/*
  AeroQuad v3.0.1 - February 2012
  www.AeroQuad.com
  Copyright (c) 2012 Ted Carancho.  All rights reserved.
  An Open Source Arduino based multicopter.

  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

/****************************************************************************
 ************************* Hardware Configuration ***************************
 ****************************************************************************/
// Select which hardware you wish to use with the AeroQuad Flight Software

// 328p platform
//#define AeroQuad_v1         // Arduino 2009 with AeroQuad Shield v1.7 and below
//#define AeroQuad_v1_IDG     // Arduino 2009 with AeroQuad Shield v1.7 and below using IDG yaw gyro
//#define AeroQuad_v18        // Arduino 2009 with AeroQuad Shield v1.8 or greater
//#define AeroQuad_Mini       // Arduino Pro Mini with AeroQuad Mini Shield v1.0
//#define AeroQuad_Wii        // Arduino 2009 with Wii Sensors and AeroQuad Shield v1.x
//#define AeroQuad_Paris_v3   // Define along with either AeroQuad_Wii to include specific changes for MultiWiiCopter Paris v3.0 board

// Mega platform
//#define AeroQuadMega_v1     // Arduino Mega with AeroQuad Shield v1.7 and below
#define AeroQuadMega_v2     // Arduino Mega with AeroQuad Shield v2.0
//#define AeroQuadMega_v21    // Arduino Mega with AeroQuad Shield v2.1
//#define AutonavShield       // Really good board for the guy here http://aeroquad.com/showthread.php?4106-New-Shield-available-Mega-AutoNav-Shield&highlight=autonav
//#define AeroQuadMega_Wii    // Arduino Mega with Wii Sensors and AeroQuad Shield v2.x
//#define ArduCopter          // ArduPilot Mega (APM) with Oilpan Sensor Board
//#define AeroQuadMega_CHR6DM // Clean Arduino Mega with CHR6DM as IMU/heading ref.
//#define APM_OP_CHR6DM       // ArduPilot Mega with CHR6DM as IMU/heading ref., Oilpan for barometer (just uncomment AltitudeHold for baro), and voltage divider


/****************************************************************************
 *********************** Define Flight Configuration ************************
 ****************************************************************************/
// Use only one of the following definitions
#define quadXConfig
//#define quadPlusConfig
//#define hexPlusConfig
//#define hexXConfig
//#define triConfig
//#define quadY4Config
//#define hexY6Config
//#define octoX8Config
//#define octoPlusConfig  // EXPERIMENTAL: not completely re-tested
//#define octoXConfig     // EXPERIMENTAL: not completely re-tested


// MOTOR ADVANCE CONFIG SECTION
//#define CHANGE_YAW_DIRECTION // if you want to reverse the yaw correction direction

#define USE_400HZ_ESC // For ESC that support 400Hz update rate, ESC OR PLATFORM MAY NOT SUPPORT IT


//
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// In the 3.0 code the motor numbering has changed to simplify motor configuration.
// Please refer to the .h files in ..\Libraries\AQ_FlightControlProcessor to see the new numbering for your flight model
// Also check the http://www.aeroquad.com/showwiki.php "Build Instructions" for more detail on the 3.0 motor changes
// the OLD_MOTOR_NUMBERING is compatible  with the 2.x versions of the AeroQuad code and will not need re-ordering to work
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define OLD_MOTOR_NUMBERING // Uncomment this for old motor numbering setup, FOR QUAD +/X MODE ONLY

//
// *******************************************************************************************************************************
// Optional Sensors
// Warning:  If you enable HeadingHold or AltitudeHold and do not have the correct sensors connected, the flight software may hang
// *******************************************************************************************************************************
#define HeadingMagHold // Enables Magnetometer, gets automatically selected if CHR6DM is defined
#define AltitudeHoldBaro // Enables BMP085 Barometer
//#define AltitudeHoldRangeFinder // Enable altitude hold with range finder, Not displayed on the configurator
//#define AutoLanding // Enable auto landing on channel AUX3 of the remote, NEED AltitudeHoldBaro AND AltitudeHoldRangeFinder

#define UseGPS // Try to auto-detect the GPS, may have some detection trouble making the connection to the configurator not working
#define UseGPSNavigator // EXPERIMENTAL NEED UseGPS TO BE DEFINED, enable GPS position hold, auto return home when no mission or execute mission

//
// *******************************************************************************************************************************
// Battery Monitor Options
// For more information on how to setup Battery Monitor please refer to http://aeroquad.com/showwiki.php?title=BatteryMonitor+h
// *******************************************************************************************************************************
//#define BattMonitor            // Enable Battery monitor
//#define BattMonitorAutoDescent // NEED BattMonitor defined. if you want the craft to auto descent when the battery reach the alarm voltage
//#define POWERED_BY_VIN         // NEED BattMonitor defined. Uncomment this if your v2.x is powered directly by the vin/gnd of the arduino
//
// Advanced configuration. Please refer to wiki for instructions
//#define BattCustomConfig DEFINE_BATTERY( 3,0,15,0,2,50,0)

//
// *******************************************************************************************************************************
// Optional Receiver
// *******************************************************************************************************************************
#define NormalReceiver // this do nothing really but, it indicate users that they don't have to define other option here if they have a normal receiver
//#define RemotePCReceiver // EXPERIMENTAL Use PC as transmitter via serial communicator with XBEE
//#define ReceiverSBUS  // Use a Futaba sBUS RX, connect sBUS data line to Serial2 RX, supports up to 8 channels
//#define ReceiverPPM // Use a ppm receiver
//#define ReceiverHWPPM // Use a ppm receiver with HW timer, needs a HW modification (see Libraries/AQ_Receiver/Receiver_HWPPM.h)
// You need to select one of these channel order definitions for PPM receiver
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_1 //For Graupner/Spektrum (DEFAULT)
#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_2 //For Robe/Hitec/Futaba
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_3 //For some Hitec/Sanwa/Others

//#define UseRSSIFaileSafe // read rssi for receiver failsafe NEED A RECEIVER WITH FAILSAVE CONNECTED ON PIN A6 OF THE SHIELD

//
// *******************************************************************************************************************************
// Define how many channels are connected from your R/C receiver
// Please note that the flight software currently only supports 6 channels, additional channels will be supported in the future
// Additionally 8 receiver channels are only available when not using the Arduino Uno
// *******************************************************************************************************************************
//#define LASTCHANNEL 6
#define LASTCHANNEL 8 // - warning, this needs to be debugged, incorrect COM behaviour appears when selecting this


//
// *******************************************************************************************************************************
// Optional telemetry (for debug or ground station tracking purposes)
// For more information on how to setup Telemetry please refer to http://aeroquad.com/showwiki.php?title=Xbee+Installation
// *******************************************************************************************************************************
//#define WirelessTelemetry  // Enables Wireless telemetry on Serial3  // Wireless telemetry enable

//
// *******************************************************************************************************************************
// Optional audio channel telemetry (for ground station tracking purposes)
// This will output telemetry at slow (1200baud) rate once per second on Serial2.
// *******************************************************************************************************************************
//#define SlowTelemetry  // Enables Wireless telemetry on Serial2


//
// *******************************************************************************************************************************
// Camera Stabilization
// Servo output goes to D11(pitch), D12(roll), D13(yaw) on AeroQuad v1.8 shield
// If using v2.0 Shield place jumper between:
// D12 to D33 for roll, connect servo to SERVO1
// D11 to D34 for pitch, connect servo to SERVO2
// D13 to D35 for yaw, connect servo to SERVO3
// Please note that you will need to have battery connected to power on servos with v2.0 shield
// *******************************************************************************************************************************
//#define CameraControl

//
// *******************************************************************************************************************************
// On screen display implementation using MAX7456 chip. See MAX7456.h in libraries for more info and configuration.
// For more information on how to setup OSD please refer to http://aeroquad.com/showwiki.php?title=On-Screen-Display
// *******************************************************************************************************************************
//#define OSD
//#define ShowRSSI
//#define PAL                       // uncomment this to default to PAL video
//#define AUTODETECT_VIDEO_STANDARD // detect automatically, signal must be present at Arduino powerup!
//#define CALLSIGN "Aeroquad"         // Show (optional) callsign
//#define ShowAttitudeIndicator     // Display the attitude indicator calculated by the AHRS
//#define USUnits                   // Enable for US units (feet,miles,mph)

//#define OSD_SYSTEM_MENU           // Menu system, currently only usable with OSD

/****************************************************************************
 ****************************************************************************
 ****************************************************************************
 ********************* End of User Definition Section ***********************
 ****************************************************************************
 ****************************************************************************
 ****************************************************************************/