racemode/acro first success w stock tx 04feb2018 175105

#include "defines.h"
#include "hardware.h"

// pids in pid.c
// NotFastEnuf Note:  My personal rates and expo are loaded so that you do not have to do anything in the transmitter
// rate in deg/sec
// for acro mode
#define MAX_RATE 360.0
#define MAX_RATEYAW 360.0

// max angle for level mode
#define MAX_ANGLE_HI 70.0f

#define LOW_RATES_MULTI 0.30f // 0.01f = 1%, 0.5f = 50%, 1.0f = 100%

// disable inbuilt expo functions
//#define DISABLE_EXPO

// use if your tx has no expo function
// also comment out DISABLE_EXPO to use
// -1 to 1 , 0 = no exp
// positive = less sensitive near center
//#define EXPO_XY 0.8
//#define EXPO_YAW 0.6
#define EXPO_XY 0.4
#define EXPO_YAW 0.8


// battery saver
// do not start software if battery is too low
// flashes 2 times repeatedly at startup
#define STOP_LOWBATTERY

// under this voltage the software will not start
// if STOP_LOWBATTERY is defined above
#define STOP_LOWBATTERY_TRESH 3.3

// voltage to start warning
// volts
#define VBATTLOW 3.5

// lvc starts flashing under this raw value regardless of throttle
#define VBATTLOW_MIN 2.7
// compensation for battery voltage vs throttle drop
// increase if battery low comes on at max throttle
// decrease if battery low warning goes away at high throttle
// in volts
#define VDROP_FACTOR 0.7

//#define AUTO_VDROP_FACTOR

// voltage hysteresys
// in volts
#define HYST 0.10



// lower throttle when battery below treshold
// NotFastEnuf Note:  I commented out the line below to turn off a forced landing on low voltage.  I am a battery abuser
//										and feel that only toys tell you when to land.  Uncomment if you prefer to have the features below adjust a forced
//										landing on low battery based on the settings you choose.
#define LVC_LOWER_THROTTLE
#define LVC_LOWER_THROTTLE_VOLTAGE 3.40
#define LVC_LOWER_THROTTLE_VOLTAGE_RAW 2.80
#define LVC_LOWER_THROTTLE_KP 3.0



// NotFastEnuf Note:  I am now using the weakest and fastest hardware filtering of the gyro signal to reduce latency
//	 and further clean the signal with software filtering.
// Gyro LPF filter frequency
// gyro filter 0 = 250hz delay 0.97mS
// gyro filter 1 = 184hz delay 2.9mS
// gyro filter 2 = 92hz delay 3.9mS
// gyro filter 3 = 41hz delay 5.9mS (Default)
// gyro filter 4 = 20hz
// gyro filter 5 = 10hz
// gyro filter 6 = 5hz
// gyro filter 7 = 3600hz delay 0.17mS
#define GYRO_LOW_PASS_FILTER 3

// NotFastEnuf Note:  I selected software filtering 2nd order 43hz as all true motion occures below this point and is is a strong filter
//										with reasonable latency when paired with minimal hardware filtering.   The result is reduced latency over defaults
//										while maintaining strong resistance to vibration induced negative flight behaviours.
// software gyro lpf ( iir )
// set only one below
//#define SOFT_LPF_1ST_023HZ
//#define SOFT_LPF_1ST_043HZ
//#define SOFT_LPF_1ST_100HZ
//#define SOFT_LPF_2ND_043HZ
#define SOFT_LPF_2ND_088HZ
//#define SOFT_LPF_4TH_088HZ
//#define SOFT_LPF_4TH_160HZ
//#define SOFT_LPF_4TH_250HZ
//#define SOFT_LPF_NONE




// switch function selection

// H8 protocol channels
// CH_FLIP - flip,  CH_HEADFREE - headfree, CH_RTH - headingreturn
// CH_EXPERT , CH_INV (inv h101 tx)
// CH_RLL_TRIM , CH_PIT_TRIM - trim buttons pitch, roll

// cg023 protocol chanels
// CH_CG023_FLIP , CH_CG023_VIDEO , CH_CG023_STILL , CH_CG023_LED

// H7 channels
// CH_H7_FLIP , CH_H7_VIDEO , CH_H7_FS

// CX10
// CH_CX10_CH0  (unknown) , CH_CX10_CH2 ( rates mid)

// DEVO channels (bayang protocol)
// DEVO_CHAN_5 - DEVO_CHAN_10

// Multiprotocol can use MULTI_CHAN_5 - MULTI_CHAN_10  (bayang protocol)

// CH_ON - on always ( all protocols)
// CH_OFF - off always ( all protocols)

#define HEADLESSMODE CH_OFF

// rates / expert mode
#define RATES CH_EXPERT

//#define LEVELMODE DEVO_CHAN_5 // for use with devo transmitter
#define LEVELMODE CH_AUX1

//#define LEDS_ON DEVO_CHAN_7 // for use with devo transmitter
//#define LEDS_ON CH_ON // LEDs ON
#define LEDS_ON CH_OFF	// LEDs OFF

// switch for fpv / other, requires fet
// comment out to disable
//#define FPV_ON CH_ON

// aux1 channel starts on if this is defined, otherwise off.
#define AUX1_START_ON

// improves reception and enables trims if used
// trims are incompatible with DEVO TX when used
//#define USE_STOCK_TX

// NotFastEnuf Note:  automatically remove center bias ( needs throttle off for 1 second - does not work on devo )
//#define STOCK_TX_AUTOCENTER

// NotFastEnuf Note:  a deadband has been added for transmitter sticks that don't perfectly center - this value equates to a percentage of stick travel
// for example .01f is 1% of stick range - comment out to disable if not needed
#define STICKS_DEADBAND .01f

// Gestures enable ( gestures 1 = acc only)
//#define GESTURES1_ENABLE
#define GESTURES2_ENABLE

// enable motor filter
// hanning 3 sample fir filter
#define MOTOR_FILTER

// clip feedforward attempts to resolve issues that occur near full throttle
//#define CLIP_FF

// pwm frequency for motor control
// a higher frequency makes the motors more linear
// in Hz
#define PWMFREQ 24000

// motor curve to use
// the pwm frequency has to be set independently
// 720motors - use 8khz and curve none.
//NotFastEnuf Note:  I feel like the e011 works best on 8.5mm 32khz curve.
//									If you have any hover or mid throttle instabilities try different curves - this affects the strength of the corrections that
//									the pid controler makes to the motors across the throttle range - it is completely seperate from actual pwm frequency.
//									Actual motor thrust is not linear so its important to find a curve that matches the motors' actual performance.
//									Custom motor curve has now also been added - this is an exponential curve adjustable up to 1 being straight linear.
//#define MOTOR_CURVE_NONE
//#define MOTOR_CURVE_6MM_490HZ
//#define MOTOR_CURVE_85MM_8KHZ
//#define MOTOR_CURVE_85MM_32KHZ
//#define BOLDCLASH_716MM_8K
#define BOLDCLASH_716MM_24K
//#define CUSTOM_MOTOR_CURVE .3

#define THROTTLE_TRANSIENT_COMPENSATION

// lost quad beeps using motors (30 sec timeout)
#define MOTOR_BEEPS

// throttle angle compensation in level mode
// comment out to disable
//#define AUTO_THROTTLE

// enable auto lower throttle near max throttle to keep control
// comment out to disable
#define MIX_LOWER_THROTTLE
//NotFastEnuf Note:  adjust the percentage below to compensate for any thrust imbalances
//									for example - if you punch the throttle and the craft does not hold it attitude well (don't raise I gain - its high enough already)
//									the lower you can keep this - the less top end performance you will lose
#define MIX_THROTTLE_REDUCTION_PERCENT 10
//#define MIX_INCREASE_THROTTLE

// Radio protocol selection
// select only one
//#define RX_CG023_PROTOCOL
//#define RX_H7_PROTOCOL
#define RX_BAYANG_PROTOCOL
//#define RX_BAYANG_PROTOCOL_TELEMETRY
//#define RX_BAYANG_PROTOCOL_BLE_BEACON
//#define RX_BAYANG_BLE_APP	 // for use with telemetry app, for monitoring PIDs and battery
//#define RX_CX10BLUE_PROTOCOL

// 0 - 7 - power for telemetry
#define TX_POWER 0

// 0 - 7 - power for app
//#define TX_POWER_GENERAL 4 // enable this when using BLE_APP for telemetry.  Perhaps set higher than 4. Touch antenna to give it signal, or touch antenna to metal to extend it to connect to app, or set quad directly on phone.

// Flash saving features
#define DISABLE_HEADLESS
#define DISABLE_FLIP_SEQUENCER

// led brightness in-flight ( solid lights only)
// 0- 15 range
#define LED_BRIGHTNESS 15


// external buzzer - pins in hardware.h
//#define BUZZER_ENABLE








//##################################
// debug / other things
// this should not be usually changed



// enable serial driver ( pin SWCLK after calibration)
// WILL DISABLE PROGRAMMING AFTER GYRO CALIBRATION - 2 - 3 seconds after powerup)
//#define SERIAL_ENABLE
// enable some serial info output
//#define SERIAL_INFO


// level mode "manual" trims ( in degrees)
// pitch positive forward
// roll positive right
#define TRIM_PITCH 0.0
#define TRIM_ROLL 0.0

// disable motors for testing
//#define NOMOTORS

// throttle direct to motors for thrust measure
// #define MOTORS_TO_THROTTLE

// loop time in uS
// this affects soft gyro lpf frequency if used
#define LOOPTIME 1000

// failsafe time in uS
#define FAILSAFETIME 1000000  // one second

// max rate used by level pid ( limit )
#define LEVEL_MAX_RATE 360

// invert yaw pid for hubsan motors
//#define INVERT_YAW_PID

// debug things ( debug struct and other)
//#define DEBUG

// rxdebug structure
//#define RXDEBUG

// enable motors if pitch / roll controls off center (at zero throttle)
// possible values: 0 / 1
// use in acro build only
#define ENABLESTIX 0
#define ENABLESTIX_TRESHOLD 0.3
#define ENABLESTIX_TIMEOUT 1e6

// overclock to 64Mhz
//#define ENABLE_OVERCLOCK


// limit minimum motor output to a value (0.0 - 1.0)
//#define MOTOR_MIN_ENABLE
#define MOTOR_MIN_VALUE 0.02

// limit max motor output to a value (0.0 - 1.0)
//#define MOTOR_MAX_ENABLE
#define MOTOR_MAX_VALUE 1.0




#pragma diag_warning 1035 , 177 , 4017
#pragma diag_error 260

//--fpmode=fast





// define logic - do not change
///////////////

// used for pwm calculations
#ifdef ENABLE_OVERCLOCK
#define SYS_CLOCK_FREQ_HZ 64000000
#else
#define SYS_CLOCK_FREQ_HZ 48000000
#endif



#ifdef MOTOR_BEEPS
#ifdef USE_ESC_DRIVER
#warning "MOTOR BEEPS_WORKS WITH BRUSHED MOTORS ONLY"
#endif
#endif


//needed for rssi
//#ifdef OSD_LTM_PROTOCOL
//#define RXDEBUG
//#endif


// for the ble beacon to work after in-flight reset
#ifdef RX_BAYANG_PROTOCOL_BLE_BEACON
#undef STOP_LOWBATTERY
#endif