Hallo meine config.h
was sonst als VCC?
Den kondensator und transistor und 100N
/**************** 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 Flyduino9DOF // Flyduino 9DOF IMU MPU6050+HMC5883l
//#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
