HELLLLLPPP multiwii et PID delirants

[stefrance_fr]

Bonjour a toutes et tous de Singapour

Bon, je vous la fais courte : JE CRAAAAAAAAQUE

Dans ma prez, vous verrrez, je considere les multi comme des non-sens aerodynamiques et pourtant j'en ai fait un ! En plus, comme je fuis la facilite, j'ai pris une carte de vol multiwii AIO (possibilite de flasher un ardupilot dessus )... vous verrez, c'est utile pour la suite ...

Maitenant, j'ai donc une frame X666, 4 moteurs 750 KV avec des helices qui vont bien (tripales 10x6, je sais, 3 pales en multi, c'est mal mais la n'es pas la question et de plus je ne vois toujours pas pourquoi)

En multiwii, la bete semble configurable, mais je dois mettre les P a 0 dans PID pour que les moteurs veuillent atteindre des vitesses suffisantes pour faire leviter le machin. Autant vous dire que c'est IMPILOTABLE puisque les gyro sont par definition desactives!.

Avec des PID "classiques", a la main, la bete reagit a peu pres correctement, mais est incapable de decoller.

En switchant sur du megapirate, c'est beaucoup mieux (le machin decolle) mais est completement incontrolable avec les valeurs par defaut et, avouons le , c'est moins friendly que multiwii pour les novices.

Je craque, pour vous dire, je suis en attente d'une KK2.1 de chez HK, juste pour checker que le trio accu + moteur +helices est coherent (ce dont je suis pratiquement certain : quand je branche cash sur le RX ils ont une puissance phenomenale : Un seul peut porter l'engin ! )

Est-ce que un P de PID a moins de 1 est possible ? c'est ce qui semble convenir mais la bestiole reste vraiment delirante

Voila, si les moustachus du multi ont une idee .... elle sera la bienvenue

Merci d'avance
Stephane

Excusez les accents, je suis a Singapour et les accents, sur mon clavier, connais pas !

[Papi78]

Hello
Tout d'abord je pense que pour du 750 kv des hélices 11, voire 12" seraient mieux adaptées...
Quel est le poids du zinzin? Si pas trop lourd ça devrait quand même décoller avec des 10" ...
Tu as bien calibré les esc et les gyros?
Dans le GUI la barre du throtle monte à 2000 sur les 4 moteurs quand tu mets les gaz à fond ?? (esc et moteurs non branchés pour l'essai of course , multi bien à plat et accéléros calibrés )

[opossome64]

Yop !

Pour les hélices , tripales 10*6 = bipales 11*5 , ça devrait passer ... Et les tripales ont juste un rendement moins bon mais c'est pas la mort .

Ça sent les ESC pas (ou mal) étalonnés et la courses des gaz pas au max (1850 mini gaz a fond) .

+1 pour papi78 , test sans les hélices ou moteur déconnecter pour les essais de "puissance" .

Un clear_eeprom aussi entre le changement de firmware est toujours le bienvenue pour éviter les trucs bizarres aussi .

Bon courage !

[stefrance_fr]

Merci de cette reponse,

Oui les ESC sont calibres par la carte AIO en de-commentant puis re-commentant la ligne qui va bien, les bips sont ok pour tous les ESC et graphiquement, ils sont tous au taquet quand je pousse le manche. 1000 - 2000 de regle dans le sketch et 1050 de vitesse en IDLE arme

les helices sont des Tripales, donc equivalentes a des 11x6 voir un chouille plus

les ESC sont tous etalonnes par la carte (et ca n'explique pas pourquoi en magapirate ca decolle violement)

En fait, les moteurs ont une puissance faible quand la bete est a plat mais quand j'essais de la faire pivoter, la reaction est puissante. par contre, quand le P de PID est correct, la puissance n'arrive pas. a peine pour soulager le bestiau.

en megapirate, ca roule mais je 'arrive pas a dompter le machin !

une idee ?

Merci

[opossome64]

C'est quoi tes ESC ?
Sûr de leurs programmation , timing etc ... ?
Ta pas une courbes des gaz active sur ta radio ?

Perso , je ne fait plus confiance au calibrage via les cartes depuis une mésaventure (reset des ESC) , c'est bien plus fiable un par un ou via un cordon Y , ou encore si le firmware permet de le faire via un GUI (Blheli , Wiiesc ...)

++

[Papi78]

Tu peux nous résumer les lignes que tu as définies et/ou modifiées dans ton sketch arduino ?

[stefrance_fr]

Je vais être laconique : AUCUNES. le sketch est adapté à la carte et le config.h est ok : Quad et X les rdv sont à 1000 et 2000 dans ce sketch. Et ma radio est bien sûr cette plage

Pas encore branche le GPS ni le sonar donc sketch nu le beaba...

Dans confwii, l'idle drs moteurs esc arme est à 1060 (c'est bien assez bruyant pour les essais)
Voilà tout les amis ! Je commencai à penser à une carte défectueuse mais en ardupilot ça arrache sur tous les moteurs également ...

Je nage et j'aime pas ... Mon bixler 2 tout customise avec fpv et tout le bastringue ne m'a jamais donné le quart de ces emmerdes...

Oh, et les ESC sont des plush 30A HK TIMINGS programmés en middle.


Des idées ?
Merci d'avance

[Papi78]

Oki j'ai posé la question car beaucoup font excès de zèle et décommentent tout et nimp....
Si tu es sûr du choix de la carte ( #define CRIUS_AIO_PRO_V1 ? ) alors je vois pas trop ...

[stefrance_fr]

Yep, c'est bien cette carte dans le sketch.

Ça me rassure un peu qu'un pro ne voit pas ce qu'il peut y avoir avec cette configuration.

Je vais essayer de bosser un peu ardupilot et flasher avec ça. Je perds l'utilité du module bluetooth puisque les soft apm sur Android sont vraiment nazes. (ainsi que le sonar qui, il me semble n'est pas supporté par ardupilot !

Si d'autres ont une idée lumineuse, ou un sketch tiptop moumoutepour ma carte ou si certains ont dû renseigner des valeurs de PID TOTALEMENT IMPROBABLES pour avoir un multi stable... Je suis toutes ouïes et serai aux anges d'arriver enfin à faire voler cet insecte du diable !
Stephane

[opossome64]

Je vais être laconique : AUCUNES. le sketch est adapté à la carte et le config.h est ok : Quad et X les rdv sont à 1000 et 2000 dans ce sketch. Et ma radio est bien sûr cette plage

Pas encore branche le GPS ni le sonar donc sketch nu le beaba...

Dans confwii, l'idle drs moteurs esc arme est à 1060 (c'est bien assez bruyant pour les essais)

Sorry mais rien compris ... poste ton config.h c'est bien plus simple

Je re-demande si ya pas une courbes de gaz sur ta radio , pense bien à faire un clear_eeprom avant chaque téléversement de croquis .

Pour info , le sonar sur multiwii , c'est encore pour faire "joli" sur le code officiel , juste pris un poil en compte dans le calcul d'altitude , il sert surtout pour les landing light .

Courage !

[stefrance_fr]

Merci, pour vos encouragements.

Question, en dehors des PID roll, yaw et Pitch, les autres sont-ils indispensable pour voler ? Parce que a priori, il y en a un qui fout la mouise dans les puissances demandees aux esc et je pense que c'st le pos ou pos R ou Nav. Quand je mets une valeur >0 dans D, les esc (pas tous juste les Avd et ard ne montent plus à 2000 mais font le yo yo vers 1500... Engin à plat et calibré.

Je fais toujours un eeprom clear entre deux flash.

Je vous poste le config H demain, là, l'est tard ici. Mais je doute de son utilité, il est untouched


Merci
Stéphane

[Tomdu38]

Salut,

Pour refaire un point rapide, normalement en multiwii avec les paramètres par défaut ça doit voler. C'est pas optimal mais ça doit voler.

En multiwii, les paramètres ATV de la radio doivent être réglé à 125%. Si je ne dis pas de bêtise, ça permet d'augmenter la plage de fonctionnement des voies, afin dans un premier temps que la position d'armement des moteurs soit prise en compte.

Second point, comme l'ont déjà évoqué mes camarades, le paramétrage des ESC est un problème récurant, tous les jours il y a un post à ce sujet.

Donc vérifie avec une carte de programmation que les paramètres sont bons.

Effectue un calibrage des ESC en les branchant en parallèle directement sur la voie des gaz de ton récepteur, donc sans passer par la carte de vol.

Pour aller plus loin : Combien pèse ton multi ? Batterie 3S ou 4S ? As tu visionné les différentes vidéos tutos pour le réglage des PIDs ?

A+

[stefrance_fr]

Bonjour et merci encore de vos aides, même si j'ai de plus en plus l'impression que ma carte est défectueuse ! Serai-ce possible qu'elle commande mal les esc alors que graphiquement les gyros et accelero repondent parfaitement aux mouvements ?

voici mon Config.h
j'ai essaye un 4S et 3S tous les deux neufs et charges et tous les deux d'une capa de 4000 mA et un rate de discharge de 35C ... je doute que ces accus soient faibles. Mon chargeur m'a par deux charges indique qu'ils étaient parfaitement conformes a leur caractéristiques !

Merci

(oui, vous verrez, en désespoir de cause et parce que je voulais l'essayer, j'ai branche le GPS sur TX2/RX2 c'est un NEO 6M de chez HK )

En gros, et pour eviter a tout le monde de se tartiner le config.h sans ligne en gras ... voici un condense de ce que j'ai modifie
- #define QUADX
- #define MINTHROTTLE 1100 // (*) (**)
- #define MAXTHROTTLE 2000
- #define MINCOMMAND 1000
- #define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
- #define CRIUS_AIO_PRO_V1
Et les deux dernieres mises seulement pour tester le GPS NEO 6M, apres m'etre amuse avec Ubox et passé en 10 hz 57600Bds bauds (ca fonctionne et la pile conserve les donnees pour (au minimum) 2 jours) mais aussi pour checker que tout fonctionne. Mais je n'ai jamais vole avec ces deux dernieres modifs ... j'estime que avant d'utiliser la cerise, vaut mieux savoir faire le gateau, et avec cette bloody carte ... c'est loin d'etre gagne ... j'ai repris 4 moteurs de qualite, est-ce que si un moteur est un chouillat moins puissant, cela empeche totalement de voler un quad ? Mes anciens moteurs etaient des Turnigy D2836/11 750KV. Pas certains que ca soit la creme des moteurs pour un quad, ils semblent tres mal tares en puissance ... Je rappel que mon X666 faisait la crepe des que je poussais les gaz trop fort ... avec la radio parfaitement au neutre physiquement et graphiquement sur le GUI ...

- #define GPS_BAUD 57600
- #define UBLOX


LE CONFIG.H

Code : Tout sélectionner

#ifndef CONFIG_H_
#define CONFIG_H_


  /**************************    The type of multicopter    ****************************/
   [b] #define QUADX[/b]
  
  /****************************    Motor minthrottle    *******************************/
    /* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
       This is the minimum value that allow motors to run at a idle speed  */
    [b]  #define MINTHROTTLE 1100 // (*) (**)[/b]

  /****************************    Motor maxthrottle    *******************************/
    /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
  [b]  #define MAXTHROTTLE 2000[/b]

  /****************************    Mincommand          *******************************/
    /* this is the value for the ESCs when they are not armed
       in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
[b]    #define MINCOMMAND  1000
[/b]
  /**********************************    I2C speed   ************************************/
    [b]#define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP[/b]
    //#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones

  /***************************    Internal i2c Pullups   ********************************/
    /* enable internal I2C pull ups (in most cases it is better to use external pullups) */
    //#define INTERNAL_I2C_PULLUPS

  /**************************************************************************************/
  /*****************          boards and sensor definitions            ******************/
  /**************************************************************************************/

    /***************************    Combined IMU Boards    ********************************/
      /* if you use a specific sensor board:
         please submit any correction to this list.
           Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
      //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
      //#define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
      //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
      //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
      //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
      //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
      //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
      //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
      //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
      //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
      //#define PIPO            // 9DOF board from erazz
      //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
      //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
      //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
      //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
      //#define AEROQUADSHIELDv2
      //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
      //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
      //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
      //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
      //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com           <- confirmed by Alex
      //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
      //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
      //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
      //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
      //#define CITRUSv2_1      // CITRUS from qcrc.ca
      //#define CHERRY6DOFv1_0
      //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
      //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
      //#define DROTEK_6DOFv2   // Drotek 6DOF v2
      //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
      //#define DROTEK_10DOF_MPU//
      //#define MONGOOSE1_0     // mongoose 1.0    http://store.ckdevices.com/
      //#define CRIUS_LITE      // Crius MultiWii Lite
      //#define CRIUS_SE        // Crius MultiWii SE
      //#define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
      //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
      //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
      //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
      //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
      //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
      //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
      //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
      //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
      //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
      //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
      //#define PROTO_DIY       // 10DOF mega board
      //#define IOI_MINI_MULTIWII// http://www.bambucopter.com
      //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
      //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
      //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
      //#define FLYDUINO_MPU       // MPU6050 Break Out onboard 3.3V reg
      [b]#define CRIUS_AIO_PRO_V1[/b]
      //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
      //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
      //#define LADYBIRD
      //#define MEGAWAP_V2_STD     // available here: http://www.multircshop.com                    <- confirmed by Alex
      //#define MEGAWAP_V2_ADV
      //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
      //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)  
      //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
      //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
      //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
      //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
      //#define MultiWii_32U4_SE         // Hextronik MultiWii_32U4_SE
      //#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory
      //#define Flyduino9DOF       // Flyduino 9DOF IMU MPU6050+HMC5883l
      //#define Nano_Plane         // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/
/*****************                                                                 ***************/
/*************************************************************************************************/
  /********************************  PID Controller *********************************/
    /* choose one of the alternate PID control algorithms
     * 1 = evolved oldschool algorithm (similar to v2.2)
     * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
     * */
    #define PID_CONTROLLER 1

    /* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
    #define YAW_DIRECTION 1
    //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction

    #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted

   /********************************    ARM/DISARM    *********************************/
   /* optionally disable stick combinations to arm/disarm the motors.
     * In most cases one of the two options to arm/disarm via TX stick is sufficient */
    #define ALLOW_ARM_DISARM_VIA_TX_YAW
    //#define ALLOW_ARM_DISARM_VIA_TX_ROLL

    /********************************    SERVOS      *********************************/
    /* info on which servos connect where and how to setup can be found here
     * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
     */


    /* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
     * room for servo travel, then you must enable and set all three following options */
     //#define SERVO_MIN  {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
     //#define  SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
     //#define  SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
     //#define FORCE_SERVO_RATES      {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse

  /***********************          Cam Stabilisation             ***********************/
    /* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
    //#define SERVO_MIX_TILT
    //#define SERVO_TILT

    /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
    // trigger interval can be changed via (*GUI*) or via AUX channel
    //#define CAMTRIG
    #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms

  /***********************          Airplane                       ***********************/
    //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.

    //#define FLAPPERONS    AUX4          // Mix Flaps with Aileroins.
    #define FLAPPERON_EP   { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
    #define FLAPPERON_INVERT { -1, 1 }    // Change direction om flapperons { Wing1, Wing2 }
    
    //#define FLAPS                       // Traditional Flaps on SERVO3.
    //#define FLAPSPEED     3             // Make flaps move slowm Higher value is Higher Speed.

  /***********************      Common for Heli & Airplane         ***********************/

    /* Governor: attempts to maintain rpm through pitch and voltage changes
     * predictive approach: observe input signals and voltage and guess appropriate corrections.
     * (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.
     * Can be toggled via aux switch.
     */
    //#define GOVERNOR_P 7     // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
    //#define GOVERNOR_D 4     // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;

    //#define VOLTAGEDROP_COMPENSATION // voltage impact correction

  /***********************          Heli                           ***********************/
    /* Channel to control CollectivePitch */
    #define COLLECTIVE_PITCH      THROTTLE

    /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
    #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
    #define YAWMOTOR                 0       // If a motor is used as YAW Set to 1 else set to 0.

    /* Servo mixing for heli 120
                         {Coll,Nick,Roll} */
    #define SERVO_NICK   { +10, -10,  0 }
    #define SERVO_LEFT   { +10, +5, +10 } 
    #define SERVO_RIGHT  { +10, +5, -10 } 

    /* Limit Maximum controll for Roll & Nick  in 0-100% */
    #define CONTROL_RANGE   { 100, 100 }      //  { ROLL,PITCH }

    /* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
       if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
    //#define HELI_USE_SERVO_FOR_THROTTLE

  /***********************      your individual mixing     ***********************/
    /* if you want to override an existing entry in the mixing table, you may want to avoid editing the
     * mixTable() function for every version again and again. 
     * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
     */
    //#define MY_PRIVATE_MIXING "filename.h"

  /***********************      your individual defaults     ***********************/
    /* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
     * you may want to avoid editing the LoadDefaults() function for every version again and again.
     * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
     */
    //#define MY_PRIVATE_DEFAULTS "filename.h"


/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  3 - RC SYSTEM SETUP                                            *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /* note: no need to uncomment something in this section if you use a standard receiver */

  /**************************************************************************************/
  /********                       special receiver types             ********************/
  /**************************************************************************************/

    /****************************    PPM Sum Reciver    ***********************************/
      /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
         Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
      //#define SERIAL_SUM_PPM         PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
      //#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
      //#define SERIAL_SUM_PPM         ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
      //#define SERIAL_SUM_PPM         PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others

      // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
      //#define PPM_ON_THROTTLE

    /**********************    Spektrum Satellite Reciver    *******************************/
      /* The following lines apply only for Spektrum Satellite Receiver
         Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
         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).
         For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
      //#define SPEKTRUM 1024
      //#define SPEKTRUM 2048
      //#define SPEK_SERIAL_PORT 1    // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
      //**************************
      // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
      //   Bind mode will be same as declared above, if your TX is capable.
      //   Ground, Power, and Signal must come from three adjacent pins. 
      //   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.  
      //   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. 
      //**************************
      //   For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins. 
      //#define SPEK_BIND             //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it. 
      //#define SPEK_BIND_GROUND 4
      //#define SPEK_BIND_POWER  5
      //#define SPEK_BIND_DATA   6

    /*******************************    SBUS RECIVER    ************************************/
      /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
         You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
      //#define SBUS
      //#define SBUS_SERIAL_PORT 1
      #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  4 - ALTERNATE CPUs & BOARDS                                    *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /**************************************************************************************/
  /********                      Promini Specifig Settings           ********************/
  /**************************************************************************************/

    /**************************    Hexa Motor 5 & 6 Pins    *******************************/
      /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
         This mod allow the use of a standard receiver on a pro mini
         (no need to use a PPM sum receiver) */
      //#define A0_A1_PIN_HEX

    /*********************************    Aux 2 Pin     ***********************************/
      /* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)
         it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */
      //#define RCAUXPIN8
      //#define RCAUXPIN12


  /**************************************************************************************/
  /*****************             Teensy 2.0 Support                    ******************/
  /**************************************************************************************/
    /* uncomment this if you use a teensy 2.0 with teensyduino
       it needs to run at 16MHz */
    //#define TEENSY20


  /**************************************************************************************/
  /********   Settings for ProMicro, Leonardo and other Atmega32u4 Boards     ***********/
  /**************************************************************************************/

    /*********************************    pin Layout     **********************************/
      /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
      //#define A32U4ALLPINS

    /**********************************    PWM Setup     **********************************/
      /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13. 
         note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
         if activated:
         Motor 1-6 = 10-bit hardware PWM
         Motor 7-8 = 8-bit Software PWM
         Servos    = 8-bit Software PWM
         if deactivated:
         Motor 1-4 = 10-bit hardware PWM
         Motor 5-8 = 10-bit Software PWM
         Servos    = 10-bit Software PWM */
      //#define HWPWM6

    /**********************************    Aux 2 Pin     **********************************/
      /* AUX2 pin on pin RXO */
      //#define RCAUX2PINRXO

      /* aux2 pin on pin D17 (RXLED) */
      //#define RCAUX2PIND17

    /**********************************    Buzzer Pin    **********************************/
      /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
      //#define D8BUZZER

    /***********************      Promicro version related     ****************************/
      /* Inverted status LED for Promicro ver 10 */
      //#define PROMICRO10


  /**************************************************************************************/
  /********                      override default pin assignments    ********************/
  /**************************************************************************************/

  /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
  /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
  //#define OVERRIDE_V_BATPIN                   A0 // instead of A3    // Analog PIN 3

  //#define OVERRIDE_PSENSORPIN                 A1 // instead of A2    // Analog PIN 2

  //#define OVERRIDE_LEDPIN_PINMODE             pinMode (A1, OUTPUT); // use A1 instead of d13
  //#define OVERRIDE_LEDPIN_TOGGLE              PINC |= 1<<1; // PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)
  //#define OVERRIDE_LEDPIN_OFF                 PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
  //#define OVERRIDE_LEDPIN_ON                  PORTC |= 1<<1;    // was PORTB |= (1<<5);

  //#define OVERRIDE_BUZZERPIN_PINMODE          pinMode (A2, OUTPUT); // use A2 instead of d8
  //#define OVERRIDE_BUZZERPIN_ON               PORTC |= 1<<2 //PORTB |= 1;
  //#define OVERRIDE_BUZZERPIN_OFF              PORTC &= ~(1<<2); //PORTB &= ~1;

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  5 - ALTERNATE SETUP                                            *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /******                Serial com speed    *********************************/
    /* This is the speed of the serial interfaces */
    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 115200
    #define SERIAL2_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 115200

    /* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
       if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
       it is relevent only for a conf with NK */
    #define INTERLEAVING_DELAY 3000

    /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
       it is relevent only for a conf with at least a WMP */
    #define NEUTRALIZE_DELAY 100000


  /**************************************************************************************/
  /********                              Gyro filters                ********************/
  /**************************************************************************************/

    /*********************    Lowpass filter for some gyros    ****************************/
      /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
         to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
         It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
         balancing options ran out. Uncomment only one option!
         IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
      //#define ITG3200_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define ITG3200_LPF_188HZ
      //#define ITG3200_LPF_98HZ
      //#define ITG3200_LPF_42HZ
      //#define ITG3200_LPF_20HZ
      //#define ITG3200_LPF_10HZ      // Use this only in extreme cases, rather change motors and/or props

      /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
         to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
         It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
         balancing options ran out. Uncomment only one option!
         IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
      //#define MPU6050_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define MPU6050_LPF_188HZ
      //#define MPU6050_LPF_98HZ
      //#define MPU6050_LPF_42HZ
      //#define MPU6050_LPF_20HZ
      //#define MPU6050_LPF_10HZ
      //#define MPU6050_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props

    /******                Gyro smoothing    **********************************/
      /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
         may try this gyro smoothing via averaging. Not suitable for multicopters!
         Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
      //#define GYRO_SMOOTHING {20, 20, 3}    // (*) separate averaging ranges for roll, pitch, yaw

    /************************    Moving Average Gyros    **********************************/
      //#define MMGYRO 10                      // (*) Active Moving Average Function for Gyros
      //#define MMGYROVECTORLENGTH 15          // Length of Moving Average Vector (maximum value for tunable MMGYRO
      /* Moving Average ServoGimbal Signal Output */
      //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
      //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector

  /************************    Analog Reads              **********************************/
    /* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
    //#define FASTER_ANALOG_READS

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  6 - OPTIONAL FEATURES                                          *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /************************        Angele throttle correction         ********************/
  /* Automatically increase throttle based on the angle of the copter
     Original idea by Kraut Rob, first implementation HAdrian							*/

  //#define THROTTLE_ANGLE_CORRECTION 40
  
 /*************************        Advanced Headfree Mode             ********************/
 /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then 
    the  bearing between home and copter position will become the control direction 
	IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the 
	bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
	first implementation by HAdrian, mods by EOSBandi
 */

   //#define ADVANCED_HEADFREE									//Advanced headfree mode is enabled when this is uncommented
   //#define ADV_HEADFREE_RANGE 15								//Range where advanced headfree mode activated


  /************************        continuous gyro calibration        ********************/
  /* Gyrocalibration will be repeated if copter is moving during calibration. */
    //#define GYROCALIBRATIONFAILSAFE

  /************************        AP FlightMode        **********************************/
    /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
    #define AP_MODE 40  // Create a deadspan for GPS.
        
  /************************   Assisted AcroTrainer    ************************************/
    /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
       Remember to activate ANGLE_MODE first!...
       A Value on 200 will give a very distinct transfer */
    //#define ACROTRAINER_MODE 200   // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437


  /********                          Failsafe settings                 ********************/
    /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels) 
       the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
       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
       for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed, 
       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. */
    //#define FAILSAFE                                // uncomment  to activate the failsafe function
    #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
    #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  985


  /*****************                DFRobot LED RING    *********************************/
    /* I2C DFRobot LED RING communication */
    //#define LED_RING

  /********************************    LED FLASHER    ***********************************/
    //#define LED_FLASHER
    //#define LED_FLASHER_DDR DDRB
    //#define LED_FLASHER_PORT PORTB
    //#define LED_FLASHER_BIT PORTB4
    //#define LED_FLASHER_INVERT
    //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
    //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
    //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
    //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination


  /*******************************    Landing lights    *********************************/
  /* Landing lights
     Use an output pin to control landing lights.
     They can be switched automatically when used in conjunction
     with altitude data from a sonar unit. */
    //#define LANDING_LIGHTS_DDR DDRC
    //#define LANDING_LIGHTS_PORT PORTC
    //#define LANDING_LIGHTS_BIT PORTC0
    //#define LANDING_LIGHTS_INVERT

    /* altitude above ground (in cm) as reported by sonar */
    //#define LANDING_LIGHTS_AUTO_ALTITUDE 50

    /* adopt the flasher pattern for landing light LEDs */
    //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN

  /*************************    INFLIGHT ACC Calibration    *****************************/
    /* This will activate the ACC-Inflight calibration if unchecked */
    //#define INFLIGHT_ACC_CALIBRATION

  /*******************************    OSD Switch    *************************************/
    // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  //#define OSD_SWITCH

  /**************************************************************************************/
  /***********************                  TX-related         **************************/
  /**************************************************************************************/

    /* introduce a deadband around the stick center
       Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
    //#define DEADBAND 6

  /**************************************************************************************/
  /***********************                  GPS                **************************/
  /**************************************************************************************/

    /* GPS using a SERIAL port
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
       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)
       at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
       
    #define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
    //#define GPS_PROMINI_SERIAL   // Will Autosense if GPS is connected when ardu boots.

    // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
    [b]#define GPS_BAUD   57600[/b]

   /* GPS protocol 
       NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
       UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree 
       MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
       With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */

    
    //#define NMEA
    #define UBLOX
    //#define MTK_BINARY16
    //#define MTK_BINARY19
    //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings

    
    /* I2C GPS device made with an independant arduino + GPS device
       including some navigation functions
       contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/ 
       You have to use at least I2CGpsNav code r33 */
    //#define I2C_GPS
    // If your I2C GPS board has Sonar support enabled
    //#define I2C_GPS_SONAR

    /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
    //#define GPS_FROM_OSD

    /* 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 
      - No GPS FIX -> LED blink at speed of incoming GPS frames
      - Fix and sat no. bellow 5 -> LED off
      - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
    #define GPS_LED_INDICATOR

    //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions

    //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)

    /* GPS navigation can control the heading */
    
    #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
    #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first 
    #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
    
    
    /* Get your magnetic declination from here : http://magnetic-declination.com/
       Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
       Note the sign on declination it could be negative or positive (WEST or EAST) */
    //#define MAG_DECLINATION  3.96f              //For Budapest Hungary.
    #define MAG_DECLINATION  0.22f   //(**)

    #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
    
    //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
    #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes


  /**************************************************************************************/
  /***********************        LCD/OLED - display settings       *********************/
  /**************************************************************************************/

    /* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */

    /*****************************   The type of LCD     **********************************/
      /* choice of LCD attached for configuration and telemetry, see notes below */
      //#define LCD_DUMMY       // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.  
      //#define LCD_SERIAL3W    // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
      //#define LCD_TEXTSTAR    // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
      //#define LCD_VT100       // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
      //#define LCD_TTY         // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
      //#define LCD_ETPP        // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
      //#define LCD_LCD03       // I2C LCD: LCD03, which is i2c
      //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
      //#define OLED_DIGOLE     // I2C OLED from http://www.digole.com/index.php?productID=550

    /******************************   Display settings   ***********************************/
      #define LCD_SERIAL_PORT 0    // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board

      //#define SUPPRESS_OLED_I2C_128x64LOGO  // suppress display of OLED logo to save memory

    /* double font height for better readability. Reduces visible #lines by half.
     * The lower part of each page is accessible under the name of shifted keyboard letter :
     * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
     * You must add both to your lcd.telemetry.* sequences
     */
      //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE

    /* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
      //#define DISPLAY_2LINES
      //#define DISPLAY_MULTILINE
      //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
      //#define MULTILINE_POST 6 // multiline configMenu # post lines
      //#define DISPLAY_COLUMNS 16
    /********************************    Navigation     ***********************************/
    /* keys to navigate the LCD menu */
      #define LCD_MENU_PREV 'p'
      #define LCD_MENU_NEXT 'n'
      #define LCD_VALUE_UP 'u'
      #define LCD_VALUE_DOWN 'd'

      #define LCD_MENU_SAVE_EXIT 's'
      #define LCD_MENU_ABORT 'x'

  /**************************************************************************************/
  /***********************      LCD configuration menu         **************************/
  /**************************************************************************************/

    /* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
     * http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */
      //#define LCD_CONF

    /* to include setting the aux switches for AUX1 -> AUX4 via LCD */
      //#define LCD_CONF_AUX

    /* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
      //#define SUPPRESS_LCD_CONF_AUX2
      //#define SUPPRESS_LCD_CONF_AUX34

  /**************************************************************************************/
  /***********************      LCD       telemetry            **************************/
  /**************************************************************************************/

    /* to monitor system values (battery level, loop time etc. with LCD 
     * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */

    /********************************    Activation     ***********************************/
    //#define LCD_TELEMETRY

    /* to enable automatic hopping between a choice of telemetry pages uncomment this. */
    //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
    //#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2

    /* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
    //#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.

    /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
    //#define SUPPRESS_TELEMETRY_PAGE_1
    //#define SUPPRESS_TELEMETRY_PAGE_2
    //#define SUPPRESS_TELEMETRY_PAGE_3
    //#define SUPPRESS_TELEMETRY_PAGE_4
    //#define SUPPRESS_TELEMETRY_PAGE_5
    //#define SUPPRESS_TELEMETRY_PAGE_6
    //#define SUPPRESS_TELEMETRY_PAGE_7
    //#define SUPPRESS_TELEMETRY_PAGE_8
    //#define SUPPRESS_TELEMETRY_PAGE_9
    //#define SUPPRESS_TELEMETRY_PAGE_R

  /********************************************************************/
  /****                             RSSI                           ****/
  /********************************************************************/
    //#define RX_RSSI
    //#define RX_RSSI_PIN A3

  /********************************************************************/
  /****                             Buzzer                         ****/
  /********************************************************************/
    //#define BUZZER
    //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
    //#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)
    //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp

  /********************************************************************/
  /****           battery voltage monitoring                       ****/
  /********************************************************************/
    /* for V BAT monitoring
       after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
       with R1=33k and R2=51k
       vbat = [0;1023]*16/VBATSCALE
       must be associated with #define BUZZER ! */
    //#define VBAT              // uncomment this line to activate the vbat code
    #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
    #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
    #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
    #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
    #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
    #define NO_VBAT          16 // Avoid beeping without any battery


  /********************************************************************/
  /****           powermeter (battery capacity monitoring)         ****/
  /********************************************************************/

    /* enable monitoring of the power consumption from battery (think of mAh)
       allows to set alarm value in GUI or via LCD
      Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
       Two options:
       1 - hard: - (uses hardware sensor, after configuration gives very good results)
       2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
    //#define POWERMETER_SOFT
    //#define POWERMETER_HARD
    #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
                                   gives 1/2 Vss; that is approx 2.49Volt; */
    #define PINT2mA 132     /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
                                   soft: use fictional value, start with 100.
                                   for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */

  /********************************************************************/
  /****           altitude hold                                    ****/
  /********************************************************************/

    /* defines the neutral zone of throttle stick during altitude hold, default setting is
       +/-50 uncommend and change the value below if you want to change it. */
    #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    50
    //#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.


    /* uncomment to disable the altitude hold feature.
     * This is useful if all of the following apply
     * + you have a baro
     * + want altitude readout and/or variometer
     * + do not use altitude hold feature
     * + want to save memory space */
    //#define SUPPRESS_BARO_ALTHOLD

  /********************************************************************/
  /****           altitude variometer                              ****/
  /********************************************************************/

    /* enable to get audio feedback upon rising/falling copter/plane.
     * Requires a working baro.
     * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
     * choice of two methods (enable either one or both)
     * method 1 : use short term movement from baro ( bigger code size)
     * method 2 : use long term observation of altitude from baro (smaller code size)
     */
    //#define VARIOMETER 12            // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
    //#define SUPPRESS_VARIOMETER_UP   // if no signaling for up movement is desired
    //#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
    //#define VARIOMETER_SINGLE_TONE   // use only one tone (BEL); neccessary for non-patched vt100 terminals

  /********************************************************************/
  /****           baord naming                                     ****/
  /********************************************************************/

    /*
     * this name is displayed together with the MultiWii version number
     * upon powerup on the LCD.
     * If you are without a DISPLAYD then You may enable LCD_TTY and
     * use arduino IDE's serial monitor to view the info.
     *
     * You must preserve the format of this string!
     * It must be 16 characters total,
     * The last 4 characters will be overwritten with the version number.
     */
    #define BOARD_NAME "MultiWii   V-.--"
    //                  123456789.123456

  /*************      Support multiple configuration profiles in EEPROM     ************/
    //#define MULTIPLE_CONFIGURATION_PROFILES

  /*************      do no reset constants when change of flashed program is detected ***********/
    #define NO_FLASH_CHECK

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  7 - TUNING & DEVELOPER                                  **************/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /**************************************************************************************/
  /********   special ESC with extended range [0-2000] microseconds  ********************/
  /**************************************************************************************/
    //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega

  /**************************************************************************************/
  /***********************     motor, servo and other presets     ***********************/
  /**************************************************************************************/
    /* motors will not spin when the throttle command is in low position
       this is an alternative method to stop immediately the motors */
    //#define MOTOR_STOP

    /* some radios have not a neutral point centered on 1500. can be changed here */
    #define MIDRC 1500

  /***********************         Servo Refreshrates            ***********************/
    /* Default 50Hz Servo refresh rate*/
    #define SERVO_RFR_50HZ

    /* up to 160Hz servo refreshrate .. works with the most analog servos*/
    //#define SERVO_RFR_160HZ

    /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
       for use with digital servos
       dont use it with analog servos! thay may get damage. (some will work but be careful) */
    //#define SERVO_RFR_300HZ
    
  /***********************             HW PWM Servos             ***********************/ 
    /* HW PWM Servo outputs for Arduino Mega.. moves:
      Pitch   = pin 44
      Roll    = pin 45
      CamTrig = pin 46
      SERVO4  = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
      SERVO5  = pin 12 (aileron right for fixed wing)
      SERVO6  = pin 6   (rudder for fixed wing)
      SERVO7  = pin 7   (elevator for fixed wing)
      SERVO8  = pin 8   (motor for fixed wing)       */ 

    #define MEGA_HW_PWM_SERVOS
 
    /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
     * one of the 3 fixed servo.refresh.rates *
     * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
     * motor[0] = motor       = pin  6
     * servo[3] = nick  servo = pin 11
     * servo[4] = left  servo = pin 10
     * servo[5] = yaw   servo = pin  5
     * servo[6]  = right servo= pin  9
     */
    //#define A32U4_4_HW_PWM_SERVOS

    #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
    //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
                                          // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4


  /********************************************************************/
  /****           Memory savings                                   ****/
  /********************************************************************/

    /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */

    /**** suppress handling of serial commands.***
     * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
     * Enable either one or both of the following options  */

      /* Remove handling of all commands of the New MultiWii Serial Protocol.
       * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
       * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
       * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
      //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes

      /* Remove handling of other serial commands.
       * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
       * Navigating via stick inputs on tx is not affected and will work the same.  */
      //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled

    /**** suppress keeping the defaults for initial setup and reset in the code.
     * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
     * reset in GUI will not work on PIDs
     */
    //#define SUPPRESS_DEFAULTS_FROM_GUI
    
    //#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini

  /********************************************************************/
  /****           diagnostics                                      ****/
  /********************************************************************/

    /* to log values like max loop time and others to come
       logging values are visible via LCD config
       set to 1, enable 'R' option to reset values, max current, max altitude
       set to 2, adds min/max cycleTimes
       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) */
    //#define LOG_VALUES 1

    /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
     * used to track number of flights etc. over lifetime of controller board.
     * Writes to end of eeprom - should not conflict with stored parameters yet.
     * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
     *                #failsafe@disarm, #i2c_errs@disarm
     * Enable one or more options to show the log
     */
    //#define LOG_PERMANENT
    //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
    //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
    //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
    //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time

    /* to add debugging code
       not needed and not recommended for normal operation
       will add extra code that may slow down the main loop or make copter non-flyable */
    //#define DEBUG
    //#define DEBUG_FREE // will add 'F' command to show free memory

    /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_CONF_DEBUG

    /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
    //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.

    /* Enable string transmissions from copter to GUI */
    //#define DEBUGMSG


  /********************************************************************/
  /****           ESCs calibration                                 ****/
  /********************************************************************/

    /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
       Warning: this creates a special version of MultiWii Code
       You cannot fly with this special version. It is only to be used for calibrating ESCs
       Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
    #define ESC_CALIB_LOW  MINCOMMAND
    #define ESC_CALIB_HIGH 2000
    //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate

  /****           internal frequencies                             ****/
    /* frequenies for rare cyclic actions in the main loop, depend on cycle time
       time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
       example: with cycle time of approx 3ms, do action every 6*3ms=18ms
       value must be [1; 65535] */
    #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
    #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
    #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
    #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
    #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable

  /********************************************************************/
  /****           Dynamic Motor/Prop Balancing                     ****/
  /********************************************************************/
  /*                   !!! No Fly Mode !!!                            */ 
		
    //#define DYNBALANCE   // (**) Dynamic balancing controlled from Gui

  /********************************************************************/
  /****           Regression testing                               ****/
  /********************************************************************/

    /* for development only:
       to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
       together. This is meant to help detecting compile time errors for various features in a coordinated way.
       It is not meant to produce your flying firmware
       To use:
       - do not set any options in config.h,
       - enable with #define COPTERTEST 1, then compile
       - if possible, check for the size
       - repeat with other values of 2, 3, 4 etc.
        */
    //#define COPTERTEST 1

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  8 - DEPRECATED                                                 *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /* these features will be removed in the unforseeable future. Do not build new products or
   * functionality based on such features. The default for all such features is OFF.
   */

  /**************************    WMP power pin     *******************************/
  //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  #define DISABLE_POWER_PIN


/*************************************************************************************************/
/****           END OF CONFIGURABLE PARAMETERS                                                ****/
/*************************************************************************************************/

#endif /* CONFIG_H_ */

[stefrance_fr]

Mouarffff

Je viens de remonter une nouvelle carte multiwii de chez CRIUS (V2 AIO Pro) c'est le jour et la nuit.

En fait, pour toutes celles et ceux qui s'arrachent les cheveux avec leurs multicopters, ne vous faite pas un cancer de l'anus, il s'agit parfois de votre carte de vol (FC) qui est défectueuse.

3 gyro, 3 accelero, 3 magnetometres, 1 baro ... fabriques pas des chinois, si vous ne la payez pas trop chere, ne vous étonnez pas que ca merde souvent!

Maitenant, les PID restent a affiner mais dans un vent soutenu, il y moyen de le mettre a 3 metres du sol et de le maintenir a peu pres dans un rayon de 5 metres !


Merci de vos aides a toutes et tous.