**
/**************************************************************************************/
**
/*********************** GPS **************************/
**
/**************************************************************************************/
****
/* ENable this for using GPS simulator (NMEA only)*/
****
//#define GPS_SIMULATOR
****
/* 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
***********************************
// must be 0 for PRO_MINI (ex GPS_PRO_MINI)
***********************************
// note: Now a GPS can share MSP on the same port. The only constrain is to not use it simultaneously, and use the same port speed.
****
// 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_BAUD will override SERIALx_COM_SPEED for the selected port
***
/* 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**/
****
/* all functionnalities allowed by SERIAL_GPS are now available for I2C_GPS: all relevant navigation computations are gathered in the main FC */
****
//#define I2C_GPS
****
// If your I2C GPS board has Sonar support enabled
****
//#define I2C_GPS_SONAR
****
/* 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
***
//Enables the MSP_WP command set , which is used by WinGUI for displaying an setting up navigation
***
//#define USE_MSP_WP
***
// HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
***
//#define DONT_RESET_HOME_AT_ARM
/**GPS*navigation*can*control*the*heading**/
//*copter*faces*toward*the*navigation*point,*maghold*must*be*enabled*for*it
#define*NAV_CONTROLS_HEADING*******1****
//(**)
//*true*-*copter*comes*in*with*tail*first
#define*NAV_TAIL_FIRST*************0****
//(**)
//*true*-*when*copter*arrives*to*home*position*it*rotates*it's*head*to*takeoff*direction
#define*NAV_SET_TAKEOFF_HEADING****1****
//(**)
/**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)
Also*note,*that*maqgnetic*declination*changes*with*time,*so*recheck*your*value*every*3-6*months**/
#define*MAG_DECLINATION**2.23f***
//(**)
//*Adds*a*forward*predictive*filterig*to*compensate*gps*lag.*Code*based*on*Jason*Short's*lead*filter*implementation
#define*GPS_LEAD_FILTER***************
//(**)
//*add*a*5*element*moving*average*filter*to*GPS*coordinates,*helps*eliminate*gps*noise*but*adds*latency*comment*out*to*disable
//*use*it*with*NMEA*gps*only*
//#define*GPS_FILTERING*****************//(**)
//*if*we*are*within*this*distance*to*a*waypoint*then*we*consider*it*reached*(distance*is*in*cm)
#define*GPS_WP_RADIUS**************100******
//(**)
//*Safe*WP*distance,*do*not*start*mission*if*the*first*wp*distance*is*larger*than*this*number*(in*meters)
//*Also*aborts*mission*if*the*next*waypoint*distance*is*more*than*this*number
#define*SAFE_WP_DISTANCE***********500******
//(**)
//Maximu*allowable*navigation*altitude*(in*meters)*automatic*altitude*control*will*not*go*above*this*height
#define*MAX_NAV_ALTITUDE***********100*****
//(**)
//*minimum*speed*when*approach*waypoint
#define*NAV_SPEED_MIN**************100****
// cm/sec //(**)
//*maximum*speed*to*reach*between*waypoints
#define*NAV_SPEED_MAX**************400****
// cm/sec //(**)
//*Slow*down*to*zero*when*reaching*waypoint*(same*as*NAV_SPEED_MIN*=*0)
#define*NAV_SLOW_NAV***************0******
//(**)
//*Weight*factor*of*the*crosstrack*error*in*navigation*calculations*(do*not*touch)
#define*CROSSTRACK_GAIN************.4*****
//(**)
//*Maximum*allowable*banking*than*navigation*outputs
#define*NAV_BANK_MAX*3000*****************
//(**)
//Defines*the*RTH*altitude.*0*means*keep*current*alt*during*RTH*(in*meters)
#define*RTH_ALTITUDE***************15********
//(**)
//Wait*to*reach*RTH*alt*before*start*moving*to*home*(0-no,*1-yes)
#define*WAIT_FOR_RTH_ALT***********1*********
//(**)
//Navigation*engine*will*takeover*BARO*mode*control
#define*NAV_TAKEOVER_BARO**********1*********
//(**)
//Throttle*stick*input*will*be*ignored**(only*in*BARO)
#define*IGNORE_THROTTLE************1*********
//(**)
//If*FENCE*DISTANCE*is*larger*than*0*then*copter*will*switch*to*RTH*when*it*farther*from*home
//than*the*defined*number*in*meters
#define*FENCE_DISTANCE******600
//This*governs*the*descent*speed*during*landing.*100*is*equals*approc*50cm/sec
#define*LAND_SPEED**********100
****
//#define ONLY_ALLOW_ARM_WITH_GPS_3DFIX // Only allow FC arming if GPS has a 3D fix.
