_LOW_SPEED_D_FILTER***************
// below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise commnent out to disable
****#define*GPS_WP_RADIUS**************200*******
// if we are within this distance to a waypoint then we consider it reached (distance is in cm)
****#define*NAV_SLEW_RATE**************30********
// Adds a rate control to nav output, will smoothen out nav angle spikes
**
/**************************************************************************************/
**
/*********************** LCD/OLED - display settings *********************/
**
/**************************************************************************************/
****
/* uncomment this line if you plan to use a LCD or OLED */
******
//#define LCD_CONF
****
/* to include setting the aux switches for AUX1 -> AUX4 via LCD */ //to review (activate[] is now 16 bit long)
******
//#define LCD_CONF_AUX
****
/* if program gets too large (>32k), need to exclude some functionality */
******
/* uncomment to suppress some unwanted aux3 aux4 items in config menu (only useful if LCD_CONF_AUX is enabled) */
******
//#define SUPPRESS_LCD_CONF_AUX34
****
/***************************** The type of LCD **********************************/
******
/* choice of LCD attached for configuration and telemetry, see notes below */
******
//#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_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
****
/****************************** Logo settings ***********************************/
******
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
****
/* style of display - AUTODETECTED via LCD_ setting - only activate to overwrite defaults */
******
//#define DISPLAY_2LINES
******
//#define DISPLAY_MULTILINE
******
//#define MULTILINE_PRE 2 // multiline configMenu # pref lines
******
//#define MULTILINE_POST 6 // multiline configMenu # post lines
****
/******************************** Navigation ***********************************/
****
/* keys to navigate the LCD menu (preset to LCD_TEXTSTAR key-depress codes)*/
******#define*LCD_MENU_PREV*
'a'
******#define*LCD_MENU_NEXT*
'c'
******#define*LCD_VALUE_UP*
'd'
******#define*LCD_VALUE_DOWN*
'b'
******#define*LCD_MENU_SAVE_EXIT*
's'
******#define*LCD_MENU_ABORT*
'x'
****
/* To use an LCD03 for configuration:
*******http://www.robot-electronics.co.uk/htm/Lcd03tech.htm
*******Remove*the*jumper*on*its*back*to*set*i2c*control.
*******VCC*to*+5V*VCC*(pin1*from*top)
*******SDA*-*Pin*A4*Mini*Pro*-*Pin*20*Mega*(pin2*from*top)
*******SCL*-*Pin*A5*Mini*Pro*-*Pin*21*Mega*(pin3*from*top)
*******GND*to*Ground*(pin4*from*top)*/
****
/* To use an Eagle Tree Power Panel LCD for configuration:
*******White*wire**to*Ground
*******Red*wire****to*+5V*VCC*(or*to*the*WMP*power*pin,*if*you*prefer*to*reset*everything*on*the*bus*when*WMP*resets)
*******Yellow*wire*to*SDA*-*Pin*A4*Mini*Pro*-*Pin*20*Mega
*******Brown*wire**to*SCL*-*Pin*A5*Mini*Pro*-*Pin*21*Mega**/
****
/* Cat's whisker LCD_TEXTSTAR LCD
*******Pleae*note*this*display*needs*a*full*4*wire*connection*to*(+5V,*Gnd,*RXD,*TXD*)
*******Configure*display*as*follows:*115K*baud,*and*TTL*levels*for*RXD*and*TXD,*terminal*mode
*******NO*rx*/*tx*line*reconfiguration,*use*natural*pins.
*******The*four*buttons*sending*'A',*'B',*'C',*'D'*are*supported*for*configuration*navigation*and*request*of*telemetry*pages*1-4**/
**
/**************************************************************************************/
**
/*********************** telemetry **************************/
**
/**************************************************************************************/
****
/* to monitor system values (battery level, loop time etc. with LCD enable this
*******note:*for*now*you*must*send*single*characters*to*request**different*pages
*******Buttons*toggle*request*for*page*on/off
*******The*active*page*on*the*LCD*does*get*updated*automatically
*******Easy*to*use*with*Terminal*application*or*display*like*LCD*-*if*available*uses*the*4*preconfigured*buttons**to*send*'A',*'B',*'C',*'D'**/
****
/******************************** Activation ***********************************/
****
//#define LCD_TELEMETRY
****
/* to enable automatic hopping between a choice of telemetry pages uncomment this.
*******This*may*be*useful*if*your*LCD*has*no*buttons*or*the*sending*is*broken
*******hopping*is*activated*and*deactivated*in*unarmed*mode*with*throttle=low*&*roll=left*&*pitch=forward
*******set*it*to*the*sequence*of*telemetry*pages*you*want*to*see
*******2*line*displays*support*pages*1-9
*******multiline*displays*support*pages*1-5**/
****
//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 7 in ascending order
****
//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2
****
/* same as above, but manual stepping sequence; requires
*******stick*input*(throttle=low*&*roll=right*&*pitch=forward)*to*
*******step*through*each*defined*telemetry*page**/
****
//#define LCD_TELEMETRY_STEP "0123456789" // must begin with 0
****
/* on telemetry page B (2) it gives a bar graph which shows how much voltage battery has left. Range from 0 to 12 Volt is not very informative
*******so*we*try*do*define*a*meaningful*range.*For*a*3S*battery*we*define*full=12,6V*and*calculate*how*much*it*is*above*first*warning*level
*******Example:*12.6V*-*VBATLEVEL1_3S**(for*me*=*126*-*102*=*24)**/
****#define*VBATREF*24
****
/* if program gets too large (>32k), need to exclude some functionality
*******uncomment*to*suppress*some*unwanted*telemetry*pages*(only*useful*if*telemetry*is*enabled)**/
****
//#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
**
/********************************************************************/
**
/**** 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)
**/********************************************************************/
**/**** 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*VBATLEVEL1_3S*107*// 10,7V
****#define*VBATLEVEL2_3S*103*// 10,3V
****#define*VBATLEVEL3_3S*99**// 9.9V
****#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
*******Two*options:
*******1*-*soft:*-*(good*results*+-5%*for*plush*and*mystery*ESCs*@*2S*and*3S,*not*good*with*SuperSimple*ESC
************00.*relies*on*your*combo*of*battery*type*(Voltage,*cpacity),*ESC,*ESC*settings,*motors,*props*and*multiwii*cycle*time
************01.*set*POWERMETER*soft.*Uses*PLEVELSCALE*=*50,*PLEVELDIV*=*PLEVELDIVSOFT*=*5000
************0.*output*is*a*value*that*linearily*scales*to*power*(mAh)
************1.*get*voltage*reading*right*first
************2.*start*with*freshly*charged*battery
************3.*go*fly*your*typical*flight*(routine*and*duration)
************4.*at*end*connect*to*GUI*or*LCD*and*read*the*power*value;*write*it*down*(example*4711)
************5.*charge*battery,*write*down*amount*of*energy*needed*(example*722*mAh)
************6.*compute*alarm*value*for*desired*power*threshold*(example*750*mAh*:*alarm*=*4711*/*722***750)
************7.*set*alarm*value*in*GUI*or*LCD
************8.*enjoy*your*new*battery*alarm*-*possibly*repeat*steps*2*..*7
************9.*if*you*want*the*numbers*to*represent*your*mAh*value,*you*must*change*PLEVELDIV
*******2*-*hard:*-*(uses*hardware*sensor,*after*configuration*gives*reasonable*results
************00.*uses*analog*pin*2*to*read*voltage*output*from*sensor.
************01.*set*POWERMETER*hard.*Uses*PLEVELSCALE*=*50
************02.*install*low*path*filter*for*25*Hz*to*sensor*input
************03.*check*your*average*cycle*time.*If*not*close*to*3ms,*then*you*must*change*PLEVELDIV*accordingly
************1.*compute*PLEVELDIV*for*your*sensor*(see*below*for*insturctions)
************2.*set*PLEVELDIVSOFT*to*5000*(*to*use*LOG_VALUES*for*individual*motor*comparison)
************3.*attach,*set*PSENSORNULL*and**PINT2mA
************4.*configure,*compile,*upload,*set*alarm*value*in*GUI*or*LCD
************3.*enjoy*true*readings*of*mAh*consumed
*******set*POWERMETER*to*"soft"*(1)*or*"hard"*(2)*depending*on*sensor*you*want*to*utilize**/
****//#define POWERMETER_SOFT
****//#define POWERMETER_HARD
****/* the sum of all powermeters ranges from [0:60000 e4] theoretically.
*******the*alarm*level*from*eeprom*is*out*of*[0:255],*so*we*multipy*alarm*level*with*PLEVELSCALE*and*with*1e4*before*comparing
*******PLEVELSCALE*is*the*step*size*you*can*use*to*set*alarm**/
****#define*PLEVELSCALE*50*// if you change this value for other granularity, you must search for comments in code to change accordingly
****/* larger PLEVELDIV will get you smaller value for power (mAh equivalent) */
****#define*PLEVELDIV*5000*// default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter
****#define*PLEVELDIVSOFT*PLEVELDIV*// for soft always equal to PLEVELDIV; for hard set to 5000
****//#define PLEVELDIV 1361L // to convert the sum into mAh divide by this value
****/* amploc 25A sensor has 37mV/A
*******arduino*analog*resolution*is*4.9mV*per*unit;*units*from*[0..1023]
*******sampling*rate*20ms,*approx*19977*micro*seconds
*******PLEVELDIV*=*37*/*4.9****10e6*/*18000****3600*/*1000**=*1361L
*******set*to*analogRead()*value*for*zero*current**/
****#define*PSENSORNULL*510*// for I=0A my sensor gives 1/2 Vss; that is approx 2.49Volt
****#define*PINT2mA*13*// for telemtry display: one integer step on arduino analog translates to mA (example 4.9 / 37 * 100
/*************************************************************************************************/
/*************************************************************************************************/
/******************SECTION**7*-*TUNING*&*DEVELOPER************************************************/
/*************************************************************************************************/
/*************************************************************************************************/
**/**************************************************************************************/
**/******** special ESC with extended range [0-2000] microseconds ********************/
**/**************************************************************************************/
****//#define EXT_MOTOR_RANGE
**/**************************************************************************************/
**/*********************** 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 Gimbal for Arduino Mega.. moves:
******Pitch*=*pin*44
******Roll**=*pin*45
******this*reduces*the*PWM*resolution*for*all*other*servos*to*8*bit**/
****//#define MEGA_HW_GIMBAL
**/********************************************************************/
**/**** IMU complimentary filter tuning ****/
**/********************************************************************/
****/* Set the Low Pass Filter factor for ACC
*******Increasing*this*value*would*reduce*ACC*noise*(visible*in*GUI),*but*would*increase*ACC*lag*time
*******Comment*this*out*if*you*want*to*set*a*specific*coeff*(non*default)*/
****//#define ACC_LPF_FACTOR 100
****/* Set the Low Pass Filter factor for Magnetometer
*******Increasing*this*value*would*reduce*Magnetometer*noise*(not*visible*in*GUI),*but*would*increase*Magnetometer*lag*time
*******Comment*this*out*if*you*want*to*set*a*specific*coeff*(non*default)*/
****//#define MG_LPF_FACTOR 4
****/* Set the Gyro Weight for Gyro/Acc complementary filter
*******Increasing*this*value*would*reduce*and*delay*Acc*influence*on*the*output*of*the*filter
*******Comment*this*out*if*you*want*to*set*a*specific*coeff*(non*default)*/
****//#define GYR_CMPF_FACTOR 400.0f
****/* Set the Gyro Weight for Gyro/Magnetometer complementary filter
*******Increasing*this*value*would*reduce*and*delay*Magnetometer*influence*on*the*output*of*the*filter
*******Comment*this*out*if*you*want*to*set*a*specific*coeff*(non*default)*/
****//#define GYR_CMPFM_FACTOR 200.0f
**/********************************************************************/
**/**** diagnostics ****/
**/********************************************************************/
****/* to log values like max loop time and others to come
*******logging*values*are*visible*via*LCD*config
*******set*to*2,*if*you*want*powerconsumption*on*a*per*motor*basis*(this*uses*the*big*array*and*is*a*memory*hog,*if*POWERMETER*<>*PM_SOFT)**/
****//#define LOG_VALUES 1
****/* 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
****/* 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.
**/********************************************************************/
**/**** 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*667*// to step to next telemetry page 667 <=> 2s
****#define*PSENSORFREQ*6***************// to read hardware powermeter sensor 6 <=> 18ms
****#define*VBATFREQ*PSENSORFREQ********// to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing
**/********************************************************************/
**/**** 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
/*************************************************************************************************/
/***************END*OF*CONFIGURABLE*PARAMETERS****************************************************/
/*************************************************************************************************/
