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Failsafe return to home example config

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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 1150 // (*) (**)
  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 for old WMP config (useless config for other sensors)  *************/
  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.   /**********************************  constant loop time  ******************************/
  83.     #define LOOP_TIME 2800
  84.  
  85.   /**************************************************************************************/
  86.   /*****************          boards and sensor definitions            ******************/
  87.   /**************************************************************************************/
  88.  
  89.     /***************************    Combined IMU Boards    ********************************/
  90.       /* if you use a specific sensor board:
  91.          please submit any correction to this list.
  92.            Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
  93.       //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
  94.       //#define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
  95.       //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
  96.       //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
  97.       //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
  98.       //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
  99.       //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
  100.       //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
  101.       //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
  102.       //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
  103.       //#define PIPO            // 9DOF board from erazz
  104.       //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
  105.       //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
  106.       //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
  107.       //#define QUADRINO_NANO   // full FC board 9DOF+baro board+GPS from Lynxmotion / RobotShop    <- confirmed by Alex
  108.       //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
  109.       //#define AEROQUADSHIELDv2
  110.       //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
  111.       //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
  112.       //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
  113.       //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
  114.       //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com           <- confirmed by Alex
  115.       //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
  116.       //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
  117.       //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
  118.       //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
  119.       //#define CITRUSv2_1      // CITRUS from qcrc.ca
  120.       //#define CHERRY6DOFv1_0
  121.       //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
  122.       //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
  123.       //#define DROTEK_6DOFv2   // Drotek 6DOF v2
  124.       //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
  125.       //#define DROTEK_10DOF_MPU//
  126.       //#define MONGOOSE1_0     // mongoose 1.0    http://store.ckdevices.com/
  127.       //#define CRIUS_LITE      // Crius MultiWii Lite
  128.       //#define CRIUS_SE        // Crius MultiWii SE
  129.       //#define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
  130.       //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
  131.       //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
  132.       //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
  133.       //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
  134.       //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
  135.       //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
  136.       //#define GY_88 // Chinese 10 DOF with MPU6050 HMC5883L BMP085, LLC
  137.       //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
  138.       //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
  139.       //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
  140.       //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
  141.       //#define PROTO_DIY       // 10DOF mega board
  142.       //#define IOI_MINI_MULTIWII// www.bambucopter.com
  143.       //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
  144.       //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
  145.       //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
  146.       //#define FLYDUINO_MPU       // MPU6050 Break Out onboard 3.3V reg
  147.       //#define CRIUS_AIO_PRO
  148.       //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
  149.       //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
  150.       //#define LADYBIRD
  151.       //#define MEGAWAP_V2_STD     // available here: http://www.multircshop.com                    <- confirmed by Alex
  152.       //#define MEGAWAP_V2_ADV
  153.       #define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
  154.       //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)  
  155.       //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
  156.       //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
  157.       //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
  158.       //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
  159.       //#define MultiWii_32U4_SE         // Hextronik MultiWii_32U4_SE
  160.       //#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA to free flash-memory for other functions
  161.       //#define Flyduino9DOF       // Flyduino 9DOF IMU MPU6050+HMC5883l
  162.       //#define Nano_Plane         // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
  163.      
  164.     /***************************    independent sensors    ********************************/
  165.       /* leave it commented if you already checked a specific board above */
  166.       /* I2C gyroscope */
  167.       //#define WMP
  168.       //#define ITG3050
  169.       //#define ITG3200
  170.       //#define MPU3050
  171.       //#define L3G4200D
  172.       //#define MPU6050       //combo + ACC
  173.       //#define LSM330        //combo + ACC
  174.      
  175.       /* I2C accelerometer */
  176.       //#define MMA7455
  177.       //#define ADXL345
  178.       //#define BMA020
  179.       //#define BMA180
  180.       //#define BMA280
  181.       //#define LIS3LV02
  182.       //#define LSM303DLx_ACC
  183.       //#define MMA8451Q
  184.  
  185.       /* I2C barometer */
  186.       //#define BMP085
  187.       //#define MS561101BA
  188.  
  189.       /* I2C magnetometer */
  190.       //#define HMC5843
  191.       //#define HMC5883
  192.       //#define AK8975
  193.       //#define MAG3110
  194.  
  195.       /* Sonar */ // for visualization purpose currently - no control code behind
  196.       //#define SRF02 // use the Devantech SRF i2c sensors
  197.       //#define SRF08
  198.       //#define SRF10
  199.       //#define SRF23
  200.  
  201.       /* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
  202.       //#define ADCACC
  203.  
  204.       /* enforce your individual sensor orientation - even overrides board specific defaults */
  205.       //#define FORCE_ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  = Z;}
  206.       //#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] =  X; imu.gyroADC[YAW] = Z;}
  207.       //#define FORCE_MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}
  208.  
  209.       /* Board orientation shift */
  210.       /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
  211.        * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
  212.        * Check motors order and directions of motors rotation for matching with new front point!  Uncomment only one option! */
  213.       //#define SENSORS_TILT_45DEG_RIGHT        // rotate the FRONT 45 degres clockwise
  214.       //#define SENSORS_TILT_45DEG_LEFT         // rotate the FRONT 45 degres counterclockwise
  215.  
  216.  
  217. /*************************************************************************************************/
  218. /*****************                                                                 ***************/
  219. /****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/
  220. /*****************                                                                 ***************/
  221. /*************************************************************************************************/
  222.   /********************************  PID Controller *********************************/
  223.     /* choose one of the alternate PID control algorithms
  224.      * 1 = evolved oldschool algorithm (similar to v2.2)
  225.      * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
  226.      * */
  227.     #define PID_CONTROLLER 1
  228.  
  229.     /* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
  230.     #define YAW_DIRECTION 1
  231.     //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
  232.  
  233.     #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted
  234.  
  235.    /********************************    ARM/DISARM    *********************************/
  236.    /* optionally disable stick combinations to arm/disarm the motors.
  237.      * In most cases one of the two options to arm/disarm via TX stick is sufficient */
  238.     #define ALLOW_ARM_DISARM_VIA_TX_YAW
  239.     //#define ALLOW_ARM_DISARM_VIA_TX_ROLL
  240.  
  241.     /********************************    SERVOS      *********************************/
  242.     /* info on which servos connect where and how to setup can be found here
  243.      * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
  244.      */
  245.  
  246.     /* Do not move servos if copter is unarmed
  247.      * It is a quick hack to overcome feedback tail wigglight when copter has a flexibile
  248.      * landing gear
  249.     */
  250.     //#define DISABLE_SERVOS_WHEN_UNARMED
  251.  
  252.  
  253.     /* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
  254.      * room for servo travel, then you must enable and set all three following options */
  255.      //#define SERVO_MIN  {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
  256.      //#define  SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
  257.      //#define  SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
  258.      //#define FORCE_SERVO_RATES      {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse
  259.  
  260.   /***********************          Cam Stabilisation             ***********************/
  261.     /* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
  262.     //#define SERVO_MIX_TILT
  263.     //#define SERVO_TILT
  264.  
  265.     /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
  266.     // trigger interval can be changed via (*GUI*) or via AUX channel
  267.     //#define CAMTRIG
  268.     #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
  269.  
  270.   /***********************          Airplane                       ***********************/
  271.     //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
  272.  
  273.     //#define FLAPPERONS    AUX4          // Mix Flaps with Aileroins.
  274.     #define FLAPPERON_EP   { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
  275.     #define FLAPPERON_INVERT { -1, 1 }    // Change direction om flapperons { Wing1, Wing2 }
  276.    
  277.     //#define FLAPS                       // Traditional Flaps on SERVO3.
  278.     //#define FLAPSPEED     3             // Make flaps move slowm Higher value is Higher Speed.
  279.  
  280.   /***********************      Common for Heli & Airplane         ***********************/
  281.  
  282.     /* Governor: attempts to maintain rpm through pitch and voltage changes
  283.      * predictive approach: observe input signals and voltage and guess appropriate corrections.
  284.      * (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.
  285.      * Can be toggled via aux switch.
  286.      */
  287.     //#define GOVERNOR_P 7     // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
  288.     //#define GOVERNOR_D 4     // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
  289.  
  290.     /* tail precomp from collective */
  291.     #define YAW_COLL_PRECOMP 10           // (*) proportional factor in 0.1. Higher value -> higher precomp effect. value of 10 equals no/neutral effect
  292.     #define YAW_COLL_PRECOMP_DEADBAND 120 // (*) deadband for collective pitch input signal around 0-pitch input value
  293.  
  294.     //#define VOLTAGEDROP_COMPENSATION // voltage impact correction
  295.  
  296.   /***********************          Heli                           ***********************/
  297.     /* Channel to control CollectivePitch */
  298.     #define COLLECTIVE_PITCH      THROTTLE
  299.  
  300.     /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
  301.     #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
  302.     #define YAWMOTOR                 0       // If a motor is used as YAW Set to 1 else set to 0.
  303.  
  304.     /* Servo mixing for heli 120
  305.                          {Coll,Nick,Roll} */
  306.     #define SERVO_NICK   { +10, -10,  0 }
  307.     #define SERVO_LEFT   { +10, +5, +10 }
  308.     #define SERVO_RIGHT  { +10, +5, -10 }
  309.  
  310.     /* Limit Maximum controll for Roll & Nick  in 0-100% */
  311.     #define CONTROL_RANGE   { 100, 100 }      //  { ROLL,PITCH }
  312.  
  313.     /* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
  314.        if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
  315.     //#define HELI_USE_SERVO_FOR_THROTTLE
  316.  
  317.   /***********************      your individual mixing     ***********************/
  318.     /* if you want to override an existing entry in the mixing table, you may want to avoid editing the
  319.      * mixTable() function for every version again and again.
  320.      * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
  321.      */
  322.     //#define MY_PRIVATE_MIXING "filename.h"
  323.  
  324.   /***********************      your individual defaults     ***********************/
  325.     /* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
  326.      * you may want to avoid editing the LoadDefaults() function for every version again and again.
  327.      * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
  328.      */
  329.     //#define MY_PRIVATE_DEFAULTS "filename.h"
  330.  
  331.  
  332. /*************************************************************************************************/
  333. /*****************                                                                 ***************/
  334. /****************  SECTION  3 - RC SYSTEM SETUP                                            *******/
  335. /*****************                                                                 ***************/
  336. /*************************************************************************************************/
  337.  
  338.   /* note: no need to uncomment something in this section if you use a standard receiver */
  339.  
  340. /****************************    EXTENDED AUX STATES    ***********************************/
  341. /* If you uncomment this line, you can use six states for each of the aux channels (AUX1-AUX4)
  342. to control your copter.
  343. Channel values
  344. 1000-1230
  345. 1231-1360
  346. 1361-1490
  347. 1491-1620
  348. 1621-1749
  349. 1750-
  350.  
  351. At this moment you can use this function only with WinGUI 2.3 release. MultiWiiConf does not support it yet
  352. */
  353.  
  354. //#define EXTENDED_AUX_STATES
  355.  
  356.  
  357.   /**************************************************************************************/
  358.   /********                       special receiver types             ********************/
  359.   /**************************************************************************************/
  360.  
  361.     /****************************    PPM Sum Reciver    ***********************************/
  362.       /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
  363.          Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
  364.       //#define SERIAL_SUM_PPM         PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
  365.       //#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
  366.       //#define SERIAL_SUM_PPM         ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
  367.       //#define SERIAL_SUM_PPM         PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
  368.       //#define SERIAL_SUM_PPM         THROTTLE,YAW,ROLL,PITCH,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //Modelcraft
  369.  
  370.       // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
  371.       //#define PPM_ON_THROTTLE
  372.  
  373.     /**********************    Spektrum Satellite Reciver    *******************************/
  374.       /* The following lines apply only for Spektrum Satellite Receiver
  375.          Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
  376.          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).
  377.          For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
  378.       //#define SPEKTRUM 1024
  379.       //#define SPEKTRUM 2048
  380.       //#define RX_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).
  381.       //**************************
  382.       // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
  383.       //   Bind mode will be same as declared above, if your TX is capable.
  384.       //   Ground, Power, and Signal must come from three adjacent pins.
  385.       //   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.  
  386.       //   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.
  387.       //**************************
  388.       //   For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
  389.       //#define SPEK_BIND             //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it.
  390.       //#define SPEK_BIND_GROUND 4
  391.       //#define SPEK_BIND_POWER  5
  392.       //#define SPEK_BIND_DATA   6
  393.  
  394.     /*******************************    SBUS RECIVER    ************************************/
  395.       /* The following line apply only for Futaba S-Bus Receiver on MEGA boards or PROMICRO boards.
  396.          You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
  397.       //#define SBUS     PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11,12,13,14,15,16,17  // dsm2 orangerx
  398.       //#define SBUS     ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11,12,13,14,15,16,17  // T14SG
  399.       //#define RX_SERIAL_PORT 1
  400.       #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500
  401.  
  402.     /******************************* HOTT RECIVER ************************************/
  403.     /* Graupner Hott HD */
  404.     //#define SUMD PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4
  405.     //#define RX_SERIAL_PORT 1
  406.  
  407. /*************************************************************************************************/
  408. /*****************                                                                 ***************/
  409. /****************  SECTION  4 - ALTERNATE CPUs & BOARDS                                    *******/
  410. /*****************                                                                 ***************/
  411. /*************************************************************************************************/
  412.  
  413.   /**************************************************************************************/
  414.   /********                      Promini Specifig Settings           ********************/
  415.   /**************************************************************************************/
  416.  
  417.     /**************************    Hexa Motor 5 & 6 Pins    *******************************/
  418.       /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
  419.          This mod allow the use of a standard receiver on a pro mini
  420.          (no need to use a PPM sum receiver) */
  421.       //#define A0_A1_PIN_HEX
  422.  
  423.     /*********************************    Aux 2 Pin     ***********************************/
  424.       /* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
  425.          it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */
  426.       #define RCAUXPIN8
  427.       //#define RCAUXPIN12
  428.  
  429.  
  430.   /**************************************************************************************/
  431.   /*****************             Teensy 2.0 Support                    ******************/
  432.   /**************************************************************************************/
  433.     /* uncomment this if you use a teensy 2.0 with teensyduino
  434.        it needs to run at 16MHz */
  435.     //#define TEENSY20
  436.  
  437.  
  438.   /**************************************************************************************/
  439.   /********   Settings for ProMicro, Leonardo and other Atmega32u4 Boards     ***********/
  440.   /**************************************************************************************/
  441.  
  442.     /*********************************    pin Layout     **********************************/
  443.       /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
  444.       //#define A32U4ALLPINS
  445.  
  446.     /**********************************    PWM Setup     **********************************/
  447.       /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
  448.          note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
  449.          if activated:
  450.          Motor 1-6 = 10-bit hardware PWM
  451.          Motor 7-8 = 8-bit Software PWM
  452.          Servos    = 8-bit Software PWM
  453.          if deactivated:
  454.          Motor 1-4 = 10-bit hardware PWM
  455.          Motor 5-8 = 10-bit Software PWM
  456.          Servos    = 10-bit Software PWM */
  457.       //#define HWPWM6
  458.  
  459.     /**********************************    Aux 2 Pin     **********************************/
  460.       /* AUX2 pin on pin RXO */
  461.       //#define RCAUX2PINRXO
  462.  
  463.       /* aux2 pin on pin D17 (RXLED) */
  464.       //#define RCAUX2PIND17
  465.  
  466.     /**********************************    Buzzer Pin    **********************************/
  467.       /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
  468.       //#define D8BUZZER
  469.  
  470.     /***********************      Promicro version related     ****************************/
  471.       /* Inverted status LED for Promicro ver 10 */
  472.       //#define PROMICRO10
  473.  
  474.  
  475.   /**************************************************************************************/
  476.   /********                      override default pin assignments    ********************/
  477.   /**************************************************************************************/
  478.  
  479.   /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
  480.   /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
  481.   //#define OVERRIDE_V_BATPIN                   A0 // instead of A3    // Analog PIN 3
  482.  
  483.   //#define OVERRIDE_PSENSORPIN                 A1 // instead of A2    // Analog PIN 2
  484.  
  485.   //#define OVERRIDE_LEDPIN_PINMODE             pinMode (A1, OUTPUT); // use A1 instead of d13
  486.   //#define OVERRIDE_LEDPIN_TOGGLE              PINC |= 1<<1; // PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)
  487.   //#define OVERRIDE_LEDPIN_OFF                 PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
  488.   //#define OVERRIDE_LEDPIN_ON                  PORTC |= 1<<1;    // was PORTB |= (1<<5);
  489.  
  490.   //#define OVERRIDE_BUZZERPIN_PINMODE          pinMode (A2, OUTPUT); // use A2 instead of d8
  491.   //#define OVERRIDE_BUZZERPIN_ON               PORTC |= 1<<2 //PORTB |= 1;
  492.   //#define OVERRIDE_BUZZERPIN_OFF              PORTC &= ~(1<<2); //PORTB &= ~1;
  493.  
  494. /*************************************************************************************************/
  495. /*****************                                                                 ***************/
  496. /****************  SECTION  5 - ALTERNATE SETUP                                            *******/
  497. /*****************                                                                 ***************/
  498. /*************************************************************************************************/
  499.  
  500.   /******                Serial com speed    *********************************/
  501.     /* This is the speed of the serial interfaces */
  502.     #define SERIAL0_COM_SPEED 115200
  503.     #define SERIAL1_COM_SPEED 115200
  504.     #define SERIAL2_COM_SPEED 115200
  505.     #define SERIAL3_COM_SPEED 115200
  506.  
  507.     /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
  508.        it is relevent only for a conf with at least a WMP */
  509.     #define NEUTRALIZE_DELAY 100000
  510.  
  511.   /**************************************************************************************/
  512.   /********                              Gyro filters                ********************/
  513.   /**************************************************************************************/
  514.  
  515.     /*********************    Lowpass filter for some gyros    ****************************/
  516.       /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
  517.          to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
  518.          It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
  519.          balancing options ran out. Uncomment only one option!
  520.          IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.
  521.          available for ITG3050, ITG3200, MPU3050, MPU6050*/
  522.       //#define GYRO_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
  523.       //#define GYRO_LPF_188HZ
  524.       //#define GYRO_LPF_98HZ
  525.       //#define GYRO_LPF_42HZ
  526.       //#define GYRO_LPF_20HZ
  527.       //#define GYRO_LPF_10HZ
  528.       //#define GYRO_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props -- setting not available on ITG3200
  529.  
  530.     /******                Gyro smoothing    **********************************/
  531.       /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
  532.          may try this gyro smoothing via averaging. Not suitable for multicopters!
  533.          Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
  534.       //#define GYRO_SMOOTHING {20, 20, 3}    // (*) separate averaging ranges for roll, pitch, yaw
  535.  
  536.     /************************    Moving Average Gyros    **********************************/
  537.       //#define MMGYRO 10                      // (*) Active Moving Average Function for Gyros
  538.       //#define MMGYROVECTORLENGTH 15          // Length of Moving Average Vector (maximum value for tunable MMGYRO
  539.       /* Moving Average ServoGimbal Signal Output */
  540.       //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
  541.       //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector
  542.  
  543.   /************************    Analog Reads              **********************************/
  544.     /* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
  545.     //#define FASTER_ANALOG_READS
  546.  
  547. /*************************************************************************************************/
  548. /*****************                                                                 ***************/
  549. /****************  SECTION  6 - OPTIONAL FEATURES                                          *******/
  550. /*****************                                                                 ***************/
  551. /*************************************************************************************************/
  552.  
  553.   /************************        Reset Baro altitude on arm         ********************/
  554.   /* When unchecked a calibration of the baro altitude is preformed every time arming is activated */
  555.   //#define ALTITUDE_RESET_ON_ARM
  556.  
  557.   /************************        Angele throttle correction         ********************/
  558.   /* Automatically increase throttle based on the angle of the copter
  559.      Original idea by Kraut Rob, first implementation HAdrian */
  560.  
  561.   //#define THROTTLE_ANGLE_CORRECTION 40
  562.  
  563.   /*** HEADFREE : the copter can be controled by an absolute stick orientation, whatever the yaw orientation ***/
  564.   #define HEADFREE
  565.  
  566.  /*************************        Advanced Headfree Mode             ********************/
  567.  /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
  568.     the  bearing between home and copter position will become the control direction
  569.     IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
  570.     bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
  571.     first implementation by HAdrian, mods by EOSBandi
  572.  */
  573.  
  574.    //#define ADVANCED_HEADFREE      //Advanced headfree mode is enabled when this is uncommented
  575.    //#define ADV_HEADFREE_RANGE 15  //Range where advanced headfree mode activated
  576.  
  577.  
  578.   /************************        continuous gyro calibration        ********************/
  579.   /* Gyrocalibration will be repeated if copter is moving during calibration. */
  580.     //#define GYROCALIBRATIONFAILSAFE
  581.  
  582.   /************************        AP FlightMode        **********************************/
  583.   /*** FUNCTIONALITY TEMPORARY REMOVED ***/
  584.     /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
  585.     //#define AP_MODE 40  // Create a deadspan for GPS.
  586.        
  587.   /************************   Assisted AcroTrainer    ************************************/
  588.     /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
  589.        Remember to activate ANGLE_MODE first!...
  590.        A Value on 200 will give a very distinct transfer */
  591.     //#define ACROTRAINER_MODE 200   // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
  592.  
  593.  
  594.   /********                          Failsafe settings                 ********************/
  595.     /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
  596.        the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC is avaliable),
  597.        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
  598.        for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
  599.        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. */
  600.     #define FAILSAFE                                // uncomment  to activate the failsafe function
  601.     #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
  602.     #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
  603.     #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
  604.    
  605.     #define FAILSAFE_DETECT_TRESHOLD  985
  606.    
  607.     /*   GPS NAV based failsafe options.   Only use if you have GPS navigation enabled    */
  608.     #define FAILSAFE_LAND  //Failsafe will perform a NAV land instead of throttle cut
  609.     #define FAILSAFE_RTH   //Failsafe will Return To Home, if FAILSAFE_LAND is also enabled, it will autoland once at home
  610.     #define FAILSAFE_IGNORE_LAND //Failsafe will be ignored if land is already in progress
  611.  
  612.  
  613.   /*****************                DFRobot LED RING    *********************************/
  614.     /* I2C DFRobot LED RING communication */
  615.     //#define LED_RING
  616.  
  617.   /********************************    LED FLASHER    ***********************************/
  618.     //#define LED_FLASHER
  619.     //#define LED_FLASHER_DDR DDRB
  620.     //#define LED_FLASHER_PORT PORTB
  621.     //#define LED_FLASHER_BIT PORTB4
  622.     //#define LED_FLASHER_INVERT
  623.     //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
  624.     //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
  625.     //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
  626.     //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination
  627.  
  628.  
  629.   /*******************************    Landing lights    *********************************/
  630.   /* Landing lights
  631.      Use an output pin to control landing lights.
  632.      They can be switched automatically when used in conjunction
  633.      with altitude data from a sonar unit. */
  634.     //#define LANDING_LIGHTS_DDR DDRC
  635.     //#define LANDING_LIGHTS_PORT PORTC
  636.     //#define LANDING_LIGHTS_BIT PORTC0
  637.     //#define LANDING_LIGHTS_INVERT
  638.  
  639.     /* altitude above ground (in cm) as reported by sonar */
  640.     //#define LANDING_LIGHTS_AUTO_ALTITUDE 50
  641.  
  642.     /* adopt the flasher pattern for landing light LEDs */
  643.     //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
  644.  
  645.   /*************************    INFLIGHT ACC Calibration    *****************************/
  646.     /* This will activate the ACC-Inflight calibration if unchecked */
  647.     //#define INFLIGHT_ACC_CALIBRATION
  648.  
  649.   /*******************************    OSD Switch    *************************************/
  650.     // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  651.   //#define OSD_SWITCH
  652.  
  653.   /**************************************************************************************/
  654.   /***********************                  TX-related         **************************/
  655.   /**************************************************************************************/
  656.  
  657.     /* introduce a deadband around the stick center
  658.        Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
  659.     //#define DEADBAND 6
  660.  
  661.   /**************************************************************************************/
  662.   /***********************                  GPS                **************************/
  663.   /**************************************************************************************/
  664.  
  665.     /* ENable this for using GPS simulator (NMEA only)*/
  666.     //#define GPS_SIMULATOR
  667.  
  668.     /* GPS using a SERIAL port
  669.        if enabled, define here the Arduino Serial port number and the UART speed
  670.        note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
  671.        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)
  672.        at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
  673.        
  674.     //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
  675.                                    // must be 0 for PRO_MINI (ex GPS_PRO_MINI)
  676.                                    // note: Now a GPS can share MSP on the same port. The only constrain is to not use it simultaneously, and use the same port speed.
  677.  
  678.     // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
  679.     #define GPS_BAUD   57600       // GPS_BAUD will override SERIALx_COM_SPEED for the selected port
  680.  
  681.    /* GPS protocol
  682.        NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
  683.        UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
  684.        MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
  685.        With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
  686.  
  687.    
  688.     //#define NMEA
  689.     //#define UBLOX
  690.     //#define MTK_BINARY16
  691.     //#define MTK_BINARY19
  692.     //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
  693.     //#define VENUS8
  694.  
  695.     /* I2C GPS device made with an independant arduino + GPS device
  696.        including some navigation functions
  697.        contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/
  698.        You have to use at least I2CGpsNav code r33 */
  699.     /* all functionnalities allowed by SERIAL_GPS are now available for I2C_GPS: all relevant navigation computations are gathered in the main FC */
  700.  
  701.     #define I2C_GPS
  702.  
  703.     // If your I2C GPS board has Sonar support enabled
  704.     //#define I2C_GPS_SONAR
  705.  
  706.     /* 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
  707.       - No GPS FIX -> LED blink at speed of incoming GPS frames
  708.       - Fix and sat no. bellow 5 -> LED off
  709.       - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
  710.     #define GPS_LED_INDICATOR
  711.  
  712.    //Enables the MSP_WP command set , which is used by WinGUI for displaying an setting up navigation
  713.    //#define USE_MSP_WP
  714.  
  715.    // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)    
  716.    //#define DONT_RESET_HOME_AT_ARM
  717.  
  718. /* GPS navigation can control the heading */
  719.  
  720. // copter faces toward the navigation point, maghold must be enabled for it
  721. #define NAV_CONTROLS_HEADING       1    //(**)
  722. // true - copter comes in with tail first
  723. #define NAV_TAIL_FIRST             0    //(**)
  724. // true - when copter arrives to home position it rotates it's head to takeoff direction
  725. #define NAV_SET_TAKEOFF_HEADING    1    //(**)
  726.  
  727. /* Get your magnetic declination from here : http://magnetic-declination.com/
  728. Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
  729. Note the sign on declination it could be negative or positive (WEST or EAST)
  730. Also note, that maqgnetic declination changes with time, so recheck your value every 3-6 months */
  731. #define MAG_DECLINATION  4.02f   //(**)
  732.  
  733. // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
  734. #define GPS_LEAD_FILTER               //(**)
  735.  
  736. // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
  737. // use it with NMEA gps only
  738. //#define GPS_FILTERING                 //(**)
  739.  
  740. // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
  741. #define GPS_WP_RADIUS              100      //(**)
  742.  
  743. // Safe WP distance, do not start mission if the first wp distance is larger than this number (in meters)
  744. // Also aborts mission if the next waypoint distance is more than this number
  745. #define SAFE_WP_DISTANCE           500      //(**)
  746.  
  747. //Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
  748. #define MAX_NAV_ALTITUDE           100     //(**)
  749.  
  750. // minimum speed when approach waypoint
  751. #define NAV_SPEED_MIN              100    // cm/sec //(**)
  752. // maximum speed to reach between waypoints
  753. #define NAV_SPEED_MAX              400    // cm/sec //(**)
  754. // Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
  755. #define NAV_SLOW_NAV               0      //(**)
  756. // Weight factor of the crosstrack error in navigation calculations (do not touch)
  757. #define CROSSTRACK_GAIN            .4     //(**)
  758. // Maximum allowable banking than navigation outputs
  759. #define NAV_BANK_MAX 3000                 //(**)
  760.  
  761. //Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
  762. #define RTH_ALTITUDE               15        //(**)
  763. //Wait to reach RTH alt before start moving to home (0-no, 1-yes)
  764. #define WAIT_FOR_RTH_ALT           1         //(**)
  765.  
  766. //Navigation engine will takeover BARO mode control
  767. #define NAV_TAKEOVER_BARO          1         //(**)
  768.  
  769. //Throttle stick input will be ignored  (only in BARO)
  770. #define IGNORE_THROTTLE            1         //(**)
  771.  
  772. //If FENCE DISTANCE is larger than 0 then copter will switch to RTH when it farther from home
  773. //than the defined number in meters
  774. #define FENCE_DISTANCE      150
  775.  
  776. //This governs the descent speed during landing. 100 is equals approc 50cm/sec
  777. #define LAND_SPEED          100
  778.  
  779.  
  780.     #define ONLY_ALLOW_ARM_WITH_GPS_3DFIX      // Only allow FC arming if GPS has a 3D fix.
  781.  
  782.   /**************************************************************************************/
  783.   /***********************        LCD/OLED - display settings       *********************/
  784.   /**************************************************************************************/
  785.  
  786.     /* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
  787.  
  788.     /*****************************   The type of LCD     **********************************/
  789.       /* choice of LCD attached for configuration and telemetry, see notes below */
  790.       //#define LCD_DUMMY       // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.  
  791.       //#define LCD_SERIAL3W    // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
  792.       //#define LCD_TEXTSTAR    // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
  793.       //#define LCD_VT100       // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
  794.       //#define LCD_TTY         // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
  795.       //#define LCD_ETPP        // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
  796.       //#define LCD_LCD03       // I2C LCD: LCD03, which is i2c
  797.       //#define LCD_LCD03S      // SERIAL LCD: LCD03 whit serial 9600 baud comunication enabled.
  798.       //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
  799.       //#define OLED_DIGOLE     // I2C OLED from http://www.digole.com/index.php?productID=550
  800.  
  801.     /******************************   Display settings   ***********************************/
  802.       #define LCD_SERIAL_PORT 0    // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
  803.  
  804.       //#define SUPPRESS_OLED_I2C_128x64LOGO  // suppress display of OLED logo to save memory
  805.  
  806.     /* double font height for better readability. Reduces visible #lines by half.
  807.      * The lower part of each page is accessible under the name of shifted keyboard letter :
  808.      * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
  809.      * You must add both to your lcd.telemetry.* sequences
  810.      */
  811.       //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
  812.  
  813.     /* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
  814.       //#define DISPLAY_2LINES
  815.       //#define DISPLAY_MULTILINE
  816.       //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
  817.       //#define MULTILINE_POST 6 // multiline configMenu # post lines
  818.       //#define DISPLAY_COLUMNS 16
  819.     /********************************    Navigation     ***********************************/
  820.     /* keys to navigate the LCD menu */
  821.       #define LCD_MENU_PREV 'p'
  822.       #define LCD_MENU_NEXT 'n'
  823.       #define LCD_VALUE_UP 'u'
  824.       #define LCD_VALUE_DOWN 'd'
  825.  
  826.       #define LCD_MENU_SAVE_EXIT 's'
  827.       #define LCD_MENU_ABORT 'x'
  828.  
  829.   /**************************************************************************************/
  830.   /***********************      LCD configuration menu         **************************/
  831.   /**************************************************************************************/
  832.  
  833.     /* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
  834.      * http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */
  835.       //#define LCD_CONF
  836.  
  837.     /* to include setting the aux switches for AUX1 -> AUX4 via LCD */
  838.       //#define LCD_CONF_AUX
  839.  
  840.     /* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
  841.       //#define SUPPRESS_LCD_CONF_AUX2
  842.       //#define SUPPRESS_LCD_CONF_AUX34
  843.  
  844.   /**************************************************************************************/
  845.   /***********************      LCD       telemetry            **************************/
  846.   /**************************************************************************************/
  847.  
  848.     /* to monitor system values (battery level, loop time etc. with LCD
  849.      * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */
  850.  
  851.     /********************************    Activation     ***********************************/
  852.     //#define LCD_TELEMETRY
  853.  
  854.     /* to enable automatic hopping between a choice of telemetry pages uncomment this. */
  855.     //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
  856.     //#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2
  857.  
  858.     /* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
  859.     //#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
  860.  
  861.     /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
  862.     //#define SUPPRESS_TELEMETRY_PAGE_1
  863.     //#define SUPPRESS_TELEMETRY_PAGE_2 // sensor readings
  864.     //#define SUPPRESS_TELEMETRY_PAGE_3 // checkboxitems
  865.     //#define SUPPRESS_TELEMETRY_PAGE_4 // rx inputs
  866.     //#define SUPPRESS_TELEMETRY_PAGE_5 // servo&motor outputs
  867.     //#define SUPPRESS_TELEMETRY_PAGE_6 // cells voltages
  868.     //#define SUPPRESS_TELEMETRY_PAGE_7 // gps
  869.     //#define SUPPRESS_TELEMETRY_PAGE_8 // alarms states
  870.     //#define SUPPRESS_TELEMETRY_PAGE_9 // cycle & fails
  871.     //#define SUPPRESS_TELEMETRY_PAGE_R // reset
  872.  
  873.     /* optional override default items for some telemetry pages - for complete list of usable functions see LCD.h */
  874.     //#define LCD_TELEMETRY_PAGE1 { output_V, output_mAh, }
  875.     //#define LCD_TELEMETRY_PAGE2 { output_gyroX, output_gyroY, output_accZ, }
  876.     //#define LCD_TELEMETRY_PAGE9 { output_fails, output_annex, output_debug0, output_debug3, }
  877.  
  878.   /********************************************************************/
  879.   /****                             RSSI                           ****/
  880.   /********************************************************************/
  881.     //#define RX_RSSI
  882.     //#define RX_RSSI_PIN A3
  883.     //#define RX_RSSI_CHAN 8   //RSSI injection on selected channel (for PPM, Olrs, SBUS, etc.) (Starts at 0)
  884.  
  885.   /********************************************************************/
  886.   /****                             TELEMETRY                      ****/
  887.   /********************************************************************/
  888.     // select one of the two protocols depending on your receiver
  889.     //#define FRSKY_TELEMETRY           // used for FRSKY twoway receivers with telemetry (D-series like D8R-II or D8R-XP)
  890.                                       // VBAT, Baro, MAG, GPS and POWERMETER are helpful
  891.                                       // VBAT_CELLS is optional for a forth screen on the display FLD-02
  892.     //#define SPORT_TELEMETRY           // for FRSKY twoway receivers with S.PORT telemetry (S-series like X4R/X6R/X8R), not implemented yet - TO BE DONE
  893.  
  894.     // FRSKY common entries - valid for both protocols
  895.     #define TELEMETRY_SERIAL 3        // change if required
  896.  
  897.     // FRSKY standard telemetry specific devices
  898.     #define FRSKY_FLD02               // send only data specific for the FRSKY display FLD-02
  899.     //#define OPENTX                    // send OpenTX specific data
  900.  
  901.     // FRSKY standard telemetry specific selections
  902.     //#define COORDFORMAT_DECIMALMINUTES // uncomment to get the format DD°MM.mmmm for the coordinates - comment out to get the format DD.dddddd° for the coordinates
  903.     //#define KILOMETER_HOUR            // send speed in kilometers per hour instead of knots (default) - requested by OPENTX
  904.     #define TELEMETRY_ALT_BARO        // send BARO based altitude, calibrated to 0 when arming, recommended if BARO available
  905.     //#define TELEMETRY_ALT_GPS         // send GPS based altitude (altitude above see level), for FLD-02 don't use together with TELEMETRY_ALT_BARO
  906.     #define TELEMETRY_COURSE_MAG      // send MAG based course/heading, recommended if MAG available, but FLD-02 does not display
  907.     //#define TELEMETRY_COURSE_GPS      // send GPS based course/heading, don't use together with TELEMETRY_COURSE_MAG, FLD-02 does not display
  908.  
  909.     // S.PORT specific entries
  910.     #define FRSKY_SPORT_A2_MAX 124    // A2 voltage is represented by a value in the range 0-255. A value of 16 results in 1.6V, 124 is 12.4V, etc
  911.  
  912.   /********************************************************************/
  913.   /****                             Buzzer                         ****/
  914.   /********************************************************************/
  915.     //#define BUZZER
  916.     //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
  917.     //#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)
  918.     //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp
  919.  
  920.   /********************************************************************/
  921.   /****           battery voltage monitoring                       ****/
  922.   /********************************************************************/
  923.     /* for V BAT monitoring
  924.        after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
  925.        with R1=33k and R2=51k
  926.        vbat = [0;1023]*16/VBATSCALE
  927.        must be associated with #define BUZZER ! */
  928.     //#define VBAT              // uncomment this line to activate the vbat code
  929.     #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
  930.     #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
  931.     #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
  932.     #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
  933.     #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
  934.     #define NO_VBAT          16 // Avoid beeping without any battery
  935.     #define VBAT_OFFSET       0 // offset in 0.1Volts, gets added to voltage value  - useful for zener diodes
  936.  
  937.     /* for V BAT monitoring of individual cells
  938.      * enable both VBAT and VBAT_CELLS
  939.      */
  940.     //#define VBAT_CELLS
  941.     #define VBAT_CELLS_NUM 0 // set this to the number of cells you monitor via analog pins
  942.     #define VBAT_CELLS_PINS {A0, A1, A2, A3, A4, A5 } // set this to the sequence of analog pins
  943.     #define VBAT_CELLS_OFFSETS {0, 50, 83, 121, 149, 177 } // in 0.1 volts, gets added to voltage value  - useful for zener diodes
  944.     #define VBAT_CELLS_DIVS { 75, 122,  98, 18, 30, 37 } // divisor for proportional part according to resistors - larger value here gives smaller voltage
  945.  
  946.   /********************************************************************/
  947.   /****           powermeter (battery capacity monitoring)         ****/
  948.   /********************************************************************/
  949.  
  950.     /* enable monitoring of the power consumption from battery (think of mAh)
  951.        allows to set alarm value in GUI or via LCD
  952.       Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
  953.        Two options:
  954.        1 - hard: - (uses hardware sensor, after configuration gives very good results)
  955.        2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
  956.     //#define POWERMETER_SOFT
  957.     //#define POWERMETER_HARD
  958.     #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
  959.                                    gives 1/2 Vss; that is approx 2.49Volt; */
  960.     #define PINT2mA 132     /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
  961.                                    soft: use fictional value, start with 100.
  962.                                    for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
  963.     //#define WATTS // compute and display the actual watts (=Volt*Ampere) consumed - requires both POWERMETER_HARD and VBAT
  964.  
  965.   /********************************************************************/
  966.   /****           altitude hold                                    ****/
  967.   /********************************************************************/
  968.  
  969.     /* defines the neutral zone of throttle stick during altitude hold, default setting is
  970.        +/-50 uncommend and change the value below if you want to change it. */
  971.     #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    50
  972.     //#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.
  973.  
  974.  
  975.     /* uncomment to disable the altitude hold feature.
  976.      * This is useful if all of the following apply
  977.      * + you have a baro
  978.      * + want altitude readout and/or variometer
  979.      * + do not use altitude hold feature
  980.      * + want to save memory space */
  981.     //#define SUPPRESS_BARO_ALTHOLD
  982.  
  983.   /********************************************************************/
  984.   /****           altitude variometer                              ****/
  985.   /********************************************************************/
  986.  
  987.     /* enable to get audio feedback upon rising/falling copter/plane.
  988.      * Requires a working baro.
  989.      * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
  990.      * choice of two methods (enable either one or both)
  991.      * method 1 : use short term movement from baro ( bigger code size)
  992.      * method 2 : use long term observation of altitude from baro (smaller code size)
  993.      */
  994.     //#define VARIOMETER 12            // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
  995.     //#define SUPPRESS_VARIOMETER_UP   // if no signaling for up movement is desired
  996.     //#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
  997.     //#define VARIOMETER_SINGLE_TONE   // use only one tone (BEL); neccessary for non-patched vt100 terminals
  998.  
  999.   /********************************************************************/
  1000.   /****           board naming                                     ****/
  1001.   /********************************************************************/
  1002.  
  1003.     /*
  1004.      * this name is displayed together with the MultiWii version number
  1005.      * upon powerup on the LCD.
  1006.      * If you are without a DISPLAYD then You may enable LCD_TTY and
  1007.      * use arduino IDE's serial monitor to view the info.
  1008.      *
  1009.      * You must preserve the format of this string!
  1010.      * It must be 16 characters total,
  1011.      * The last 4 characters will be overwritten with the version number.
  1012.      */
  1013.     #define BOARD_NAME "MultiWii   V-.--"
  1014.     //                  123456789.123456
  1015.  
  1016.   /*************      Support multiple configuration profiles in EEPROM     ************/
  1017.     //#define MULTIPLE_CONFIGURATION_PROFILES
  1018.  
  1019.   /*************      do no reset constants when change of flashed program is detected ***********/
  1020.     #define NO_FLASH_CHECK
  1021.  
  1022. /*************************************************************************************************/
  1023. /*****************                                                                 ***************/
  1024. /****************  SECTION  7 - TUNING & DEVELOPER                                  **************/
  1025. /*****************                                                                 ***************/
  1026. /*************************************************************************************************/
  1027.  
  1028.   #define VBAT_PRESCALER 16 // set this to 8 if vbatscale would exceed 255
  1029.  
  1030.   /**************************************************************************************/
  1031.   /********   special ESC with extended range [0-2000] microseconds  ********************/
  1032.   /**************************************************************************************/
  1033.     //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
  1034.  
  1035.   /**************************************************************************************/
  1036.   /********  brushed ESC ****************************************************************/
  1037.   /**************************************************************************************/
  1038.     // for 328p proc
  1039.     //#define EXT_MOTOR_32KHZ
  1040.     //#define EXT_MOTOR_4KHZ
  1041.     //#define EXT_MOTOR_1KHZ
  1042.  
  1043.     // for 32u4 proc
  1044.     //#define EXT_MOTOR_64KHZ
  1045.     //#define EXT_MOTOR_32KHZ
  1046.     //#define EXT_MOTOR_16KHZ
  1047.     //#define EXT_MOTOR_8KHZ
  1048.  
  1049.   /**************************************************************************************/
  1050.   /***********************     motor, servo and other presets     ***********************/
  1051.   /**************************************************************************************/
  1052.     /* motors will not spin when the throttle command is in low position
  1053.        this is an alternative method to stop immediately the motors */
  1054.     //#define MOTOR_STOP
  1055.  
  1056.     /* some radios have not a neutral point centered on 1500. can be changed here */
  1057.     #define MIDRC 1500
  1058.  
  1059.   /***********************         Servo Refreshrates            ***********************/
  1060.     /* Default 50Hz Servo refresh rate*/
  1061.     #define SERVO_RFR_50HZ
  1062.  
  1063.     /* up to 160Hz servo refreshrate .. works with the most analog servos*/
  1064.     //#define SERVO_RFR_160HZ
  1065.  
  1066.     /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
  1067.        for use with digital servos
  1068.        dont use it with analog servos! thay may get damage. (some will work but be careful) */
  1069.     //#define SERVO_RFR_300HZ
  1070.    
  1071.   /***********************             HW PWM Servos             ***********************/
  1072.     /* HW PWM Servo outputs for Arduino Mega.. moves:
  1073.       Pitch   = pin 44
  1074.       Roll    = pin 45
  1075.       CamTrig = pin 46
  1076.       SERVO4  = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
  1077.       SERVO5  = pin 12 (aileron right for fixed wing)
  1078.       SERVO6  = pin 6   (rudder for fixed wing)
  1079.       SERVO7  = pin 7   (elevator for fixed wing)
  1080.       SERVO8  = pin 8   (motor for fixed wing)       */
  1081.  
  1082.     #define MEGA_HW_PWM_SERVOS
  1083.  
  1084.     /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
  1085.      * one of the 3 fixed servo.refresh.rates *
  1086.      * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
  1087.      * motor[0] = motor       = pin  6
  1088.      * servo[3] = nick  servo = pin 11
  1089.      * servo[4] = left  servo = pin 10
  1090.      * servo[5] = yaw   servo = pin  5
  1091.      * servo[6]  = right servo= pin  9
  1092.      */
  1093.     //#define A32U4_4_HW_PWM_SERVOS
  1094.  
  1095.     #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
  1096.     //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
  1097.                                           // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
  1098.  
  1099.  
  1100.   /********************************************************************/
  1101.   /****           Memory savings                                   ****/
  1102.   /********************************************************************/
  1103.  
  1104.     /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
  1105.  
  1106.     /**** suppress handling of serial commands.***
  1107.      * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
  1108.      * Enable either one or both of the following options  */
  1109.  
  1110.       /* Remove handling of all commands of the New MultiWii Serial Protocol.
  1111.        * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
  1112.        * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
  1113.        * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
  1114.       //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
  1115.  
  1116.       /* Remove handling of other serial commands.
  1117.        * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
  1118.        * Navigating via stick inputs on tx is not affected and will work the same.  */
  1119.       //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled
  1120.  
  1121.     /**** suppress keeping the defaults for initial setup and reset in the code.
  1122.      * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
  1123.      * reset in GUI will not work on PIDs
  1124.      */
  1125.     //#define SUPPRESS_DEFAULTS_FROM_GUI
  1126.    
  1127.     //#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini
  1128.  
  1129.   /********************************************************************/
  1130.   /****           diagnostics                                      ****/
  1131.   /********************************************************************/
  1132.  
  1133.     /* to log values like max loop time and others to come
  1134.        logging values are visible via LCD config
  1135.        set to 1, enable 'R' option to reset values, max current, max altitude
  1136.        set to 2, adds min/max cycleTimes
  1137.        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) */
  1138.     //#define LOG_VALUES 1
  1139.  
  1140.     /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
  1141.      * used to track number of flights etc. over lifetime of controller board.
  1142.      * Writes to end of eeprom - should not conflict with stored parameters yet.
  1143.      * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
  1144.      *                #failsafe@disarm, #i2c_errs@disarm
  1145.      * Enable one or more options to show the log
  1146.      */
  1147.     //#define LOG_PERMANENT
  1148.     //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
  1149.     //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
  1150.     //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
  1151.     //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
  1152.  
  1153.     /* to add debugging code
  1154.        not needed and not recommended for normal operation
  1155.        will add extra code that may slow down the main loop or make copter non-flyable */
  1156.     //#define DEBUG
  1157.     //#define DEBUG_FREE // will add 'F' command to show free memory
  1158.  
  1159.     /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
  1160.     //#define LCD_CONF_DEBUG
  1161.  
  1162.     /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
  1163.     //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
  1164.     //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.
  1165.  
  1166.     /* Enable string transmissions from copter to GUI */
  1167.     //#define DEBUGMSG
  1168.  
  1169.  
  1170.   /********************************************************************/
  1171.   /****           ESCs calibration                                 ****/
  1172.   /********************************************************************/
  1173.  
  1174.     /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
  1175.        Warning: this creates a special version of MultiWii Code
  1176.        You cannot fly with this special version. It is only to be used for calibrating ESCs
  1177.        Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
  1178.     #define ESC_CALIB_LOW  MINCOMMAND
  1179.     #define ESC_CALIB_HIGH 2000
  1180.     //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate
  1181.  
  1182.   /****           internal frequencies                             ****/
  1183.     /* frequenies for rare cyclic actions in the main loop, depend on cycle time
  1184.        time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
  1185.        example: with cycle time of approx 3ms, do action every 6*3ms=18ms
  1186.        value must be [1; 65535] */
  1187.     #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
  1188.     #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
  1189.     #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
  1190.     #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
  1191.     #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
  1192.  
  1193.   /********************************************************************/
  1194.   /****           Dynamic Motor/Prop Balancing                     ****/
  1195.   /********************************************************************/
  1196.   /*                   !!! No Fly Mode !!!                            */
  1197.  
  1198.     //#define DYNBALANCE   // (**) Dynamic balancing controlled from Gui
  1199.  
  1200.   /********************************************************************/
  1201.   /****           Regression testing                               ****/
  1202.   /********************************************************************/
  1203.  
  1204.     /* for development only:
  1205.        to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
  1206.        together. This is meant to help detecting compile time errors for various features in a coordinated way.
  1207.        It is not meant to produce your flying firmware
  1208.        To use:
  1209.        - do not set any options in config.h,
  1210.        - enable with #define COPTERTEST 1, then compile
  1211.        - if possible, check for the size
  1212.        - repeat with other values of 2, 3, 4 etc.
  1213.         */
  1214.     //#define COPTERTEST 1
  1215.  
  1216. /*************************************************************************************************/
  1217. /*****************                                                                 ***************/
  1218. /****************  SECTION  8 - DEPRECATED                                                 *******/
  1219. /*****************                                                                 ***************/
  1220. /*************************************************************************************************/
  1221.  
  1222.   /* these features will be removed in the unforseeable future. Do not build new products or
  1223.    * functionality based on such features. The default for all such features is OFF.
  1224.    */
  1225.  
  1226.   /**************************    WMP power pin     *******************************/
  1227.   //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  1228.   /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  1229.   #define DISABLE_POWER_PIN
  1230.  
  1231. /*************************************************************************************************/
  1232. /****           END OF CONFIGURABLE PARAMETERS                                                ****/
  1233. /*************************************************************************************************/
  1234.  
  1235. #endif /* CONFIG_H_ */
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