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  1. #ifndef CONFIG_H_
  2. #define CONFIG_H_
  3.  
  4. /*************************************************************************************************/
  5. /**** CONFIGURABLE PARAMETERS ****/
  6. /*************************************************************************************************/
  7.  
  8. /* this file consists of several sections
  9. * to create a working combination you must at least make your choices in section 1.
  10. * 1 - BASIC SETUP - you must select an option in every block.
  11. * this assumes you have 4 channels connected to your board with standard ESCs and servos.
  12. * 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
  13. * 3 - RC SYSTEM SETUP
  14. * 4 - ALTERNATE CPUs & BOARDS - if you have
  15. * 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
  16. * 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
  17. * 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
  18. * - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)
  19. * 8 - DEPRECATED - these features will be removed in some future release
  20. */
  21.  
  22. /* Notes:
  23. * 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.
  24. * 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI
  25. */
  26.  
  27.  
  28. /*************************************************************************************************/
  29. /***************** ***************/
  30. /**************** SECTION 1 - BASIC SETUP *******/
  31. /***************** ***************/
  32. /*************************************************************************************************/
  33.  
  34. /************************** The type of multicopter ****************************/
  35. //#define GIMBAL
  36. //#define BI
  37. //#define TRI
  38. //#define QUADP
  39. #define QUADX
  40. //#define Y4
  41. //#define Y6
  42. //#define HEX6
  43. //#define HEX6X
  44. //#define HEX6H // New Model
  45. //#define OCTOX8
  46. //#define OCTOFLATP
  47. //#define OCTOFLATX
  48. //#define FLYING_WING
  49. //#define VTAIL4
  50. //#define AIRPLANE
  51. //#define SINGLECOPTER
  52. //#define DUALCOPTER
  53. //#define HELI_120_CCPM
  54. //#define HELI_90_DEG
  55.  
  56. /**************************** Motor minthrottle *******************************/
  57. /* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
  58. This is the minimum value that allow motors to run at a idle speed */
  59. //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
  60. //#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
  61. //#define MINTHROTTLE 1064 // special ESC (simonk)
  62. //#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
  63. #define MINTHROTTLE 1200 // (*) (**)
  64.  
  65. /**************************** Motor maxthrottle *******************************/
  66. /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
  67. #define MAXTHROTTLE 1850
  68.  
  69. /**************************** Mincommand *******************************/
  70. /* this is the value for the ESCs when they are not armed
  71. in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
  72. #define MINCOMMAND 1000
  73.  
  74. /********************************** I2C speed ************************************/
  75. #define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
  76. //#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
  77.  
  78. /*************************** Internal i2c Pullups ********************************/
  79. /* enable internal I2C pull ups (in most cases it is better to use external pullups) */
  80. //#define INTERNAL_I2C_PULLUPS
  81.  
  82. /**************************************************************************************/
  83. /***************** boards and sensor definitions ******************/
  84. /**************************************************************************************/
  85.  
  86. /*************************** Combined IMU Boards ********************************/
  87. /* if you use a specific sensor board:
  88. please submit any correction to this list.
  89. Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
  90. //#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex
  91. //#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex
  92. //#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
  93. //#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1
  94. //#define FREEIMUv035 // FreeIMU v0.3.5 no baro
  95. //#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
  96. //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
  97. //#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex
  98. //#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
  99. //#define NANOWII // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
  100. //#define PIPO // 9DOF board from erazz
  101. //#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
  102. //#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition
  103. //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
  104. //#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU
  105. //#define AEROQUADSHIELDv2
  106. //#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
  107. //#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex
  108. //#define SIRIUSGPS // Sirius Navigator IMU using external MAG on GPS board <- confirmed by Alex
  109. //#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
  110. //#define SIRIUS_AIR // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com <- confirmed by Alex
  111. //#define SIRIUS_AIR_GPS // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
  112. //#define SIRIUS_MEGAv5_OSD // Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox http://www.Multiwiicopter.com <- confirmed by Alex
  113. //#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex
  114. //#define MICROWII // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
  115. //#define CITRUSv2_1 // CITRUS from qcrc.ca
  116. //#define CHERRY6DOFv1_0
  117. //#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
  118. //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
  119. //#define DROTEK_6DOFv2 // Drotek 6DOF v2
  120. //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
  121. //#define DROTEK_10DOF_MPU//
  122. //#define MONGOOSE1_0 // mongoose 1.0 http://store.ckdevices.com/
  123. //#define CRIUS_LITE // Crius MultiWii Lite
  124. //#define CRIUS_SE // Crius MultiWii SE
  125. //#define CRIUS_SE_v2_0 // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
  126. //#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
  127. //#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
  128. //#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro
  129. //#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
  130. //#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
  131. //#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
  132. //#define GY_521 // Chinese 6 DOF with MPU6050, LLC
  133. //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
  134. //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
  135. //#define MultiWiiMega // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
  136. //#define PROTO_DIY // 10DOF mega board
  137. //#define IOI_MINI_MULTIWII// www.bambucopter.com
  138. //#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180
  139. //#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
  140. //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
  141. //#define FLYDUINO_MPU // MPU6050 Break Out onboard 3.3V reg
  142. //#define CRIUS_AIO_PRO_V1
  143. //#define DESQUARED6DOFV2GO // DEsquared V2 with ITG3200 only
  144. //#define DESQUARED6DOFV4 // DEsquared V4 with MPU6050
  145. //#define LADYBIRD
  146. //#define MEGAWAP_V2_STD // available here: http://www.multircshop.com <- confirmed by Alex
  147. //#define MEGAWAP_V2_ADV
  148. //#define HK_MultiWii_SE_V2 // Hobbyking board with MPU6050 + HMC5883L + BMP085
  149. //#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back. ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)
  150. //#define RCNet_FC // RCNet FC with MPU6050 and MS561101BA http://www.rcnet.com
  151. //#define RCNet_FC_GPS // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
  152. //#define FLYDU_ULTRA // MEGA+10DOF+MT3339 FC
  153. //#define DIYFLYING_MAGE_V1 // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
  154. //#define MultiWii_32U4_SE // Hextronik MultiWii_32U4_SE
  155. //#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory
  156. //#define Flyduino9DOF // Flyduino 9DOF IMU MPU6050+HMC5883l
  157. //#define Nano_Plane // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
  158.  
  159. /*************************** independent sensors ********************************/
  160. /* leave it commented if you already checked a specific board above */
  161. /* I2C gyroscope */
  162. //#define WMP
  163. //#define ITG3200
  164. //#define MPU3050
  165. //#define L3G4200D
  166. #define MPU6050 //combo + ACC
  167. //#define LSM330 //combo + ACC
  168.  
  169. /* I2C accelerometer */
  170. //#define NUNCHUCK // if you want to use the nunckuk connected to a WMP
  171. //#define MMA7455
  172. //#define ADXL345
  173. //#define BMA020
  174. //#define BMA180
  175. //#define BMA280
  176. //#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
  177. //#define LIS3LV02
  178. //#define LSM303DLx_ACC
  179. //#define MMA8451Q
  180.  
  181. /* I2C barometer */
  182. #define BMP085
  183. //#define MS561101BA
  184.  
  185. /* I2C magnetometer */
  186. //#define HMC5843
  187. #define HMC5883
  188. //#define AK8975
  189. //#define MAG3110
  190.  
  191. /* Sonar */ // for visualization purpose currently - no control code behind
  192. //#define SRF02 // use the Devantech SRF i2c sensors
  193. //#define SRF08
  194. //#define SRF10
  195. //#define SRF23
  196.  
  197. /* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
  198. //#define ADCACC
  199.  
  200. /* enforce your individual sensor orientation - even overrides board specific defaults */
  201. /*
  202. #define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
  203. #define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
  204. #define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
  205. */
  206. //fromMultiwii v2.4:
  207. #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
  208. #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
  209. #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
  210. /* Board orientation shift */
  211. /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
  212. * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
  213. * Check motors order and directions of motors rotation for matching with new front point! Uncomment only one option! */
  214. //#define SENSORS_TILT_45DEG_RIGHT // rotate the FRONT 45 degres clockwise
  215. //#define SENSORS_TILT_45DEG_LEFT // rotate the FRONT 45 degres counterclockwise
  216.  
  217.  
  218. /*************************************************************************************************/
  219. /***************** ***************/
  220. /**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/
  221. /***************** ***************/
  222. /*************************************************************************************************/
  223. /******************************** PID Controller *********************************/
  224. /* choose one of the alternate PID control algorithms
  225. * 1 = evolved oldschool algorithm (similar to v2.2)
  226. * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
  227. * */
  228. #define PID_CONTROLLER 1
  229.  
  230. /* NEW: not used anymore for servo coptertypes <== NEEDS FIXING - MOVE TO WIKI */
  231. #define YAW_DIRECTION 1
  232. //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
  233.  
  234. #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted
  235.  
  236. /******************************** ARM/DISARM *********************************/
  237. /* optionally disable stick combinations to arm/disarm the motors.
  238. * In most cases one of the two options to arm/disarm via TX stick is sufficient */
  239. #define ALLOW_ARM_DISARM_VIA_TX_YAW
  240. //#define ALLOW_ARM_DISARM_VIA_TX_ROLL
  241.  
  242. /******************************** SERVOS *********************************/
  243. /* info on which servos connect where and how to setup can be found here
  244. * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
  245. */
  246.  
  247.  
  248. /* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
  249. * room for servo travel, then you must enable and set all three following options */
  250. //#define SERVO_MIN {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
  251. //#define SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
  252. //#define SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
  253. //#define FORCE_SERVO_RATES {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse
  254.  
  255. /*********************** Cam Stabilisation ***********************/
  256. /* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
  257. //#define SERVO_MIX_TILT
  258. //#define SERVO_TILT
  259.  
  260. /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
  261. // trigger interval can be changed via (*GUI*) or via AUX channel
  262. //#define CAMTRIG
  263. #define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
  264.  
  265. /*********************** Airplane ***********************/
  266. //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
  267.  
  268. //#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.
  269. #define FLAPPERON_EP { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
  270. #define FLAPPERON_INVERT { -1, 1 } // Change direction om flapperons { Wing1, Wing2 }
  271.  
  272. //#define FLAPS // Traditional Flaps on SERVO3.
  273. //#define FLAPSPEED 3 // Make flaps move slowm Higher value is Higher Speed.
  274.  
  275. /*********************** Common for Heli & Airplane ***********************/
  276.  
  277. /* Governor: attempts to maintain rpm through pitch and voltage changes
  278. * predictive approach: observe input signals and voltage and guess appropriate corrections.
  279. * (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.
  280. * Can be toggled via aux switch.
  281. */
  282. //#define GOVERNOR_P 7 // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
  283. //#define GOVERNOR_D 4 // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
  284.  
  285. //#define VOLTAGEDROP_COMPENSATION // voltage impact correction
  286.  
  287. /*********************** Heli ***********************/
  288. /* Channel to control CollectivePitch */
  289. #define COLLECTIVE_PITCH THROTTLE
  290.  
  291. /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
  292. #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
  293. #define YAWMOTOR 0 // If a motor is used as YAW Set to 1 else set to 0.
  294.  
  295. /* Servo mixing for heli 120
  296. {Coll,Nick,Roll} */
  297. #define SERVO_NICK { +10, -10, 0 }
  298. #define SERVO_LEFT { +10, +5, +10 }
  299. #define SERVO_RIGHT { +10, +5, -10 }
  300.  
  301. /* Limit Maximum controll for Roll & Nick in 0-100% */
  302. #define CONTROL_RANGE { 100, 100 } // { ROLL,PITCH }
  303.  
  304. /* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
  305. if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
  306. //#define HELI_USE_SERVO_FOR_THROTTLE
  307.  
  308. /*********************** your individual mixing ***********************/
  309. /* if you want to override an existing entry in the mixing table, you may want to avoid editing the
  310. * mixTable() function for every version again and again.
  311. * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
  312. */
  313. //#define MY_PRIVATE_MIXING "filename.h"
  314.  
  315. /*********************** your individual defaults ***********************/
  316. /* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
  317. * you may want to avoid editing the LoadDefaults() function for every version again and again.
  318. * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
  319. */
  320. //#define MY_PRIVATE_DEFAULTS "filename.h"
  321.  
  322.  
  323. /*************************************************************************************************/
  324. /***************** ***************/
  325. /**************** SECTION 3 - RC SYSTEM SETUP *******/
  326. /***************** ***************/
  327. /*************************************************************************************************/
  328.  
  329. /* note: no need to uncomment something in this section if you use a standard receiver */
  330.  
  331. /**************************************************************************************/
  332. /******** special receiver types ********************/
  333. /**************************************************************************************/
  334.  
  335. /**************************** PPM Sum Reciver ***********************************/
  336. /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
  337. Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
  338. //#define SERIAL_SUM_PPM PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
  339. //#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
  340. #define SERIAL_SUM_PPM YAW,ROLL,PITCH,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
  341. //#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
  342.  
  343. // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
  344. // #define PPM_ON_THROTTLE
  345.  
  346. /********************** Spektrum Satellite Reciver *******************************/
  347. /* The following lines apply only for Spektrum Satellite Receiver
  348. Spektrum Satellites are 3V devices. DO NOT connect to 5V!
  349. 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).
  350. For PROMINI, attach sat grey to RX0. Attach sat black to ground. */
  351. //#define SPEKTRUM 1024
  352. //#define SPEKTRUM 2048
  353. //#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).
  354. //**************************
  355. // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
  356. // Bind mode will be same as declared above, if your TX is capable.
  357. // Ground, Power, and Signal must come from three adjacent pins.
  358. // 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.
  359. // 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.
  360. //**************************
  361. // For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
  362. //#define SPEK_BIND //Un-Comment for Spektrum Satellie Bind Support. Code is ~420 bytes smaller without it.
  363. //#define SPEK_BIND_GROUND 4
  364. //#define SPEK_BIND_POWER 5
  365. //#define SPEK_BIND_DATA 6
  366.  
  367. /******************************* SBUS RECIVER ************************************/
  368. /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
  369. You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
  370. //#define SBUS
  371. //#define SBUS_SERIAL_PORT 1
  372. #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500
  373.  
  374. /*************************************************************************************************/
  375. /***************** ***************/
  376. /**************** SECTION 4 - ALTERNATE CPUs & BOARDS *******/
  377. /***************** ***************/
  378. /*************************************************************************************************/
  379.  
  380. /**************************************************************************************/
  381. /******** Promini Specifig Settings ********************/
  382. /**************************************************************************************/
  383.  
  384. /************************** Hexa Motor 5 & 6 Pins *******************************/
  385. /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
  386. This mod allow the use of a standard receiver on a pro mini
  387. (no need to use a PPM sum receiver) */
  388. //#define A0_A1_PIN_HEX
  389.  
  390. /********************************* Aux 2 Pin ***********************************/
  391. /* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
  392. it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */
  393. //#define RCAUXPIN8
  394. //#define RCAUXPIN12
  395.  
  396.  
  397. /**************************************************************************************/
  398. /***************** Teensy 2.0 Support ******************/
  399. /**************************************************************************************/
  400. /* uncomment this if you use a teensy 2.0 with teensyduino
  401. it needs to run at 16MHz */
  402. //#define TEENSY20
  403.  
  404.  
  405. /**************************************************************************************/
  406. /******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/
  407. /**************************************************************************************/
  408.  
  409. /********************************* pin Layout **********************************/
  410. /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
  411. //#define A32U4ALLPINS
  412.  
  413. /********************************** PWM Setup **********************************/
  414. /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
  415. note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
  416. if activated:
  417. Motor 1-6 = 10-bit hardware PWM
  418. Motor 7-8 = 8-bit Software PWM
  419. Servos = 8-bit Software PWM
  420. if deactivated:
  421. Motor 1-4 = 10-bit hardware PWM
  422. Motor 5-8 = 10-bit Software PWM
  423. Servos = 10-bit Software PWM */
  424. //#define HWPWM6
  425.  
  426. /********************************** Aux 2 Pin **********************************/
  427. /* AUX2 pin on pin RXO */
  428. //#define RCAUX2PINRXO
  429.  
  430. /* aux2 pin on pin D17 (RXLED) */
  431. //#define RCAUX2PIND17
  432.  
  433. /********************************** Buzzer Pin **********************************/
  434. /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
  435. //#define D8BUZZER
  436.  
  437. /*********************** Promicro version related ****************************/
  438. /* Inverted status LED for Promicro ver 10 */
  439. //#define PROMICRO10
  440.  
  441.  
  442. /**************************************************************************************/
  443. /******** override default pin assignments ********************/
  444. /**************************************************************************************/
  445.  
  446. /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
  447. /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
  448. //#define OVERRIDE_V_BATPIN A0 // instead of A3 // Analog PIN 3
  449.  
  450. //#define OVERRIDE_PSENSORPIN A1 // instead of A2 // Analog PIN 2
  451.  
  452. //#define OVERRIDE_LEDPIN_PINMODE pinMode (A1, OUTPUT); // use A1 instead of d13
  453. //#define OVERRIDE_LEDPIN_TOGGLE PINC |= 1<<1; // PINB |= 1<<5; //switch LEDPIN state (digital PIN 13)
  454. //#define OVERRIDE_LEDPIN_OFF PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
  455. //#define OVERRIDE_LEDPIN_ON PORTC |= 1<<1; // was PORTB |= (1<<5);
  456.  
  457. //#define OVERRIDE_BUZZERPIN_PINMODE pinMode (A2, OUTPUT); // use A2 instead of d8
  458. //#define OVERRIDE_BUZZERPIN_ON PORTC |= 1<<2 //PORTB |= 1;
  459. //#define OVERRIDE_BUZZERPIN_OFF PORTC &= ~(1<<2); //PORTB &= ~1;
  460.  
  461. /*************************************************************************************************/
  462. /***************** ***************/
  463. /**************** SECTION 5 - ALTERNATE SETUP *******/
  464. /***************** ***************/
  465. /*************************************************************************************************/
  466.  
  467. /****** Serial com speed *********************************/
  468. /* This is the speed of the serial interfaces */
  469. #define SERIAL0_COM_SPEED 115200
  470. #define SERIAL1_COM_SPEED 115200
  471. #define SERIAL2_COM_SPEED 115200
  472. #define SERIAL3_COM_SPEED 115200
  473.  
  474. /* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
  475. if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
  476. it is relevent only for a conf with NK */
  477. #define INTERLEAVING_DELAY 3000
  478.  
  479. /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
  480. it is relevent only for a conf with at least a WMP */
  481. #define NEUTRALIZE_DELAY 100000
  482.  
  483.  
  484. /**************************************************************************************/
  485. /******** Gyro filters ********************/
  486. /**************************************************************************************/
  487.  
  488. /********************* Lowpass filter for some gyros ****************************/
  489. /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
  490. to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
  491. It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
  492. balancing options ran out. Uncomment only one option!
  493. IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
  494. //#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
  495. //#define ITG3200_LPF_188HZ
  496. //#define ITG3200_LPF_98HZ
  497. //#define ITG3200_LPF_42HZ
  498. //#define ITG3200_LPF_20HZ
  499. //#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props
  500.  
  501. /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
  502. to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
  503. It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
  504. balancing options ran out. Uncomment only one option!
  505. IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
  506. //#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
  507. //#define MPU6050_LPF_188HZ
  508. //#define MPU6050_LPF_98HZ
  509. //#define MPU6050_LPF_42HZ
  510. //#define MPU6050_LPF_20HZ
  511. //#define MPU6050_LPF_10HZ
  512. //#define MPU6050_LPF_5HZ // Use this only in extreme cases, rather change motors and/or props
  513.  
  514. /****** Gyro smoothing **********************************/
  515. /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
  516. may try this gyro smoothing via averaging. Not suitable for multicopters!
  517. Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
  518. //#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw
  519.  
  520. /************************ Moving Average Gyros **********************************/
  521. //#define MMGYRO 10 // (*) Active Moving Average Function for Gyros
  522. //#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
  523. /* Moving Average ServoGimbal Signal Output */
  524. //#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
  525. //#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
  526.  
  527. /************************ Analog Reads **********************************/
  528. /* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
  529. //#define FASTER_ANALOG_READS
  530.  
  531. /*************************************************************************************************/
  532. /***************** ***************/
  533. /**************** SECTION 6 - OPTIONAL FEATURES *******/
  534. /***************** ***************/
  535. /*************************************************************************************************/
  536.  
  537. /************************ Angele throttle correction ********************/
  538. /* Automatically increase throttle based on the angle of the copter
  539. Original idea by Kraut Rob, first implementation HAdrian */
  540.  
  541. #define THROTTLE_ANGLE_CORRECTION 40
  542.  
  543. /************************* Advanced Headfree Mode ********************/
  544. /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
  545. the bearing between home and copter position will become the control direction
  546. IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
  547. bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
  548. first implementation by HAdrian, mods by EOSBandi
  549. */
  550.  
  551. //#define ADVANCED_HEADFREE //Advanced headfree mode is enabled when this is uncommented
  552. //#define ADV_HEADFREE_RANGE 15 //Range where advanced headfree mode activated
  553.  
  554.  
  555. /************************ continuous gyro calibration ********************/
  556. /* Gyrocalibration will be repeated if copter is moving during calibration. */
  557. #define GYROCALIBRATIONFAILSAFE
  558.  
  559. /************************ AP FlightMode **********************************/
  560. /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
  561. #define AP_MODE 100 // Create a deadspan for GPS.
  562.  
  563. /************************ Assisted AcroTrainer ************************************/
  564. /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
  565. Remember to activate ANGLE_MODE first!...
  566. A Value on 200 will give a very distinct transfer */
  567. //#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
  568.  
  569.  
  570. /******** Failsafe settings ********************/
  571. /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
  572. the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
  573. 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
  574. for best results. This value is depended from your configuration, AUW and some other params. Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
  575. 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. */
  576. #define FAILSAFE // uncomment to activate the failsafe function
  577. #define FAILSAFE_DELAY 5 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
  578. #define FAILSAFE_OFF_DELAY 50 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
  579. #define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
  580.  
  581. #define FAILSAFE_DETECT_TRESHOLD 985
  582.  
  583. /***************** DFRobot LED RING *********************************/
  584. /* I2C DFRobot LED RING communication */
  585. //#define LED_RING
  586.  
  587. /******************************** LED FLASHER ***********************************/
  588. //#define LED_FLASHER
  589. //#define LED_FLASHER_DDR DDRB
  590. //#define LED_FLASHER_PORT PORTB
  591. //#define LED_FLASHER_BIT PORTB4
  592. //#define LED_FLASHER_INVERT
  593. //#define LED_FLASHER_SEQUENCE 0b00000000 // leds OFF
  594. //#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes
  595. //#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination
  596. //#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination
  597.  
  598.  
  599. /******************************* Landing lights *********************************/
  600. /* Landing lights
  601. Use an output pin to control landing lights.
  602. They can be switched automatically when used in conjunction
  603. with altitude data from a sonar unit. */
  604. //#define LANDING_LIGHTS_DDR DDRC
  605. //#define LANDING_LIGHTS_PORT PORTC
  606. //#define LANDING_LIGHTS_BIT PORTC0
  607. //#define LANDING_LIGHTS_INVERT
  608.  
  609. /* altitude above ground (in cm) as reported by sonar */
  610. //#define LANDING_LIGHTS_AUTO_ALTITUDE 50
  611.  
  612. /* adopt the flasher pattern for landing light LEDs */
  613. //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
  614.  
  615. /************************* INFLIGHT ACC Calibration *****************************/
  616. /* This will activate the ACC-Inflight calibration if unchecked */
  617. #define INFLIGHT_ACC_CALIBRATION
  618.  
  619. /******************************* OSD Switch *************************************/
  620. // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  621. //#define OSD_SWITCH
  622.  
  623. /**************************************************************************************/
  624. /*********************** TX-related **************************/
  625. /**************************************************************************************/
  626.  
  627. /* introduce a deadband around the stick center
  628. Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
  629. #define DEADBAND 50
  630.  
  631. /**************************************************************************************/
  632. /*********************** GPS **************************/
  633. /**************************************************************************************/
  634.  
  635. /* GPS using a SERIAL port
  636. if enabled, define here the Arduino Serial port number and the UART speed
  637. note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
  638. 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)
  639. at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
  640.  
  641. //#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
  642. //#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
  643.  
  644. // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
  645. #define GPS_BAUD 57600
  646.  
  647. /* GPS protocol
  648. NMEA - Standard NMEA protocol GGA, GSA and RMC sentences are needed
  649. UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
  650. MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
  651. With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
  652.  
  653.  
  654. //#define NMEA
  655. //#define UBLOX
  656. //#define MTK_BINARY16
  657. //#define MTK_BINARY19
  658. //#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
  659.  
  660.  
  661. /* I2C GPS device made with an independant arduino + GPS device
  662. including some navigation functions
  663. contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
  664. You have to use at least I2CGpsNav code r33 */
  665. #define I2C_GPS
  666. // If your I2C GPS board has Sonar support enabled
  667. //#define I2C_GPS_SONAR
  668.  
  669. /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
  670. //#define GPS_FROM_OSD
  671.  
  672. /* 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
  673. - No GPS FIX -> LED blink at speed of incoming GPS frames
  674. - Fix and sat no. bellow 5 -> LED off
  675. - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
  676. #define GPS_LED_INDICATOR
  677.  
  678. #define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
  679.  
  680. //#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)
  681.  
  682. /* GPS navigation can control the heading */
  683.  
  684. #define NAV_CONTROLS_HEADING false // copter faces toward the navigation point, maghold must be enabled for it
  685. #define NAV_TAIL_FIRST true // true - copter comes in with tail first
  686. #define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction
  687.  
  688.  
  689. /* Get your magnetic declination from here : http://magnetic-declination.com/
  690. Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
  691. Note the sign on declination it could be negative or positive (WEST or EAST) */
  692. //#define MAG_DECLINATION 3.96f //For Budapest Hungary.
  693. #define MAG_DECLINATION -24.9f //(Cape Town)
  694.  
  695. #define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
  696.  
  697. //#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
  698. #define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
  699. #define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes
  700.  
  701.  
  702. /**************************************************************************************/
  703. /*********************** LCD/OLED - display settings *********************/
  704. /**************************************************************************************/
  705.  
  706. /* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
  707.  
  708. /***************************** The type of LCD **********************************/
  709. /* choice of LCD attached for configuration and telemetry, see notes below */
  710. //#define LCD_DUMMY // No Physical LCD attached. With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.
  711. //#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
  712. //#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
  713. //#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
  714. //#define LCD_TTY // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
  715. //#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
  716. //#define LCD_LCD03 // I2C LCD: LCD03, which is i2c
  717. //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
  718. //#define OLED_DIGOLE // I2C OLED from http://www.digole.com/index.php?productID=550
  719.  
  720. /****************************** Display settings ***********************************/
  721. #define LCD_SERIAL_PORT 0 // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
  722.  
  723. //#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
  724.  
  725. /* double font height for better readability. Reduces visible #lines by half.
  726. * The lower part of each page is accessible under the name of shifted keyboard letter :
  727. * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
  728. * You must add both to your lcd.telemetry.* sequences
  729. */
  730. //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
  731.  
  732. /* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
  733. //#define DISPLAY_2LINES
  734. //#define DISPLAY_MULTILINE
  735. //#define MULTILINE_PRE 2 // multiline configMenu # pref lines
  736. //#define MULTILINE_POST 6 // multiline configMenu # post lines
  737. //#define DISPLAY_COLUMNS 16
  738. /******************************** Navigation ***********************************/
  739. /* keys to navigate the LCD menu */
  740. #define LCD_MENU_PREV 'p'
  741. #define LCD_MENU_NEXT 'n'
  742. #define LCD_VALUE_UP 'u'
  743. #define LCD_VALUE_DOWN 'd'
  744.  
  745. #define LCD_MENU_SAVE_EXIT 's'
  746. #define LCD_MENU_ABORT 'x'
  747.  
  748. /**************************************************************************************/
  749. /*********************** LCD configuration menu **************************/
  750. /**************************************************************************************/
  751.  
  752. /* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
  753. * http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */
  754. //#define LCD_CONF
  755.  
  756. /* to include setting the aux switches for AUX1 -> AUX4 via LCD */
  757. //#define LCD_CONF_AUX
  758.  
  759. /* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
  760. //#define SUPPRESS_LCD_CONF_AUX2
  761. //#define SUPPRESS_LCD_CONF_AUX34
  762.  
  763. /**************************************************************************************/
  764. /*********************** LCD telemetry **************************/
  765. /**************************************************************************************/
  766.  
  767. /* to monitor system values (battery level, loop time etc. with LCD
  768. * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */
  769.  
  770. /******************************** Activation ***********************************/
  771. //#define LCD_TELEMETRY
  772.  
  773. /* to enable automatic hopping between a choice of telemetry pages uncomment this. */
  774. //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
  775. //#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2
  776.  
  777. /* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
  778. //#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
  779.  
  780. /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
  781. //#define SUPPRESS_TELEMETRY_PAGE_1
  782. //#define SUPPRESS_TELEMETRY_PAGE_2
  783. //#define SUPPRESS_TELEMETRY_PAGE_3
  784. //#define SUPPRESS_TELEMETRY_PAGE_4
  785. //#define SUPPRESS_TELEMETRY_PAGE_5
  786. //#define SUPPRESS_TELEMETRY_PAGE_6
  787. //#define SUPPRESS_TELEMETRY_PAGE_7
  788. //#define SUPPRESS_TELEMETRY_PAGE_8
  789. //#define SUPPRESS_TELEMETRY_PAGE_9
  790. //#define SUPPRESS_TELEMETRY_PAGE_R
  791.  
  792. /********************************************************************/
  793. /**** RSSI ****/
  794. /********************************************************************/
  795. //#define RX_RSSI
  796. //#define RX_RSSI_PIN A3
  797.  
  798. /********************************************************************/
  799. /**** Buzzer ****/
  800. /********************************************************************/
  801. //#define BUZZER
  802. //#define RCOPTIONSBEEP // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
  803. //#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)
  804. //#define PILOTLAMP //Uncomment if you are using a X-Arcraft Pilot Lamp
  805.  
  806. /********************************************************************/
  807. /**** battery voltage monitoring ****/
  808. /********************************************************************/
  809. /* for V BAT monitoring
  810. after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
  811. with R1=33k and R2=51k
  812. vbat = [0;1023]*16/VBATSCALE
  813. must be associated with #define BUZZER ! */
  814. #define VBAT // uncomment this line to activate the vbat code
  815. #define VBATSCALE 131 // (*) (**) change this value if readed Battery voltage is different than real voltage
  816. #define VBATNOMINAL 126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
  817. #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
  818. #define VBATLEVEL_WARN2 99 // (*) (**) 9.9V
  819. #define VBATLEVEL_CRIT 93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
  820. #define NO_VBAT 16 // Avoid beeping without any battery
  821.  
  822.  
  823. /********************************************************************/
  824. /**** powermeter (battery capacity monitoring) ****/
  825. /********************************************************************/
  826.  
  827. /* enable monitoring of the power consumption from battery (think of mAh)
  828. allows to set alarm value in GUI or via LCD
  829. Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
  830. Two options:
  831. 1 - hard: - (uses hardware sensor, after configuration gives very good results)
  832. 2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC) */
  833. //#define POWERMETER_SOFT
  834. //#define POWERMETER_HARD
  835. #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
  836. gives 1/2 Vss; that is approx 2.49Volt; */
  837. #define PINT2mA 132 /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
  838. soft: use fictional value, start with 100.
  839. for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
  840.  
  841. /********************************************************************/
  842. /**** altitude hold ****/
  843. /********************************************************************/
  844.  
  845. /* defines the neutral zone of throttle stick during altitude hold, default setting is
  846. +/-50 uncommend and change the value below if you want to change it. */
  847. #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 150
  848. #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.
  849.  
  850.  
  851. /* uncomment to disable the altitude hold feature.
  852. * This is useful if all of the following apply
  853. * + you have a baro
  854. * + want altitude readout and/or variometer
  855. * + do not use altitude hold feature
  856. * + want to save memory space */
  857. //#define SUPPRESS_BARO_ALTHOLD
  858.  
  859. /********************************************************************/
  860. /**** altitude variometer ****/
  861. /********************************************************************/
  862.  
  863. /* enable to get audio feedback upon rising/falling copter/plane.
  864. * Requires a working baro.
  865. * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
  866. * choice of two methods (enable either one or both)
  867. * method 1 : use short term movement from baro ( bigger code size)
  868. * method 2 : use long term observation of altitude from baro (smaller code size)
  869. */
  870. //#define VARIOMETER 12 // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
  871. //#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired
  872. //#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
  873. //#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals
  874.  
  875. /********************************************************************/
  876. /**** baord naming ****/
  877. /********************************************************************/
  878.  
  879. /*
  880. * this name is displayed together with the MultiWii version number
  881. * upon powerup on the LCD.
  882. * If you are without a DISPLAYD then You may enable LCD_TTY and
  883. * use arduino IDE's serial monitor to view the info.
  884. *
  885. * You must preserve the format of this string!
  886. * It must be 16 characters total,
  887. * The last 4 characters will be overwritten with the version number.
  888. */
  889. #define BOARD_NAME "MultiWii V-.--"
  890. // 123456789.123456
  891.  
  892. /************* Support multiple configuration profiles in EEPROM ************/
  893. //#define MULTIPLE_CONFIGURATION_PROFILES
  894.  
  895. /************* do no reset constants when change of flashed program is detected ***********/
  896. #define NO_FLASH_CHECK
  897.  
  898. /*************************************************************************************************/
  899. /***************** ***************/
  900. /**************** SECTION 7 - TUNING & DEVELOPER **************/
  901. /***************** ***************/
  902. /*************************************************************************************************/
  903.  
  904. /**************************************************************************************/
  905. /******** special ESC with extended range [0-2000] microseconds ********************/
  906. /**************************************************************************************/
  907. //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
  908.  
  909. /**************************************************************************************/
  910. /*********************** motor, servo and other presets ***********************/
  911. /**************************************************************************************/
  912. /* motors will not spin when the throttle command is in low position
  913. this is an alternative method to stop immediately the motors */
  914. //#define MOTOR_STOP
  915.  
  916. /* some radios have not a neutral point centered on 1500. can be changed here */
  917. #define MIDRC 1500
  918.  
  919. /*********************** Servo Refreshrates ***********************/
  920. /* Default 50Hz Servo refresh rate*/
  921. #define SERVO_RFR_50HZ
  922.  
  923. /* up to 160Hz servo refreshrate .. works with the most analog servos*/
  924. //#define SERVO_RFR_160HZ
  925.  
  926. /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
  927. for use with digital servos
  928. dont use it with analog servos! thay may get damage. (some will work but be careful) */
  929. //#define SERVO_RFR_300HZ
  930.  
  931. /*********************** HW PWM Servos ***********************/
  932. /* HW PWM Servo outputs for Arduino Mega.. moves:
  933. Pitch = pin 44
  934. Roll = pin 45
  935. CamTrig = pin 46
  936. SERVO4 = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
  937. SERVO5 = pin 12 (aileron right for fixed wing)
  938. SERVO6 = pin 6 (rudder for fixed wing)
  939. SERVO7 = pin 7 (elevator for fixed wing)
  940. SERVO8 = pin 8 (motor for fixed wing) */
  941.  
  942. #define MEGA_HW_PWM_SERVOS
  943.  
  944. /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
  945. * one of the 3 fixed servo.refresh.rates *
  946. * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
  947. * motor[0] = motor = pin 6
  948. * servo[3] = nick servo = pin 11
  949. * servo[4] = left servo = pin 10
  950. * servo[5] = yaw servo = pin 5
  951. * servo[6] = right servo= pin 9
  952. */
  953. //#define A32U4_4_HW_PWM_SERVOS
  954.  
  955. #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
  956. //#define SERVO_PIN5_RFR_RATE 200 // separate yaw pwm rate.
  957. // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
  958.  
  959.  
  960. /********************************************************************/
  961. /**** Memory savings ****/
  962. /********************************************************************/
  963.  
  964. /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
  965.  
  966. /**** suppress handling of serial commands.***
  967. * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
  968. * Enable either one or both of the following options */
  969.  
  970. /* Remove handling of all commands of the New MultiWii Serial Protocol.
  971. * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
  972. * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
  973. * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
  974. //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
  975.  
  976. /* Remove handling of other serial commands.
  977. * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
  978. * Navigating via stick inputs on tx is not affected and will work the same. */
  979. //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves approx 0 to 100 bytes, depending on features enabled
  980.  
  981. /**** suppress keeping the defaults for initial setup and reset in the code.
  982. * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
  983. * reset in GUI will not work on PIDs
  984. */
  985. //#define SUPPRESS_DEFAULTS_FROM_GUI
  986.  
  987. //#define DISABLE_SETTINGS_TAB // Saves ~400bytes on ProMini
  988.  
  989. /********************************************************************/
  990. /**** diagnostics ****/
  991. /********************************************************************/
  992.  
  993. /* to log values like max loop time and others to come
  994. logging values are visible via LCD config
  995. set to 1, enable 'R' option to reset values, max current, max altitude
  996. set to 2, adds min/max cycleTimes
  997. 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) */
  998. //#define LOG_VALUES 1
  999.  
  1000. /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
  1001. * used to track number of flights etc. over lifetime of controller board.
  1002. * Writes to end of eeprom - should not conflict with stored parameters yet.
  1003. * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
  1004. * #failsafe@disarm, #i2c_errs@disarm
  1005. * Enable one or more options to show the log
  1006. */
  1007. //#define LOG_PERMANENT
  1008. //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
  1009. //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
  1010. //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
  1011. //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
  1012.  
  1013. /* to add debugging code
  1014. not needed and not recommended for normal operation
  1015. will add extra code that may slow down the main loop or make copter non-flyable */
  1016. //#define DEBUG
  1017. //#define DEBUG_FREE // will add 'F' command to show free memory
  1018.  
  1019. /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
  1020. //#define LCD_CONF_DEBUG
  1021.  
  1022. /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
  1023. //#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
  1024. //#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.
  1025.  
  1026. /* Enable string transmissions from copter to GUI */
  1027. //#define DEBUGMSG
  1028.  
  1029.  
  1030. /********************************************************************/
  1031. /**** ESCs calibration ****/
  1032. /********************************************************************/
  1033.  
  1034. /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
  1035. Warning: this creates a special version of MultiWii Code
  1036. You cannot fly with this special version. It is only to be used for calibrating ESCs
  1037. Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
  1038. #define ESC_CALIB_LOW MINCOMMAND
  1039. #define ESC_CALIB_HIGH 2000
  1040. //#define ESC_CALIB_CANNOT_FLY // uncomment to activate
  1041.  
  1042. /**** internal frequencies ****/
  1043. /* frequenies for rare cyclic actions in the main loop, depend on cycle time
  1044. time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
  1045. example: with cycle time of approx 3ms, do action every 6*3ms=18ms
  1046. value must be [1; 65535] */
  1047. #define LCD_TELEMETRY_FREQ 23 // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
  1048. #define LCD_TELEMETRY_AUTO_FREQ 967// to step to next telemetry page 967 <=> 3s
  1049. #define PSENSOR_SMOOTH 16 // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
  1050. #define VBAT_SMOOTH 16 // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
  1051. #define RSSI_SMOOTH 16 // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
  1052.  
  1053. /********************************************************************/
  1054. /**** Dynamic Motor/Prop Balancing ****/
  1055. /********************************************************************/
  1056. /* !!! No Fly Mode !!! */
  1057.  
  1058. //#define DYNBALANCE // (**) Dynamic balancing controlled from Gui
  1059.  
  1060. /********************************************************************/
  1061. /**** Regression testing ****/
  1062. /********************************************************************/
  1063.  
  1064. /* for development only:
  1065. to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
  1066. together. This is meant to help detecting compile time errors for various features in a coordinated way.
  1067. It is not meant to produce your flying firmware
  1068. To use:
  1069. - do not set any options in config.h,
  1070. - enable with #define COPTERTEST 1, then compile
  1071. - if possible, check for the size
  1072. - repeat with other values of 2, 3, 4 etc.
  1073. */
  1074. //#define COPTERTEST 1
  1075.  
  1076. /*************************************************************************************************/
  1077. /***************** ***************/
  1078. /**************** SECTION 8 - DEPRECATED *******/
  1079. /***************** ***************/
  1080. /*************************************************************************************************/
  1081.  
  1082. /* these features will be removed in the unforseeable future. Do not build new products or
  1083. * functionality based on such features. The default for all such features is OFF.
  1084. */
  1085.  
  1086. /************************** WMP power pin *******************************/
  1087. //#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  1088. /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  1089. #define DISABLE_POWER_PIN
  1090.  
  1091.  
  1092. /*************************************************************************************************/
  1093. /**** END OF CONFIGURABLE PARAMETERS ****/
  1094. /*************************************************************************************************/
  1095.  
  1096. #endif /* CONFIG_H_ */
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