CONFIG MULTI WII PRO

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Charrier
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CONFIG MULTI WII PRO

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Bonjour a tous,

je suis completement nouveau dans le dommaine des multirotor, j'ai acheter chez hobbyking cette carte,

http://www.hobbyking.com/hobbyking/stor ... odule.html" onclick="window.open(this.href);return false;,

j'ai essayer de voir son fonctionnement sur multiwiconfig, apres avoir changer sous arduino les bauds ainsi que le type de
carte, mais pas de succes, pas de mouvement, pas de graphique; rien.

j"ai suivi le tuto concernant la config, en faisant un eeprom clear par contre cela a bien fonctionner apparement,le televersement s'est bien passé

j'essai de renter un nouveau scetch multiwii 2.2 mais sans succes, la carte n"apparait toujours pas sur multiwiiconfig sur le port com 9.

je suis un peu dans une impasse. Quelqu'un aurait il une copie du config.h sous arduino pour cette carte .

Merci d'avance

rv


Emetteur 9XR flasche er9x recepteur d8r II plus
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Re: CONFIG MULTI WII PRO

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Essaie ce sketch...
Vous n’avez pas les permissions nécessaires pour voir les fichiers joints à ce message.


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

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Merci j je vais reessayer

Rv


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Re: CONFIG MULTI WII PRO

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Rebonjour,

le fichier fonctionne impeccable, merci beaucoup.
Je vous presenterai bientot ma machine, pour l'instant je suis dans la decoupe des elements avec la cnc.
Merci encore
rv


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
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Esc afro slim 20a simonk
moteur turnigny D2830 1000
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Re: CONFIG MULTI WII PRO

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De rien bons vols :super:


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

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apres essai de ta config tous fonctionne, sauf le gps qui ne me donne aucune donnée je me suis mis dehors, j'ai verifie que le nombre de bauds sois bien a 115200 .
faut il enlever le petit scotch blanc qui couvre le gps ???

les fils sont sur le gps de couleur rouge(vcc) jaune(txa) vert(rxa) et noir(gnd) brancher sur la carte rouge comme indiqué sur la doc par contre sur la doc il est noter 4800bds, j'ai essaye, sans plus de succes.
Sur multiwiiconf il appatai sous la bousolle, l'inscription sur un fond marron "gpsfix" et toute les données sous la boussolle sont notée à zero.

Une idées??? inversion fil rx et tx la min led sur la carte gps est au rouge ??

merci d'avance.

rv

le gps est un mtk3329
,


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Re: CONFIG MULTI WII PRO

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Oui il faut croiser Rx/Tx
Sinon je ne connais pas ce GPS, d'autant qu'à priori le sketch que je t'ai refilé prends en compte un Ublox Neo6M...


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

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bonsoir,

J'ai reçu ma nouvelle telecommande (9er) flasche avec er9x j'ai bien parametre les canaux, j'ai controler avec un servo standard et cet ok,
J'ai calibrer directement les 4 esc sur le rx, les moteur tournent tous en meme temps, en mettant les 4 canaux de l'emetteur sur " throttle"

j'ai rebrancher les 4 esc sur ma carte de vol multiwii pro de chez hobbyking, ici commence les problemes,

je n'arrive pas a mettre en route les moteurs, il bip les uns apres les autres, comme lorsque l'on fait la calibration.
je ne sais pas ou est le probleme, sur le config.h sous arduino, ou autre???

merci avance

rv


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Re: CONFIG MULTI WII PRO

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Salut, tu as peut être mis l'option de calibration des ESC dans le config.h. Dans ce mode, ton FC ne fait que la calibration. Cette option se trouve vers la fin du config.h. Il s'agit d'une ligne qu'il faut commenter pour pouvoir voler. . .

Message façonné avec un Caterpillar B15


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Re: CONFIG MULTI WII PRO

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Boujour,

quelques progrès, mais les moteurs ne tournent toujours pas.

lors de la calibrations sur la fw les moteurs ne tournent pas.
A la mise en route le rx est alimenté separement, qui alimente la fw, lors du branchement de la lipo, une petite sonnerie, puis une plus forte,
dans le multiwiiconfig le parametre mini throttle est a 1000, par contre le max throttle est a zero, et minithrottle est a zero aussi.
une autre idée??

a+

rv


Emetteur 9XR flasche er9x recepteur d8r II plus
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Esc afro slim 20a simonk
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Re: CONFIG MULTI WII PRO

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Salut,

Chez moi dans le config.h, et je crois que tu dois retrouver les valeurs dans multiwiiconfig
/**************************** 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 */
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
#define MINTHROTTLE 1064 // special ESC (simonk)
//#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
//#define MINTHROTTLE 1150 // (*) (**)

/**************************** Motor maxthrottle *******************************/
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
#define MAXTHROTTLE 1860

/**************************** 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 */
#define MINCOMMAND 1000


Quad X 540 cm, tube alu carré 20 x 20
AUAV-X2
RCTimer HP 2814 910kv
Afro 30a
HQ 11x5
4s 5Ah 30C
-==-
Quad mini ECKS
NAZE32, avec Cleanflight
DYS 1806 2300kv
Afro 12a
GemFan 5x3
3s 1,3Ah, 45C
LED WS2812
-==-
Turnigy 9XR
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Re: CONFIG MULTI WII PRO

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Salut,
mets:

#define MINTHROTTLE 1064, si tes ESC sont flashés
#define MAXTHROTTLE 1850 (voir 1900)
#define MINCOMMAND 1000, tu peux baisser cette valeur si tes ESC ne s'arme pas

ensuite, section 3:
#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba

puis dans la section GPS:

#define GPS_BAUD 57600
#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings

poir calibrer tes ESC:
#define ESC_CALIB_CANNOT_FLY // uncomment to activate, tu compile et televerse,

tu ENLEVE tes helices,
tu allume radio puis RX, tu laisse faire faire (env 10-20 S)
tu verifie le bon fonctionnement des ESC,
tu modifie la ligne
//#define ESC_CALIB_CANNOT_FLY // uncomment to activate, tu reteleverse,
tu refais un test, normalement, ça devrait etre bon.

mais une chose me chiffonne, qd tu dis :
A la mise en route le rx est alimenté séparément, qui alimente la fw
il me semble que c'est le contraire,
c'est ta carte qui alimente le RX, tu dois mettre un BEC séparé sur cette carte et brancher tes voies normalement

essaie déjà avec ces paramètres,


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Re: CONFIG MULTI WII PRO

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merci pour vos reponse, malheureusement sans effet sauf lorsque j'ai modifie dans la section 3

ensuite, section 3:
#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba


je n'avais plus rien du tout

par contre mes esc ne sont pas flasche, je vais le faire on verra apres si il y a du mieux

vraiement bizarre et compliqué pour un novice en la matiere.

merci encore

a+

rv


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
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Re: CONFIG MULTI WII PRO

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Hello
Ton Rx est branché à la FC façon "ppm sum" un seul fil signal pour toutes les voies,ou standard, pwm, un fil par voie?
C'est quoi tes esc ?
Les moteurs bipent en permanence ou juste a la mise sous tension?


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

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Merci pour ta cooperation;
Je ne sais pas de quoi tu parles en disant ppm sum ou pwm, par contre j'ai brancher comme on le faisais il y a 30 ans, une voie pour chaque: 1/aileron, 1/gaz,1/profondeur,1/ direction; les esc sont des hk 35-40 http://www.hobbyking.com/hobbyking/stor ... A_ESC.html" onclick="window.open(this.href);return false;

pour l'instant non flasche

les esc bipent au debut faible et regulierement, a la mise sous tension, et la remise de gaz est inoperent.
Par contre quand les ecs sont branchés directement sur le rx avec 4 voies sur le tx en throttle ils bipent faible puis fort à la fin et le stick gaz est opperent et les moteurs tournent correctement de faible a plein gaz, ce qui me fait dire que c'est peut être un probleme de config.h .
Dans multiwiiconfig le tx est visible et toute les voies fonctionnent en actionnant les sticks et inters de fonction
sur le display settings le mini throttle est a 1000 max est a zero, et minicommand à zero, j'ai eu à un moment de mes essais au lieu de zero j'ai eu 35, je ne sais comment. J'y comprend plus rien.

L'idéal serait de trouver une config complete pour ma fc http://www.hobbyking.com/hobbyking/stor ... /26588.jpg" onclick="window.open(this.href);return false;

merci d'avance.

rv

je viens de regarder sur la doc de la fc il parle de ppm input pour l'arrivée du rx, mois j'ai acheter pour ma telecommande 9rx flasche er9x un module frsky http://www.hobbyking.com/hobbyking/stor ... le_RX.html" onclick="window.open(this.href);return false;


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Re: CONFIG MULTI WII PRO

Message non lu par Ludo44 »

as tu calibrer tes ESc avec la radio?

tu allumes le TX, puis gaz a fond,
tu allume le RX, ESc alimentés, ils doivent bippé 2 fois, puis tu baisse les gaz,
les ESC bip une fois, et c'est bon, tes ESc sont calibrés.

ensuite il faudra calibrer tes voies dans multiwiiconf, tu dois jouer avec les subtrim et valeurs limites des courses pour avoir les valeurs conseillées
de mémoire, les neutres doivent tous être a 1500, valeur max a 1900 et mini a 900 ou 1000 (a vérifier).

pour la valeur : #define MINTHROTTLE 1064, si tes ESC sont flashés, c'est pas tres important pour le moment, au pire mets la valeur a 1100, mais c'est pas ça qui fait que ça ne fonctionne pas

si tu voit tes manches bouger dans le multiwii conf, c'est que la config est bonne a ce niveau la.
comme tu as branché ta FC sur le RX, tu es en PWM.

éventuellement, mets nous nous une copie de ton config.h et une copie d'écran du multiwwiconf
et une recap de tout ton materiel, (RX, ESC, Moteurs..)
ne nous donne pas les infos au compte goutte, ce n'est pas evident de s'y retrouver?


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Re: CONFIG MULTI WII PRO

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Ci joint ma config.h

je poste en plusieurs fois car ma liaison internet est mauvaise

Code : Tout sélectionner

*************************************************************************************************/
/****           CONFIGURABLE PARAMETERS                                                       ****/
/*************************************************************************************************/

/* this file consists of several sections
 * to create a working combination you must at least make your choices in section 1.
 * 1 - BASIC SETUP - you must select an option in every block.
 *      this assumes you have 4 channels connected to your board with standard ESCs and servos.
 * 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
 * 3 - RC SYSTEM SETUP
 * 4 - ALTERNATE CPUs & BOARDS - if you have
 * 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
 * 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
 * 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
 */

/* Notes:
 * 1. parameters marked with (*) in the comment are stored in eeprom and can be tweaked via serial monitor or LCD.
 *    Changing those values in config.h and upload will require a 'Reset' from the GUI to take effect
 */


/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  1 - BASIC SETUP                                                *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /**************************    The type of multicopter    ****************************/
    //#define GIMBAL
    //#define BI
    //#define TRI
    //#define QUADP
    #define QUADX
    //#define Y4
    //#define Y6
    //#define HEX6
    //#define HEX6X
    //#define HEX6H  // New Model
    //#define OCTOX8
    //#define OCTOFLATP
    //#define OCTOFLATX
    //#define FLYING_WING
    //#define VTAIL4
    //#define AIRPLANE
    //#define SINGLECOPTER
    //#define DUALCOPTER
    //#define HELI_120_CCPM
    //#define HELI_90_DEG

  /****************************    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  */
    //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
    //#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
    //#define MINTHROTTLE 1064 // special ESC (simonk)
    //#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
    #define MINTHROTTLE 1150

  /****************************    Motor maxthrottle    *******************************/
    /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
    #define MAXTHROTTLE 1850

  /****************************    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 */
    #define MINCOMMAND  1000

  /**********************************    I2C speed   ************************************/
    #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
    //#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
      //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
      //#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 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
      //#define CRIUS_AIO_PRO_V1
      //#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)  
      

      
    /***************************    independent sensors    ********************************/
      /* leave it commented if you already checked a specific board above */
      /* I2C gyroscope */
      //#define WMP
      //#define ITG3200
      //#define L3G4200D
      //#define MPU6050       //combo + ACC

      /* I2C accelerometer */
      //#define NUNCHUCK  // if you want to use the nunckuk connected to a WMP
      //#define MMA7455
      //#define ADXL345
      //#define BMA020
      //#define BMA180
      //#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
      //#define LIS3LV02
      //#define LSM303DLx_ACC

      /* I2C barometer */
      //#define BMP085
      //#define MS561101BA

      /* I2C magnetometer */
      //#define HMC5843
      //#define HMC5883
      //#define AK8975
      //#define MAG3110

      /* Sonar */ // for visualization purpose currently - no control code behind
      //#define SRF02 // use the Devantech SRF i2c sensors
      //#define SRF08
      //#define SRF10
      //#define SRF23

      /* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
      //#define ADCACC

      /* individual sensor orientation */
      //#define ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  =  Y; accADC[PITCH]  = -X; accADC[YAW]  = Z;}
      //#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] =  X; gyroADC[YAW] = Z;}
      //#define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = Z;}

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

    /*************************    Board orientation shift    ************************/
      /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
         you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode. 
         Check motors order and directions of motors rotation for matching with new front point!  Uncomment only one option! */

    //#define SENSORS_TILT_45DEG_RIGHT        // rotate the FRONT 45 degres clockwise
    //#define SENSORS_TILT_45DEG_LEFT         // rotate the FRONT 45 degres counterclockwise 

  /********************************    TRI    *********************************/
    #define YAW_DIRECTION 1
    //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
    /* you can change the tricopter servo travel here */
      #define TRI_YAW_CONSTRAINT_MIN 1020
      #define TRI_YAW_CONSTRAINT_MAX 2000
      #define TRI_YAW_MIDDLE 1500 // (*) tail servo center pos. - use this for initial trim; later trim midpoint via LCD

   /********************************    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

  /***********************          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
    #define TILT_PITCH_MIN    1020    //servo travel min, don't set it below 1020
    #define TILT_PITCH_MAX    2000    //servo travel max, max value=2000
    #define TILT_PITCH_MIDDLE 1500    //servo neutral value
    #define TILT_PITCH_PROP   10      //servo proportional (tied to angle) ; can be negative to invert movement
    #define TILT_PITCH_AUX_CH AUX3    //AUX channel to overwrite CAM pitch (AUX1-AUX4), comment to disable manual input and free the AUX channel
    #define TILT_ROLL_MIN     1020
    #define TILT_ROLL_MAX     2000
    #define TILT_ROLL_MIDDLE  1500
    #define TILT_ROLL_PROP    10
    #define TILT_ROLL_AUX_CH  AUX4    //AUX channel to overwrite CAM Roll (AUX1-AUX4), comment to disable manual input and free the AUX channel

    /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
    //#define CAMTRIG
    #define CAM_SERVO_HIGH 2000  // the position of HIGH state servo
    #define CAM_SERVO_LOW 1020   // the position of LOW state servo
    #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
    #define CAM_TIME_LOW 1000    // the duration of LOW state servo expressed in ms

  /***********************          Flying Wing                   ***********************/
    /* you can change change servo orientation and servo min/max values here
       valid for all flight modes, even passThrough mode
       need to setup servo directions here; no need to swap servos amongst channels at rx */
    #define PITCH_DIRECTION_L 1 // left servo - pitch orientation
    #define PITCH_DIRECTION_R -1  // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
    #define ROLL_DIRECTION_L 1 // left servo - roll orientation
    #define ROLL_DIRECTION_R 1  // right servo - roll orientation  (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
    #define WING_LEFT_MID  1500 // (*) left servo center pos. - use this for initial trim; later trim midpoint via LCD
    #define WING_RIGHT_MID 1500 // (*) right servo center pos. - use this for initial trim; later trim midpoint via LCD
    #define WING_LEFT_MIN  1020 // limit servo travel range must be inside [1020;2000]
    #define WING_LEFT_MAX  2000 // limit servo travel range must be inside [1020;2000]
    #define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
    #define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]

  /***********************          Airplane                       ***********************/
    //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
    #define SERVO_RATES      {100, 100, 100, 100, 100, 100, 100, 100} // Rates in 0-100%
    #define SERVO_DIRECTION  { -1,   1,   1,   -1,  1,   1,   1,   1 } // Invert servos by setting -1

    //#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_EP   { 1200, 1500 } // Or Flapperons up for CrowMix 
    #define FLAPPERON_INVERT { 1, -1 }    // Change direction om flapperons { Wing1, Wing2 }
    
    //#define FLAPS         AUX4          // Traditional Flaps on A2 invert with SERVO_DIRECTION servo[2).
    #define FLAP_EP      { 1500, 1900 }   // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.

    //#define FLAPSPEED     3             // Make flaps move slowm Higher value is Higher Speed.

  /***********************      Common for Heli & Airplane         ***********************/
    //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
    #define SERVO_OFFSET     {  0,   0,   0,  0,   0,   0,  0,   0 } // (*) Adjust Servo MID Offset & Swash angles
    // Selectable channels:=    ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4

  /***********************          Heli                           ***********************/
    /* Channel to control CollectivePitch */
    #define COLLECTIVE_PITCH      THROTTLE
    /* Set Maximum available movement for the servos. Depending on model */
    #define SERVO_ENDPOINT_HIGH {2000,2000,2000,2000,2000,2000,2000,2000};
    #define SERVO_ENDPOINT_LOW  {1020,1020,1020,1020,1020,1020,1020,1020};

    /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
    #define COLLECTIVE_RANGE { 80, 1500, 80 }// {Min%, ZeroPitch, Max%}.
    #define YAW_CENTER             1500      // Use servo[5] SERVO_ENDPOINT_HIGH/LOW for the endpoits.
    #define YAWMOTOR                 0       // If a motor is useed as YAW Set to 1 else set to 0.

    /* Servo mixing for heli 120 Use 1/10 fractions (ex.5 = 5/10 = 1/2)
                         {Coll,Nick,Roll} */
    #define SERVO_NICK   { +10, -10, -0 }
    #define SERVO_LEFT   { +10, +5, +10 } 
    #define SERVO_RIGHT  { +10, +5, -10 } 

    /* Servo mixing for heli 90 
                            {Coll,Nick,Roll} */
    #define SERVO_DIRECTIONS { +1, -1, -1 } // -1 will invert servo

    /* Limit Maximum controll for Roll & Nick  in 0-100% */
    #define CONTROLL_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

  /***********************      Single and DualCopter Settings     ***********************/
    /* Change to -1 to reverse servomovement per axis
       Servosettings for SingleCopter */
    #define SINGLECOPTRER_YAW   {1, 1, 1, 1} // Left, Right,Front,Rear
    #define SINGLECOPTRER_SERVO {1,-1, 1,-1} // Pitch,Pitch,Roll, Roll    
  
    /* Servosettings for DualCopter */
     #define DUALCOPTER_SERVO {1,1} //Pitch,Roll
    /* Use  SERVO_OFFSET and SERVO_RATES in Heli and Airplane section for centering and endpoints */




/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  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).
         You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
      //#define SBUS

    /******************* RC signal from the serial port via Multiwii Serial Protocol *********/
      //#define RCSERIAL




/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  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 V_BATPIN                   A0 // instead of A3    // Analog PIN 3

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

  //#define BUZZERPIN_PINMODE          pinMode (A2, OUTPUT); // use A2 instead of d8
  //#define BUZZERPIN_ON               PORTC |= 1<<2 //PORTB |= 1;
  //#define 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                         // Active Moving Average Function for Gyros
      //#define MMGYROVECTORLENGHT 10          // Lenght of Moving Average Vector
      /* Moving Average ServoGimbal Signal Output */
      //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
      //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector




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

  /* Pseudo-derivative conrtroller for level mode (experimental)
     Additional information: http://www.multiwii.com/forum/viewtopic.php?f=8&t=503 */
    //#define LEVEL_PDF

  /************************        AP FlightMode        **********************************/
  /* 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 20  // 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_THR0TTLE 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, afrer 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


  /*****************                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

  /**************************    Disable WMP power pin     *******************************/
    /* disable use of the POWER PIN
       (allready done if the option RCAUXPIN12 is selected) */
    //#define DISABLE_POWER_PIN


  /**************************************************************************************/
  /***********************                  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

    /* defines the neutral zone of throttle stick during altitude hold, default setting is
       +/-20 uncommend and change the value below if you want to change it. */
    //#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 20 


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

    /* GPS using a SERIAL port
       only available on MEGA boards (this might be possible on 328 based boards in the future)
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used, the GPS is not configured by multiwii
       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_BAUD   57600
    #define GPS_BAUD   115200


    /* 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 
       With UBLOX you don't have to use GPS_FILTERING in multiwii code !!! */
    
    #define NMEA
    //#define UBLOX

    #define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence 

    //#define GPS_PROMINI_SERIAL    57600 // Will Autosense if GPS is connected when ardu boots
   
    /* 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

    /* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
       optional sonar device.    https://github.com/wertarbyte/tiny-gps/ */
    /* get GPS data from Tiny-GPS */
    //#define TINY_GPS
    /* get sonar data from Tiny-GPS */
    //#define TINY_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 decliniation 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_DECLINIATION  3.96f              //For Budapest Hungary.
    #define MAG_DECLINIATION  0.0f
    
    #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_LOW_SPEED_D_FILTER               // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise commnent 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       *********************/
  /**************************************************************************************/

    /* uncomment this line if you plan to use a LCD or OLED */
      //#define LCD_CONF

    /* to include setting the aux switches for AUX1 -> AUX4 via LCD */ //to review (activate[] is now 16 bit long)
      //#define LCD_CONF_AUX

    /* if program gets too large (>32k), need to exclude some functionality */
      /* uncomment to suppress some unwanted aux3 aux4 items in config menu (only useful if LCD_CONF_AUX is enabled) */
      //#define SUPPRESS_LCD_CONF_AUX34

    /*****************************   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 paramters 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

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

    /* style of display - AUTODETECTED via LCD_ setting - only activate to overwrite defaults */
      //#define DISPLAY_2LINES
      //#define DISPLAY_MULTILINE
      //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
      //#define MULTILINE_POST 6 // multiline configMenu # post lines
    /********************************    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'

    /* To use an LCD03 for configuration:
       http://www.robot-electronics.co.uk/htm/Lcd03tech.htm
       Remove the jumper on its back to set i2c control.
       VCC to +5V VCC (pin1 from top)
       SDA - Pin A4 Mini Pro - Pin 20 Mega (pin2 from top)
       SCL - Pin A5 Mini Pro - Pin 21 Mega (pin3 from top)
       GND to Ground (pin4 from top)*/

    /* To use an Eagle Tree Power Panel LCD for configuration:
       White wire  to Ground
       Red wire    to +5V VCC (or to the WMP power pin, if you prefer to reset everything on the bus when WMP resets)
       Yellow wire to SDA - Pin A4 Mini Pro - Pin 20 Mega
       Brown wire  to SCL - Pin A5 Mini Pro - Pin 21 Mega */

    /* Cat's whisker LCD_TEXTSTAR LCD
       Pleae note this display needs a full 4 wire connection to (+5V, Gnd, RXD, TXD )
       Configure display as follows: 115K baud, and TTL levels for RXD and TXD, terminal mode
       NO rx / tx line reconfiguration, use natural pins.
       The four buttons sending 'A', 'B', 'C', 'D' are supported for configuration navigation and request of telemetry pages 1-4 */


  /**************************************************************************************/
  /***********************                telemetry            **************************/
  /**************************************************************************************/

    /* to monitor system values (battery level, loop time etc. with LCD enable this
       note: for now you must send single characters to request  different pages
       Buttons toggle request for page on/off
       The active page on the LCD does get updated automatically
       Easy to use with Terminal application or display like LCD - if available uses the 4 preconfigured buttons  to send 'A', 'B', 'C', 'D' */
    /********************************    Activation     ***********************************/
    //#define LCD_TELEMETRY

    /* to enable automatic hopping between a choice of telemetry pages uncomment this.
       This may be useful if your LCD has no buttons or the sending is broken
       hopping is activated and deactivated in unarmed mode with throttle=low & roll=left & pitch=forward
       set it to the sequence of telemetry pages you want to see
       2 line displays support pages 1-9
       multiline displays support pages 1-5 */
    //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 7 in ascending order
    //#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2

    /* same as above, but manual stepping sequence; requires 
       stick input (throttle=low & roll=right & pitch=forward) to 
       step through each defined telemetry page
       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. First page of sequence gets loaded upon startup

    /* if program gets too large (>32k), need to exclude some functionality
       uncomment to suppress some unwanted telemetry pages (only useful if telemetry is enabled) */
    //#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

  /********************************************************************/
  /****                             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
    #define VBATLEVEL1_3S 107 // (*) 10,7V
    #define VBATLEVEL2_3S  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
    /* PLEVELSCALE is the step size you can use to set alarm */
    #define PLEVELSCALE 50 // if you change this value for other granularity, you must search for comments in code to change accordingly
    /* larger PLEVELDIV will get you smaller value for power (mAh equivalent) */
    #define PLEVELDIV 5000 // (*) default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter
    #define PLEVELDIVSOFT PLEVELDIV // for soft always equal to PLEVELDIV; for hard set to 5000
    #define PSENSORNULL 510 // (*) set to analogRead() value for zero current; for I=0A my sensor gives 1/2 Vss; that is approx 2.49Volt;
    #define PINT2mA 13 // (*) for telemtry display: one integer step on arduino analog translates to mA (example 4.9 / 37 * 100

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

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

  /********************************************************************/
  /****           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

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

  /************ EXperimental: force a stable, fixated (high) cycle time       **********/
    /* when activated, the displayed cycle time in GUI will not be correct.
     * Tunable via LCD config menu.
     * value of 0 turns the feature off.
     */
    //#define CYCLETIME_FIXATED 9000 // (*)

  /**************************************************************************************/
  /********   special ESC with extended range [0-2000] microseconds  ********************/
  /**************************************************************************************/
    //#define EXT_MOTOR_RANGE

  /**************************************************************************************/
  /***********************     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 (assigned to PPM or SPECTRUM CH9 on copter configuration)
      SERVO5  = pin 12 (assigned to PPM or SPECTRUM CH10 on copter configuration)
      this option disable other software PWM's for servos - only five hardware controlled servos avaliable
      */ 
    //#define MEGA_HW_PWM_SERVOS

  /********************************************************************/
  /****           IMU complimentary filter tuning                  ****/
  /********************************************************************/

    /* Set the Low Pass Filter factor for ACC
       Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time
       Comment this out if you want to set a specific coeff (non default)*/
    //#define ACC_LPF_FACTOR 100

    /* Set the Low Pass Filter factor for Magnetometer
       Increasing this value would reduce Magnetometer noise (not visible in GUI), but would increase Magnetometer lag time
       Comment this out if you want to set a specific coeff (non default)*/
    //#define MG_LPF_FACTOR 4

    /* Set the Gyro Weight for Gyro/Acc complementary filter
       Increasing this value would reduce and delay Acc influence on the output of the filter
       Comment this out if you want to set a specific coeff (non default)*/
    //#define GYR_CMPF_FACTOR 400.0f

    /* Set the Gyro Weight for Gyro/Magnetometer complementary filter
       Increasing this value would reduce and delay Magnetometer influence on the output of the filter
       Comment this out if you want to set a specific coeff (non default)*/
    //#define GYR_CMPFM_FACTOR 200.0f


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

    /* to log values like max loop time and others to come
       logging values are visible via LCD config
       set to 2, if you want more values,
       set to 3 for 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

    /* 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

    /* 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 667 // to step to next telemetry page 667 <=> 2s
    #define PSENSORFREQ 6               // to read hardware powermeter sensor 6 <=> 18ms
    #define VBATFREQ PSENSORFREQ        // to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing

  /********************************************************************/
  /****           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

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

!
Merci d'utiliser le tag "Code" pour les fichiers volumineux.
Dehas


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
Frame diy en H' 450
Esc afro slim 20a simonk
moteur turnigny D2830 1000
Cnc diy
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Re: CONFIG MULTI WII PRO

Message non lu par Charrier »

j'ai comme carte celle ci hobby king http://www.hobbyking.com/hobbyking/stor ... /26588.jpg" onclick="window.open(this.href);return false;
mes esc
http://www.hobbyking.com/hobbyking/stor ... A_ESC.html" onclick="window.open(this.href);return false;
mon module sur la telecommade 9ex flache er9x

http://www.hobbyking.com/hobbyking/stor ... le_RX.html" onclick="window.open(this.href);return false;

mes moteur turnigny 2830-11

suite du post precedent


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
Frame diy en H' 450
Esc afro slim 20a simonk
moteur turnigny D2830 1000
Cnc diy
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Papi78
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Re: CONFIG MULTI WII PRO

Message non lu par Papi78 »

Le config.h que je t'ai joint convient parfaitement pour ta carte, par contre je t'avais dis que j'étais pas trop sûr pour le GPS...
On va essayer un truc :
Recommente cette ligne :

//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA

Refait aussi un clear eeprom pour repartir "propre"
@+


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

Message non lu par Charrier »

bien reçu votre message

Dis donc vous travaillez bien tard dans le 78

par contre ou puis-je recuperer le fichier config.h pas vu dans le message

merci

rv


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
Frame diy en H' 450
Esc afro slim 20a simonk
moteur turnigny D2830 1000
Cnc diy
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Re: CONFIG MULTI WII PRO

Message non lu par Papi78 »

Papi78 a écrit :Essaie ce sketch...
Mon msg de vendredi....


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

Message non lu par Charrier »

je ne vois pas ou recuperer le scetch, je suis sans doute mioppe , excuses moi de tennuyer a nouveau sinon sur mon adresse mail

a+

rv


Emetteur 9XR flasche er9x recepteur d8r II plus
Fc. Multiwii pro. Hk + mtk gps multiwii 2.1
Frame diy en H' 450
Esc afro slim 20a simonk
moteur turnigny D2830 1000
Cnc diy
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Dehas
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Re: CONFIG MULTI WII PRO

Message non lu par Dehas »

Première page, première réponse, tu clique sur le fichier joint MultiWiidev_with_nmea.zip.


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Re: CONFIG MULTI WII PRO

Message non lu par Papi78 »

Eh bé pas facile hein? En plus tu l'as déjà installé !!
J'aurai du écrire: "le fichier que je t'avais joint et que tu as déjà téléversé" :ange:

Merci Denis ;-)


Quand tu te sens en situation d'échec, souviens toi que le grand chêne a lui aussi été un gland !
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Re: CONFIG MULTI WII PRO

Message non lu par Dehas »

De rien :gene3:


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