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  1. #ifndef CONFIG_H_
  2. #define CONFIG_H_
  3.  
  4.  
  5. /*************************************************************************************************/
  6. /****           CONFIGURABLE PARAMETERS                                                       ****/
  7. /*************************************************************************************************/
  8.  
  9.  
  10. /* this file consists of several sections
  11.  * to create a working combination you must at least make your choices in section 1.
  12.  * 1 - BASIC SETUP - you must select an option in every block.
  13.  *      this assumes you have 4 channels connected to your board with standard ESCs and servos.
  14.  * 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
  15.  * 3 - RC SYSTEM SETUP
  16.  * 4 - ALTERNATE CPUs & BOARDS - if you have
  17.  * 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
  18.  * 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
  19.  * 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
  20.  *     - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)
  21.  * 8 - DEPRECATED - these features will be removed in some future release
  22.  */
  23.  
  24.  
  25. /* Notes:
  26.  * 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.
  27.  * 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI
  28.  */
  29.  
  30.  
  31.  
  32.  
  33. /*************************************************************************************************/
  34. /*****************                                                                 ***************/
  35. /****************  SECTION  1 - BASIC SETUP                                                *******/
  36. /*****************                                                                 ***************/
  37. /*************************************************************************************************/
  38.  
  39.  
  40.   /**************************    The type of multicopter    ****************************/
  41.     //#define GIMBAL
  42.     //#define BI
  43.     //#define TRI
  44.     //#define QUADP
  45.     #define QUADX
  46.     //#define Y4
  47.     //#define Y6
  48.     //#define HEX6
  49.     //#define HEX6X
  50.     //#define HEX6H  // New Model
  51.     //#define OCTOX8
  52.     //#define OCTOFLATP
  53.     //#define OCTOFLATX
  54.     //#define FLYING_WING
  55.     //#define VTAIL4
  56.     //#define AIRPLANE
  57.     //#define SINGLECOPTER
  58.     //#define DUALCOPTER
  59.     //#define HELI_120_CCPM
  60.     //#define HELI_90_DEG
  61.  
  62.  
  63.   /****************************    Motor minthrottle    *******************************/
  64.     /* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
  65.        This is the minimum value that allow motors to run at a idle speed  */
  66.     //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
  67.     //#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
  68.     //#define MINTHROTTLE 1064 // special ESC (simonk)
  69.     //#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
  70.     #define MINTHROTTLE 1300 // (*) (**)
  71.  
  72.  
  73.   /****************************    Motor maxthrottle    *******************************/
  74.     /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 default 1850 */
  75.     #define MAXTHROTTLE 1850
  76.  
  77.  
  78.   /****************************    Mincommand          *******************************/
  79.     /* this is the value for the ESCs when they are not armed
  80.        in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
  81.     #define MINCOMMAND  1000
  82.  
  83.  
  84.   /**********************************    I2C speed   ************************************/
  85.     #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
  86.     //#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones
  87.  
  88.  
  89.   /***************************    Internal i2c Pullups   ********************************/
  90.     /* enable internal I2C pull ups (in most cases it is better to use external pullups) */
  91.     //#define INTERNAL_I2C_PULLUPS
  92.  
  93.  
  94.   /**************************************************************************************/
  95.   /*****************          boards and sensor definitions            ******************/
  96.   /**************************************************************************************/
  97.  
  98.  
  99.     /***************************    Combined IMU Boards    ********************************/
  100.       /* if you use a specific sensor board:
  101.          please submit any correction to this list.
  102.            Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
  103.       //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
  104.       //#define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
  105.       //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
  106.       //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
  107.       //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
  108.       //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
  109.       //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
  110.       //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
  111.       //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
  112.       //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
  113.       //#define PIPO            // 9DOF board from erazz
  114.       //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
  115.       //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
  116.       //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
  117.       //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
  118.       //#define AEROQUADSHIELDv2
  119.       //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
  120.       //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
  121.       //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
  122.       //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
  123.       //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com           <- confirmed by Alex
  124.       //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
  125.       //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
  126.       //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
  127.       //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
  128.       //#define CITRUSv2_1      // CITRUS from qcrc.ca
  129.       //#define CHERRY6DOFv1_0
  130.       //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
  131.       //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
  132.       //#define DROTEK_6DOFv2   // Drotek 6DOF v2
  133.       //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
  134.       //#define DROTEK_10DOF_MPU//
  135.       //#define MON*****1_0     // mon***** 1.0    http://store.ckdevices.com/
  136.       //#define CRIUS_LITE      // Crius MultiWii Lite
  137.       //#define CRIUS_SE        // Crius MultiWii SE
  138.       //#define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
  139.       //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
  140.       //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
  141.       //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
  142.       //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
  143.       //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
  144.       //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
  145.       //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
  146.       //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
  147.       //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
  148.       //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
  149.       //#define PROTO_DIY       // 10DOF mega board
  150.       //#define IOI_MINI_MULTIWII// www.bambucopter.com
  151.       //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
  152.       //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
  153.       //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
  154.       //#define FLYDUINO_MPU       // MPU6050 Break Out onboard 3.3V reg
  155.       //#define CRIUS_AIO_PRO_V1
  156.       //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
  157.       //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
  158.       //#define LADYBIRD
  159.       //#define MEGAWAP_V2_STD     // available here: http://www.multircshop.com                    <- confirmed by Alex
  160.       //#define MEGAWAP_V2_ADV
  161.       //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
  162.       //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)  
  163.       //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
  164.       //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
  165.       //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
  166.       //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
  167.       //#define MultiWii_32U4_SE         // Hextronik MultiWii_32U4_SE
  168.       #define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory
  169.       //#define Flyduino9DOF       // Flyduino 9DOF IMU MPU6050+HMC5883l
  170.       //#define Nano_Plane         // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
  171.      
  172.     /***************************    independent sensors    ********************************/
  173.       /* leave it commented if you already checked a specific board above */
  174.       /* I2C gyroscope */
  175.       //#define WMP
  176.       //#define ITG3200
  177.       //#define MPU3050
  178.       //#define L3G4200D
  179.       //#define MPU6050       //combo + ACC
  180.       //#define LSM330        //combo + ACC
  181.      
  182.       /* I2C accelerometer */
  183.       //#define NUNCHUCK  // if you want to use the nunckuk connected to a WMP
  184.       //#define MMA7455
  185.       //#define ADXL345
  186.       //#define BMA020
  187.       //#define BMA180
  188.       //#define BMA280
  189.       //#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
  190.       //#define LIS3LV02
  191.       //#define LSM303DLx_ACC
  192.       //#define MMA8451Q
  193.  
  194.  
  195.       /* I2C barometer */
  196.       //#define BMP085
  197.       //#define MS561101BA
  198.  
  199.  
  200.       /* I2C magnetometer */
  201.       //#define HMC5843
  202.       //#define HMC5883
  203.       //#define AK8975
  204.       //#define MAG3110
  205.  
  206.  
  207.       /* Sonar */ // for visualization purpose currently - no control code behind
  208.       //#define SRF02 // use the Devantech SRF i2c sensors
  209.       //#define SRF08
  210.       //#define SRF10
  211.       //#define SRF23
  212.  
  213.  
  214.       /* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
  215.       //#define ADCACC
  216.  
  217.  
  218.       /* enforce your individual sensor orientation - even overrides board specific defaults */
  219.       //#define FORCE_ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  = Z;}
  220.       //#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] =  X; imu.gyroADC[YAW] = Z;}
  221.       //#define FORCE_MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}
  222.  
  223.  
  224.       /* Board orientation shift */
  225.       /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
  226.        * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
  227.        * Check motors order and directions of motors rotation for matching with new front point!  Uncomment only one option! */
  228.       //#define SENSORS_TILT_45DEG_RIGHT        // rotate the FRONT 45 degres clockwise
  229.       //#define SENSORS_TILT_45DEG_LEFT         // rotate the FRONT 45 degres counterclockwise
  230.  
  231.  
  232.  
  233.  
  234. /*************************************************************************************************/
  235. /*****************                                                                 ***************/
  236. /****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/
  237. /*****************                                                                 ***************/
  238. /*************************************************************************************************/
  239.   /********************************  PID Controller *********************************/
  240.     /* choose one of the alternate PID control algorithms
  241.      * 1 = evolved oldschool algorithm (similar to v2.2)
  242.      * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
  243.      * */
  244.     #define PID_CONTROLLER 1
  245.  
  246.  
  247.     /* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
  248.     #define YAW_DIRECTION 1
  249.     //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
  250.  
  251.  
  252.     #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted
  253.  
  254.  
  255.    /********************************    ARM/DISARM    *********************************/
  256.    /* optionally disable stick combinations to arm/disarm the motors.
  257.      * In most cases one of the two options to arm/disarm via TX stick is sufficient */
  258.     #define ALLOW_ARM_DISARM_VIA_TX_YAW
  259.     //#define ALLOW_ARM_DISARM_VIA_TX_ROLL
  260.  
  261.  
  262.     /********************************    SERVOS      *********************************/
  263.     /* info on which servos connect where and how to setup can be found here
  264.      * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
  265.      */
  266.  
  267.  
  268.  
  269.  
  270.     /* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
  271.      * room for servo travel, then you must enable and set all three following options */
  272.      //#define SERVO_MIN  {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
  273.      //#define  SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
  274.      //#define  SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
  275.      //#define FORCE_SERVO_RATES      {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse
  276.  
  277.  
  278.   /***********************          Cam Stabilisation             ***********************/
  279.     /* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
  280.     //#define SERVO_MIX_TILT
  281.     //#define SERVO_TILT
  282.  
  283.  
  284.     /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
  285.     // trigger interval can be changed via (*GUI*) or via AUX channel
  286.     //#define CAMTRIG
  287.     #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
  288.  
  289.  
  290.   /***********************          Airplane                       ***********************/
  291.     //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
  292.  
  293.  
  294.     //#define FLAPPERONS    AUX4          // Mix Flaps with Aileroins.
  295.     #define FLAPPERON_EP   { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
  296.     #define FLAPPERON_INVERT { -1, 1 }    // Change direction om flapperons { Wing1, Wing2 }
  297.    
  298.     //#define FLAPS                       // Traditional Flaps on SERVO3.
  299.     //#define FLAPSPEED     3             // Make flaps move slowm Higher value is Higher Speed.
  300.  
  301.  
  302.   /***********************      Common for Heli & Airplane         ***********************/
  303.  
  304.  
  305.     /* Governor: attempts to maintain rpm through pitch and voltage changes
  306.      * predictive approach: observe input signals and voltage and guess appropriate corrections.
  307.      * (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.
  308.      * Can be toggled via aux switch.
  309.      */
  310.     //#define GOVERNOR_P 7     // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
  311.     //#define GOVERNOR_D 4     // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
  312.  
  313.  
  314.     //#define VOLTAGEDROP_COMPENSATION // voltage impact correction
  315.  
  316.  
  317.   /***********************          Heli                           ***********************/
  318.     /* Channel to control CollectivePitch */
  319.     #define COLLECTIVE_PITCH      THROTTLE
  320.  
  321.  
  322.     /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
  323.     #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
  324.     #define YAWMOTOR                 0       // If a motor is used as YAW Set to 1 else set to 0.
  325.  
  326.  
  327.     /* Servo mixing for heli 120
  328.                          {Coll,Nick,Roll} */
  329.     #define SERVO_NICK   { +10, -10,  0 }
  330.     #define SERVO_LEFT   { +10, +5, +10 }
  331.     #define SERVO_RIGHT  { +10, +5, -10 }
  332.  
  333.  
  334.     /* Limit Maximum controll for Roll & Nick  in 0-100% */
  335.     #define CONTROL_RANGE   { 100, 100 }      //  { ROLL,PITCH }
  336.  
  337.  
  338.     /* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
  339.        if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
  340.     //#define HELI_USE_SERVO_FOR_THROTTLE
  341.  
  342.  
  343.   /***********************      your individual mixing     ***********************/
  344.     /* if you want to override an existing entry in the mixing table, you may want to avoid editing the
  345.      * mixTable() function for every version again and again.
  346.      * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
  347.      */
  348.     //#define MY_PRIVATE_MIXING "filename.h"
  349.  
  350.  
  351.   /***********************      your individual defaults     ***********************/
  352.     /* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
  353.      * you may want to avoid editing the LoadDefaults() function for every version again and again.
  354.      * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
  355.      */
  356.     //#define MY_PRIVATE_DEFAULTS "filename.h"
  357.  
  358.  
  359.  
  360.  
  361. /*************************************************************************************************/
  362. /*****************                                                                 ***************/
  363. /****************  SECTION  3 - RC SYSTEM SETUP                                            *******/
  364. /*****************                                                                 ***************/
  365. /*************************************************************************************************/
  366.  
  367.  
  368.   /* note: no need to uncomment something in this section if you use a standard receiver */
  369.  
  370.  
  371.   /**************************************************************************************/
  372.   /********                       special receiver types             ********************/
  373.   /**************************************************************************************/
  374.  
  375.  
  376.     /****************************    PPM Sum Reciver    ***********************************/
  377.       /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
  378.          Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
  379.       //#define SERIAL_SUM_PPM         PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
  380.       //#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
  381.       //#define SERIAL_SUM_PPM         ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
  382.       //#define SERIAL_SUM_PPM         PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
  383.  
  384.  
  385.       // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
  386.       #define PPM_ON_THROTTLE
  387.  
  388.  
  389.     /**********************    Spektrum Satellite Reciver    *******************************/
  390.       /* The following lines apply only for Spektrum Satellite Receiver
  391.          Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
  392.          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).
  393.          For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
  394.       //#define SPEKTRUM 1024
  395.       //#define SPEKTRUM 2048
  396.       //#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).
  397.       //**************************
  398.       // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
  399.       //   Bind mode will be same as declared above, if your TX is capable.
  400.       //   Ground, Power, and Signal must come from three adjacent pins.
  401.       //   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.  
  402.       //   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.
  403.       //**************************
  404.       //   For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
  405.       //#define SPEK_BIND             //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it.
  406.       //#define SPEK_BIND_GROUND 4
  407.       //#define SPEK_BIND_POWER  5
  408.       //#define SPEK_BIND_DATA   6
  409.  
  410.  
  411.     /*******************************    SBUS RECIVER    ************************************/
  412.       /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
  413.          You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
  414.       //#define SBUS
  415.       //#define SBUS_SERIAL_PORT 1
  416.       #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500
  417.  
  418.  
  419. /*************************************************************************************************/
  420. /*****************                                                                 ***************/
  421. /****************  SECTION  4 - ALTERNATE CPUs & BOARDS                                    *******/
  422. /*****************                                                                 ***************/
  423. /*************************************************************************************************/
  424.  
  425.  
  426.   /**************************************************************************************/
  427.   /********                      Promini Specifig Settings           ********************/
  428.   /**************************************************************************************/
  429.  
  430.  
  431.     /**************************    Hexa Motor 5 & 6 Pins    *******************************/
  432.       /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
  433.          This mod allow the use of a standard receiver on a pro mini
  434.          (no need to use a PPM sum receiver) */
  435.       //#define A0_A1_PIN_HEX
  436.  
  437.  
  438.     /*********************************    Aux 2 Pin     ***********************************/
  439.       /* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
  440.          it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */
  441.       //#define RCAUXPIN8
  442.       //#define RCAUXPIN12
  443.  
  444.  
  445.  
  446.  
  447.   /**************************************************************************************/
  448.   /*****************             Teensy 2.0 Support                    ******************/
  449.   /**************************************************************************************/
  450.     /* uncomment this if you use a teensy 2.0 with teensyduino
  451.        it needs to run at 16MHz */
  452.     //#define TEENSY20
  453.  
  454.  
  455.  
  456.  
  457.   /**************************************************************************************/
  458.   /********   Settings for ProMicro, Leonardo and other Atmega32u4 Boards     ***********/
  459.   /**************************************************************************************/
  460.  
  461.  
  462.     /*********************************    pin Layout     **********************************/
  463.       /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
  464.       //#define A32U4ALLPINS
  465.  
  466.  
  467.     /**********************************    PWM Setup     **********************************/
  468.       /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
  469.          note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
  470.          if activated:
  471.          Motor 1-6 = 10-bit hardware PWM
  472.          Motor 7-8 = 8-bit Software PWM
  473.          Servos    = 8-bit Software PWM
  474.          if deactivated:
  475.          Motor 1-4 = 10-bit hardware PWM
  476.          Motor 5-8 = 10-bit Software PWM
  477.          Servos    = 10-bit Software PWM */
  478.       //#define HWPWM6
  479.  
  480.  
  481.     /**********************************    Aux 2 Pin     **********************************/
  482.       /* AUX2 pin on pin RXO */
  483.       //#define RCAUX2PINRXO
  484.  
  485.  
  486.       /* aux2 pin on pin D17 (RXLED) */
  487.       //#define RCAUX2PIND17
  488.  
  489.  
  490.     /**********************************    Buzzer Pin    **********************************/
  491.       /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
  492.       //#define D8BUZZER
  493.  
  494.  
  495.     /***********************      Promicro version related     ****************************/
  496.       /* Inverted status LED for Promicro ver 10 */
  497.       //#define PROMICRO10
  498.  
  499.  
  500.  
  501.  
  502.   /**************************************************************************************/
  503.   /********                      override default pin assignments    ********************/
  504.   /**************************************************************************************/
  505.  
  506.  
  507.   /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
  508.   /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
  509.   //#define OVERRIDE_V_BATPIN                   A0 // instead of A3    // Analog PIN 3
  510.  
  511.  
  512.   //#define OVERRIDE_PSENSORPIN                 A1 // instead of A2    // Analog PIN 2
  513.  
  514.  
  515.   //#define OVERRIDE_LEDPIN_PINMODE             pinMode (A1, OUTPUT); // use A1 instead of d13
  516.   //#define OVERRIDE_LEDPIN_TOGGLE              PINC |= 1<<1; // PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)
  517.   //#define OVERRIDE_LEDPIN_OFF                 PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
  518.   //#define OVERRIDE_LEDPIN_ON                  PORTC |= 1<<1;    // was PORTB |= (1<<5);
  519.  
  520.  
  521.   //#define OVERRIDE_BUZZERPIN_PINMODE          pinMode (A2, OUTPUT); // use A2 instead of d8
  522.   //#define OVERRIDE_BUZZERPIN_ON               PORTC |= 1<<2 //PORTB |= 1;
  523.   //#define OVERRIDE_BUZZERPIN_OFF              PORTC &= ~(1<<2); //PORTB &= ~1;
  524.  
  525.  
  526. /*************************************************************************************************/
  527. /*****************                                                                 ***************/
  528. /****************  SECTION  5 - ALTERNATE SETUP                                            *******/
  529. /*****************                                                                 ***************/
  530. /*************************************************************************************************/
  531.  
  532.  
  533.   /******                Serial com speed    *********************************/
  534.     /* This is the speed of the serial interfaces */
  535.     #define SERIAL0_COM_SPEED 115200
  536.     #define SERIAL1_COM_SPEED 115200
  537.     #define SERIAL2_COM_SPEED 115200
  538.     #define SERIAL3_COM_SPEED 115200
  539.  
  540.  
  541.     /* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
  542.        if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
  543.        it is relevent only for a conf with NK */
  544.     #define INTERLEAVING_DELAY 3000
  545.  
  546.  
  547.     /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
  548.        it is relevent only for a conf with at least a WMP */
  549.     #define NEUTRALIZE_DELAY 100000
  550.  
  551.  
  552.  
  553.  
  554.   /**************************************************************************************/
  555.   /********                              Gyro filters                ********************/
  556.   /**************************************************************************************/
  557.  
  558.  
  559.     /*********************    Lowpass filter for some gyros    ****************************/
  560.       /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
  561.          to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
  562.          It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
  563.          balancing options ran out. Uncomment only one option!
  564.          IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
  565.       //#define ITG3200_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
  566.       //#define ITG3200_LPF_188HZ
  567.       //#define ITG3200_LPF_98HZ
  568.       //#define ITG3200_LPF_42HZ
  569.       //#define ITG3200_LPF_20HZ
  570.       //#define ITG3200_LPF_10HZ      // Use this only in extreme cases, rather change motors and/or props
  571.  
  572.  
  573.       /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
  574.          to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
  575.          It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
  576.          balancing options ran out. Uncomment only one option!
  577.          IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
  578.       //#define MPU6050_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
  579.       //#define MPU6050_LPF_188HZ
  580.       //#define MPU6050_LPF_98HZ
  581.       //#define MPU6050_LPF_42HZ
  582.       //#define MPU6050_LPF_20HZ
  583.       //#define MPU6050_LPF_10HZ
  584.       //#define MPU6050_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props
  585.  
  586.  
  587.     /******                Gyro smoothing    **********************************/
  588.       /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
  589.          may try this gyro smoothing via averaging. Not suitable for multicopters!
  590.          Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
  591.       //#define GYRO_SMOOTHING {20, 20, 3}    // (*) separate averaging ranges for roll, pitch, yaw
  592.  
  593.  
  594.     /************************    Moving Average Gyros    **********************************/
  595.       //#define MMGYRO 10                      // (*) Active Moving Average Function for Gyros
  596.       //#define MMGYROVECTORLENGTH 15          // Length of Moving Average Vector (maximum value for tunable MMGYRO
  597.       /* Moving Average ServoGimbal Signal Output */
  598.       //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
  599.       //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector
  600.  
  601.  
  602.   /************************    Analog Reads              **********************************/
  603.     /* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
  604.     //#define FASTER_ANALOG_READS
  605.  
  606.  
  607. /*************************************************************************************************/
  608. /*****************                                                                 ***************/
  609. /****************  SECTION  6 - OPTIONAL FEATURES                                          *******/
  610. /*****************                                                                 ***************/
  611. /*************************************************************************************************/
  612.  
  613.  
  614.   /************************        Angele throttle correction         ********************/
  615.   /* Automatically increase throttle based on the angle of the copter
  616.      Original idea by Kraut Rob, first implementation HAdrian                            */
  617.  
  618.  
  619.   //#define THROTTLE_ANGLE_CORRECTION 40
  620.  
  621.  /*************************        Advanced Headfree Mode             ********************/
  622.  /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
  623.     the  bearing between home and copter position will become the control direction
  624.     IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
  625.     bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
  626.     first implementation by HAdrian, mods by EOSBandi
  627.  */
  628.  
  629.  
  630.    //#define ADVANCED_HEADFREE                                    //Advanced headfree mode is enabled when this is uncommented
  631.    //#define ADV_HEADFREE_RANGE 15                                //Range where advanced headfree mode activated
  632.  
  633.  
  634.  
  635.  
  636.   /************************        continuous gyro calibration        ********************/
  637.   /* Gyrocalibration will be repeated if copter is moving during calibration. */
  638.     #define GYROCALIBRATIONFAILSAFE
  639.  
  640.  
  641.   /************************        AP FlightMode        **********************************/
  642.     /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
  643.     #define AP_MODE 40  // Create a deadspan for GPS.
  644.        
  645.   /************************   Assisted AcroTrainer    ************************************/
  646.     /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
  647.        Remember to activate ANGLE_MODE first!...
  648.        A Value on 200 will give a very distinct transfer */
  649.     //#define ACROTRAINER_MODE 200   // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
  650.  
  651.  
  652.  
  653.  
  654.   /********                          Failsafe settings                 ********************/
  655.     /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
  656.        the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
  657.        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
  658.        for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
  659.        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. */
  660.     #define FAILSAFE                                // uncomment  to activate the failsafe function
  661.     #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
  662.     #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
  663.     #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
  664.    
  665.     #define FAILSAFE_DETECT_TRESHOLD  985
  666.  
  667.  
  668.  
  669.  
  670.   /*****************                DFRobot LED RING    *********************************/
  671.     /* I2C DFRobot LED RING communication */
  672.     //#define LED_RING
  673.  
  674.  
  675.   /********************************    LED FLASHER    ***********************************/
  676.     //#define LED_FLASHER
  677.     //#define LED_FLASHER_DDR DDRB
  678.     //#define LED_FLASHER_PORT PORTB
  679.     //#define LED_FLASHER_BIT PORTB4
  680.     //#define LED_FLASHER_INVERT
  681.     //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
  682.     //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
  683.     //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
  684.     //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination
  685.  
  686.  
  687.  
  688.  
  689.   /*******************************    Landing lights    *********************************/
  690.   /* Landing lights
  691.      Use an output pin to control landing lights.
  692.      They can be switched automatically when used in conjunction
  693.      with altitude data from a sonar unit. */
  694.     //#define LANDING_LIGHTS_DDR DDRC
  695.     //#define LANDING_LIGHTS_PORT PORTC
  696.     //#define LANDING_LIGHTS_BIT PORTC0
  697.     //#define LANDING_LIGHTS_INVERT
  698.  
  699.  
  700.     /* altitude above ground (in cm) as reported by sonar */
  701.     //#define LANDING_LIGHTS_AUTO_ALTITUDE 50
  702.  
  703.  
  704.     /* adopt the flasher pattern for landing light LEDs */
  705.     //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
  706.  
  707.  
  708.   /*************************    INFLIGHT ACC Calibration    *****************************/
  709.     /* This will activate the ACC-Inflight calibration if unchecked */
  710.     //#define INFLIGHT_ACC_CALIBRATION
  711.  
  712.  
  713.   /*******************************    OSD Switch    *************************************/
  714.     // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  715.   //#define OSD_SWITCH
  716.  
  717.  
  718.   /**************************************************************************************/
  719.   /***********************                  TX-related         **************************/
  720.   /**************************************************************************************/
  721.  
  722.  
  723.     /* introduce a deadband around the stick center
  724.        Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
  725.     //#define DEADBAND 6
  726.  
  727.  
  728.   /**************************************************************************************/
  729.   /***********************                  GPS                **************************/
  730.   /**************************************************************************************/
  731.  
  732.  
  733.     /* GPS using a SERIAL port
  734.        if enabled, define here the Arduino Serial port number and the UART speed
  735.        note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
  736.        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)
  737.        at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
  738.        
  739.     //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
  740.     //#define GPS_PROMINI_SERIAL   // Will Autosense if GPS is connected when ardu boots.
  741.  
  742.  
  743.     // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
  744.     #define GPS_BAUD   57600
  745.  
  746.  
  747.    /* GPS protocol
  748.        NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
  749.        UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
  750.        MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
  751.        With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
  752.  
  753.  
  754.    
  755.     //#define NMEA
  756.     //#define UBLOX
  757.     //#define MTK_BINARY16
  758.     //#define MTK_BINARY19
  759.     //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
  760.  
  761.  
  762.    
  763.     /* I2C GPS device made with an independant arduino + GPS device
  764.        including some navigation functions
  765.        contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/
  766.        You have to use at least I2CGpsNav code r33 */
  767.     //#define I2C_GPS
  768.     // If your I2C GPS board has Sonar support enabled
  769.     //#define I2C_GPS_SONAR
  770.  
  771.  
  772.     /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
  773.     //#define GPS_FROM_OSD
  774.  
  775.  
  776.     /* 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
  777.       - No GPS FIX -> LED blink at speed of incoming GPS frames
  778.       - Fix and sat no. bellow 5 -> LED off
  779.       - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
  780.     #define GPS_LED_INDICATOR
  781.  
  782.  
  783.     //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
  784.  
  785.  
  786.     //#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)
  787.  
  788.  
  789.     /* GPS navigation can control the heading */
  790.    
  791.     #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
  792.     #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first
  793.     #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
  794.    
  795.    
  796.     /* Get your magnetic declination from here : http://magnetic-declination.com/
  797.        Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
  798.        Note the sign on declination it could be negative or positive (WEST or EAST) */
  799.     //#define MAG_DECLINATION  3.96f              //For Budapest Hungary.
  800.     #define MAG_DECLINATION  0.0f   //(**)
  801.  
  802.  
  803.     #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
  804.    
  805.     //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
  806.     #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
  807.     #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes
  808.  
  809.  
  810.  
  811.  
  812.   /**************************************************************************************/
  813.   /***********************        LCD/OLED - display settings       *********************/
  814.   /**************************************************************************************/
  815.  
  816.  
  817.     /* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
  818.  
  819.  
  820.     /*****************************   The type of LCD     **********************************/
  821.       /* choice of LCD attached for configuration and telemetry, see notes below */
  822.       //#define LCD_DUMMY       // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.  
  823.       //#define LCD_SERIAL3W    // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
  824.       //#define LCD_TEXTSTAR    // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
  825.       //#define LCD_VT100       // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
  826.       //#define LCD_TTY         // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
  827.       //#define LCD_ETPP        // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
  828.       //#define LCD_LCD03       // I2C LCD: LCD03, which is i2c
  829.       //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
  830.       //#define OLED_DIGOLE     // I2C OLED from http://www.digole.com/index.php?productID=550
  831.  
  832.  
  833.     /******************************   Display settings   ***********************************/
  834.       #define LCD_SERIAL_PORT 0    // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
  835.  
  836.  
  837.       //#define SUPPRESS_OLED_I2C_128x64LOGO  // suppress display of OLED logo to save memory
  838.  
  839.  
  840.     /* double font height for better readability. Reduces visible #lines by half.
  841.      * The lower part of each page is accessible under the name of shifted keyboard letter :
  842.      * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
  843.      * You must add both to your lcd.telemetry.* sequences
  844.      */
  845.       //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
  846.  
  847.  
  848.     /* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
  849.       //#define DISPLAY_2LINES
  850.       //#define DISPLAY_MULTILINE
  851.       //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
  852.       //#define MULTILINE_POST 6 // multiline configMenu # post lines
  853.       //#define DISPLAY_COLUMNS 16
  854.     /********************************    Navigation     ***********************************/
  855.     /* keys to navigate the LCD menu */
  856.       #define LCD_MENU_PREV 'p'
  857.       #define LCD_MENU_NEXT 'n'
  858.       #define LCD_VALUE_UP 'u'
  859.       #define LCD_VALUE_DOWN 'd'
  860.  
  861.  
  862.       #define LCD_MENU_SAVE_EXIT 's'
  863.       #define LCD_MENU_ABORT 'x'
  864.  
  865.  
  866.   /**************************************************************************************/
  867.   /***********************      LCD configuration menu         **************************/
  868.   /**************************************************************************************/
  869.  
  870.  
  871.     /* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
  872.      * http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */
  873.       //#define LCD_CONF
  874.  
  875.  
  876.     /* to include setting the aux switches for AUX1 -> AUX4 via LCD */
  877.       //#define LCD_CONF_AUX
  878.  
  879.  
  880.     /* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
  881.       //#define SUPPRESS_LCD_CONF_AUX2
  882.       //#define SUPPRESS_LCD_CONF_AUX34
  883.  
  884.  
  885.   /**************************************************************************************/
  886.   /***********************      LCD       telemetry            **************************/
  887.   /**************************************************************************************/
  888.  
  889.  
  890.     /* to monitor system values (battery level, loop time etc. with LCD
  891.      * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */
  892.  
  893.  
  894.     /********************************    Activation     ***********************************/
  895.     //#define LCD_TELEMETRY
  896.  
  897.  
  898.     /* to enable automatic hopping between a choice of telemetry pages uncomment this. */
  899.     //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
  900.     //#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2
  901.  
  902.  
  903.     /* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
  904.     //#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
  905.  
  906.  
  907.     /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
  908.     //#define SUPPRESS_TELEMETRY_PAGE_1
  909.     //#define SUPPRESS_TELEMETRY_PAGE_2
  910.     //#define SUPPRESS_TELEMETRY_PAGE_3
  911.     //#define SUPPRESS_TELEMETRY_PAGE_4
  912.     //#define SUPPRESS_TELEMETRY_PAGE_5
  913.     //#define SUPPRESS_TELEMETRY_PAGE_6
  914.     //#define SUPPRESS_TELEMETRY_PAGE_7
  915.     //#define SUPPRESS_TELEMETRY_PAGE_8
  916.     //#define SUPPRESS_TELEMETRY_PAGE_9
  917.     //#define SUPPRESS_TELEMETRY_PAGE_R
  918.  
  919.  
  920.   /********************************************************************/
  921.   /****                             RSSI                           ****/
  922.   /********************************************************************/
  923.     //#define RX_RSSI
  924.     //#define RX_RSSI_PIN A3
  925.  
  926.  
  927.   /********************************************************************/
  928.   /****                             Buzzer                         ****/
  929.   /********************************************************************/
  930.     //#define BUZZER
  931.     //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
  932.     //#define ARMEDTIMEWARNING 330  // (*) Trigger an alarm after a certain time of being armed [s] to save you lipo (if your TX does not have a countdown)
  933.     //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp
  934.  
  935.  
  936.   /********************************************************************/
  937.   /****           battery voltage monitoring                       ****/
  938.   /********************************************************************/
  939.     /* for V BAT monitoring
  940.        after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
  941.        with R1=33k and R2=51k
  942.        vbat = [0;1023]*16/VBATSCALE
  943.        must be associated with #define BUZZER ! */
  944.     //#define VBAT              // uncomment this line to activate the vbat code
  945.     #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
  946.     #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
  947.     #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
  948.     #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
  949.     #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
  950.     #define NO_VBAT          16 // Avoid beeping without any battery
  951.  
  952.  
  953.  
  954.  
  955.   /********************************************************************/
  956.   /****           powermeter (battery capacity monitoring)         ****/
  957.   /********************************************************************/
  958.  
  959.  
  960.     /* enable monitoring of the power consumption from battery (think of mAh)
  961.        allows to set alarm value in GUI or via LCD
  962.       Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
  963.        Two options:
  964.        1 - hard: - (uses hardware sensor, after configuration gives very good results)
  965.        2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
  966.     //#define POWERMETER_SOFT
  967.     //#define POWERMETER_HARD
  968.     #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
  969.                                    gives 1/2 Vss; that is approx 2.49Volt; */
  970.     #define PINT2mA 132     /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
  971.                                    soft: use fictional value, start with 100.
  972.                                    for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
  973.  
  974.  
  975.   /********************************************************************/
  976.   /****           altitude hold                                    ****/
  977.   /********************************************************************/
  978.  
  979.  
  980.     /* defines the neutral zone of throttle stick during altitude hold, default setting is
  981.        +/-50 uncommend and change the value below if you want to change it. */
  982.     #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    50
  983.     //#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.
  984.  
  985.  
  986.  
  987.  
  988.     /* uncomment to disable the altitude hold feature.
  989.      * This is useful if all of the following apply
  990.      * + you have a baro
  991.      * + want altitude readout and/or variometer
  992.      * + do not use altitude hold feature
  993.      * + want to save memory space */
  994.     //#define SUPPRESS_BARO_ALTHOLD
  995.  
  996.  
  997.   /********************************************************************/
  998.   /****           altitude variometer                              ****/
  999.   /********************************************************************/
  1000.  
  1001.  
  1002.     /* enable to get audio feedback upon rising/falling copter/plane.
  1003.      * Requires a working baro.
  1004.      * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
  1005.      * choice of two methods (enable either one or both)
  1006.      * method 1 : use short term movement from baro ( bigger code size)
  1007.      * method 2 : use long term observation of altitude from baro (smaller code size)
  1008.      */
  1009.     //#define VARIOMETER 12            // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
  1010.     //#define SUPPRESS_VARIOMETER_UP   // if no signaling for up movement is desired
  1011.     //#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
  1012.     //#define VARIOMETER_SINGLE_TONE   // use only one tone (BEL); neccessary for non-patched vt100 terminals
  1013.  
  1014.  
  1015.   /********************************************************************/
  1016.   /****           baord naming                                     ****/
  1017.   /********************************************************************/
  1018.  
  1019.  
  1020.     /*
  1021.      * this name is displayed together with the MultiWii version number
  1022.      * upon powerup on the LCD.
  1023.      * If you are without a DISPLAYD then You may enable LCD_TTY and
  1024.      * use arduino IDE's serial monitor to view the info.
  1025.      *
  1026.      * You must preserve the format of this string!
  1027.      * It must be 16 characters total,
  1028.      * The last 4 characters will be overwritten with the version number.
  1029.      */
  1030.     #define BOARD_NAME "MultiWii   V-.--"
  1031.     //                  123456789.123456
  1032.  
  1033.  
  1034.   /*************      Support multiple configuration profiles in EEPROM     ************/
  1035.     //#define MULTIPLE_CONFIGURATION_PROFILES
  1036.  
  1037.  
  1038.   /*************      do no reset constants when change of flashed program is detected ***********/
  1039.     #define NO_FLASH_CHECK
  1040.  
  1041.  
  1042. /*************************************************************************************************/
  1043. /*****************                                                                 ***************/
  1044. /****************  SECTION  7 - TUNING & DEVELOPER                                  **************/
  1045. /*****************                                                                 ***************/
  1046. /*************************************************************************************************/
  1047.  
  1048.  
  1049.   /**************************************************************************************/
  1050.   /********   special ESC with extended range [0-2000] microseconds  ********************/
  1051.   /**************************************************************************************/
  1052.     //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
  1053.  
  1054.  
  1055.   /**************************************************************************************/
  1056.   /***********************     motor, servo and other presets     ***********************/
  1057.   /**************************************************************************************/
  1058.     /* motors will not spin when the throttle command is in low position
  1059.        this is an alternative method to stop immediately the motors */
  1060.     //#define MOTOR_STOP
  1061.  
  1062.  
  1063.     /* some radios have not a neutral point centered on 1500. can be changed here */
  1064.     #define MIDRC 1500
  1065.  
  1066.  
  1067.   /***********************         Servo Refreshrates            ***********************/
  1068.     /* Default 50Hz Servo refresh rate*/
  1069.     #define SERVO_RFR_50HZ
  1070.  
  1071.  
  1072.     /* up to 160Hz servo refreshrate .. works with the most analog servos*/
  1073.     //#define SERVO_RFR_160HZ
  1074.  
  1075.  
  1076.     /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
  1077.        for use with digital servos
  1078.        dont use it with analog servos! thay may get damage. (some will work but be careful) */
  1079.     //#define SERVO_RFR_300HZ
  1080.    
  1081.   /***********************             HW PWM Servos             ***********************/
  1082.     /* HW PWM Servo outputs for Arduino Mega.. moves:
  1083.       Pitch   = pin 44
  1084.       Roll    = pin 45
  1085.       CamTrig = pin 46
  1086.       SERVO4  = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
  1087.       SERVO5  = pin 12 (aileron right for fixed wing)
  1088.       SERVO6  = pin 6   (rudder for fixed wing)
  1089.       SERVO7  = pin 7   (elevator for fixed wing)
  1090.       SERVO8  = pin 8   (motor for fixed wing)       */
  1091.  
  1092.  
  1093.     #define MEGA_HW_PWM_SERVOS
  1094.  
  1095.     /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
  1096.      * one of the 3 fixed servo.refresh.rates *
  1097.      * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
  1098.      * motor[0] = motor       = pin  6
  1099.      * servo[3] = nick  servo = pin 11
  1100.      * servo[4] = left  servo = pin 10
  1101.      * servo[5] = yaw   servo = pin  5
  1102.      * servo[6]  = right servo= pin  9
  1103.      */
  1104.     //#define A32U4_4_HW_PWM_SERVOS
  1105.  
  1106.  
  1107.     #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
  1108.     //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
  1109.                                           // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
  1110.  
  1111.  
  1112.  
  1113.  
  1114.   /********************************************************************/
  1115.   /****           Memory savings                                   ****/
  1116.   /********************************************************************/
  1117.  
  1118.  
  1119.     /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
  1120.  
  1121.  
  1122.     /**** suppress handling of serial commands.***
  1123.      * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
  1124.      * Enable either one or both of the following options  */
  1125.  
  1126.  
  1127.       /* Remove handling of all commands of the New MultiWii Serial Protocol.
  1128.        * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
  1129.        * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
  1130.        * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
  1131.       //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
  1132.  
  1133.  
  1134.       /* Remove handling of other serial commands.
  1135.        * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
  1136.        * Navigating via stick inputs on tx is not affected and will work the same.  */
  1137.       //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled
  1138.  
  1139.  
  1140.     /**** suppress keeping the defaults for initial setup and reset in the code.
  1141.      * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
  1142.      * reset in GUI will not work on PIDs
  1143.      */
  1144.     //#define SUPPRESS_DEFAULTS_FROM_GUI
  1145.    
  1146.     //#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini
  1147.  
  1148.  
  1149.   /********************************************************************/
  1150.   /****           diagnostics                                      ****/
  1151.   /********************************************************************/
  1152.  
  1153.  
  1154.     /* to log values like max loop time and others to come
  1155.        logging values are visible via LCD config
  1156.        set to 1, enable 'R' option to reset values, max current, max altitude
  1157.        set to 2, adds min/max cycleTimes
  1158.        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) */
  1159.     //#define LOG_VALUES 1
  1160.  
  1161.  
  1162.     /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
  1163.      * used to track number of flights etc. over lifetime of controller board.
  1164.      * Writes to end of eeprom - should not conflict with stored parameters yet.
  1165.      * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
  1166.      *                #failsafe@disarm, #i2c_errs@disarm
  1167.      * Enable one or more options to show the log
  1168.      */
  1169.     //#define LOG_PERMANENT
  1170.     //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
  1171.     //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
  1172.     //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
  1173.     //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
  1174.  
  1175.  
  1176.     /* to add debugging code
  1177.        not needed and not recommended for normal operation
  1178.        will add extra code that may slow down the main loop or make copter non-flyable */
  1179.     //#define DEBUG
  1180.     //#define DEBUG_FREE // will add 'F' command to show free memory
  1181.  
  1182.  
  1183.     /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
  1184.     //#define LCD_CONF_DEBUG
  1185.  
  1186.  
  1187.     /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
  1188.     //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
  1189.     //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.
  1190.  
  1191.  
  1192.     /* Enable string transmissions from copter to GUI */
  1193.     //#define DEBUGMSG
  1194.  
  1195.  
  1196.  
  1197.  
  1198.   /********************************************************************/
  1199.   /****           ESCs calibration                                 ****/
  1200.   /********************************************************************/
  1201.  
  1202.  
  1203.     /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
  1204.        Warning: this creates a special version of MultiWii Code
  1205.        You cannot fly with this special version. It is only to be used for calibrating ESCs
  1206.        Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
  1207.     #define ESC_CALIB_LOW  MINCOMMAND
  1208.     #define ESC_CALIB_HIGH 2000
  1209.     //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate
  1210.  
  1211.  
  1212.   /****           internal frequencies                             ****/
  1213.     /* frequenies for rare cyclic actions in the main loop, depend on cycle time
  1214.        time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
  1215.        example: with cycle time of approx 3ms, do action every 6*3ms=18ms
  1216.        value must be [1; 65535] */
  1217.     #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
  1218.     #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
  1219.     #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
  1220.     #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
  1221.     #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
  1222.  
  1223.  
  1224.   /********************************************************************/
  1225.   /****           Dynamic Motor/Prop Balancing                     ****/
  1226.   /********************************************************************/
  1227.   /*                   !!! No Fly Mode !!!                            */
  1228.        
  1229.     //#define DYNBALANCE   // (**) Dynamic balancing controlled from Gui
  1230.  
  1231.  
  1232.   /********************************************************************/
  1233.   /****           Regression testing                               ****/
  1234.   /********************************************************************/
  1235.  
  1236.  
  1237.     /* for development only:
  1238.        to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
  1239.        together. This is meant to help detecting compile time errors for various features in a coordinated way.
  1240.        It is not meant to produce your flying firmware
  1241.        To use:
  1242.        - do not set any options in config.h,
  1243.        - enable with #define COPTERTEST 1, then compile
  1244.        - if possible, check for the size
  1245.        - repeat with other values of 2, 3, 4 etc.
  1246.         */
  1247.     //#define COPTERTEST 1
  1248.  
  1249.  
  1250. /*************************************************************************************************/
  1251. /*****************                                                                 ***************/
  1252. /****************  SECTION  8 - DEPRECATED                                                 *******/
  1253. /*****************                                                                 ***************/
  1254. /*************************************************************************************************/
  1255.  
  1256.  
  1257.   /* these features will be removed in the unforseeable future. Do not build new products or
  1258.    * functionality based on such features. The default for all such features is OFF.
  1259.    */
  1260.  
  1261.  
  1262.   /**************************    WMP power pin     *******************************/
  1263.   //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  1264.   /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  1265.   #define DISABLE_POWER_PIN
  1266.  
  1267.  
  1268.  
  1269.  
  1270. /*************************************************************************************************/
  1271. /****           END OF CONFIGURABLE PARAMETERS                                                ****/
  1272. /*************************************************************************************************/
  1273.  
  1274.  
  1275. #endif /* CONFIG_H_ */
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