je seche..... LE GPS N ACCROCHE PAS UN SIGNAL je crois avoir lu qu un voyant vert clignote dans ce cas
des photos ici https://www.facebook.com/multirotorcriusAio?ref=hl" onclick="window.open(this.href);return false;
si une personne a une idees je lui en serais grés
Code : Tout sélectionner
#ifndef CONFIG_H_
#define CONFIG_H_
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/**** CONFIGURABLE PARAMETERS ****/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/* this file consists of several sections[/color]
[color=#7E7E7E] * to create a working combination you must at least make your choices in section 1.[/color]
[color=#7E7E7E] * 1 - BASIC SETUP - you must select an option in every block.[/color]
[color=#7E7E7E] * this assumes you have 4 channels connected to your board with standard ESCs and servos.[/color]
[color=#7E7E7E] * 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type[/color]
[color=#7E7E7E] * 3 - RC SYSTEM SETUP[/color]
[color=#7E7E7E] * 4 - ALTERNATE CPUs & BOARDS - if you have[/color]
[color=#7E7E7E] * 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here[/color]
[color=#7E7E7E] * 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)[/color]
[color=#7E7E7E] * 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned[/color]
[color=#7E7E7E] * - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)[/color]
[color=#7E7E7E] * 8 - DEPRECATED - these features will be removed in some future release[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]/* Notes:[/color]
[color=#7E7E7E] * 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.[/color]
[color=#7E7E7E] * 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 1 - BASIC SETUP *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/************************** The type of multicopter ****************************/[/color]
[color=#7E7E7E]//#define GIMBAL[/color]
[color=#7E7E7E]//#define BI[/color]
[color=#7E7E7E]//#define TRI[/color]
[color=#7E7E7E]//#define QUADP[/color]
#define QUADX
[color=#7E7E7E]//#define Y4[/color]
[color=#7E7E7E]//#define Y6[/color]
[color=#7E7E7E]//#define HEX6[/color]
[color=#7E7E7E]//#define HEX6X[/color]
[color=#7E7E7E]//#define HEX6H // New Model[/color]
[color=#7E7E7E]//#define OCTOX8[/color]
[color=#7E7E7E]//#define OCTOFLATP[/color]
[color=#7E7E7E]//#define OCTOFLATX[/color]
[color=#7E7E7E]//#define FLYING_WING[/color]
[color=#7E7E7E]//#define VTAIL4[/color]
[color=#7E7E7E]//#define AIRPLANE[/color]
[color=#7E7E7E]//#define SINGLECOPTER[/color]
[color=#7E7E7E]//#define DUALCOPTER[/color]
[color=#7E7E7E]//#define HELI_120_CCPM[/color]
[color=#7E7E7E]//#define HELI_90_DEG[/color]
[color=#7E7E7E]/**************************** Motor minthrottle *******************************/[/color]
[color=#7E7E7E]/* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)[/color]
[color=#7E7E7E] This is the minimum value that allow motors to run at a idle speed */[/color]
[color=#7E7E7E]//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A[/color]
[color=#7E7E7E]//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A[/color]
[color=#7E7E7E]//#define MINTHROTTLE 1064 // special ESC (simonk)[/color]
[color=#7E7E7E]//#define MINTHROTTLE 1050 // for brushed ESCs like ladybird[/color]
#define MINTHROTTLE 1150 [color=#7E7E7E]// (*) (**)[/color]
[color=#7E7E7E]/**************************** Motor maxthrottle *******************************/[/color]
[color=#7E7E7E]/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */[/color]
#define MAXTHROTTLE 1850
[color=#7E7E7E]/**************************** Mincommand *******************************/[/color]
[color=#7E7E7E]/* this is the value for the ESCs when they are not armed[/color]
[color=#7E7E7E] in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */[/color]
#define MINCOMMAND 1000
[color=#7E7E7E]/********************************** I2C speed ************************************/[/color]
#define I2C_SPEED 100000L [color=#7E7E7E]//100kHz normal mode, this value must be used for a genuine WMP[/color]
[color=#7E7E7E]//#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones[/color]
[color=#7E7E7E]/*************************** Internal i2c Pullups ********************************/[/color]
[color=#7E7E7E]/* enable internal I2C pull ups (in most cases it is better to use external pullups) */[/color]
[color=#7E7E7E]//#define INTERNAL_I2C_PULLUPS[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/***************** boards and sensor definitions ******************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*************************** Combined IMU Boards ********************************/[/color]
[color=#7E7E7E]/* if you use a specific sensor board:[/color]
[color=#7E7E7E] please submit any correction to this list.[/color]
[color=#7E7E7E] Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */[/color]
[color=#7E7E7E]//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex[/color]
[color=#7E7E7E]//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex[/color]
[color=#7E7E7E]//#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio[/color]
[color=#7E7E7E]//#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1[/color]
[color=#7E7E7E]//#define FREEIMUv035 // FreeIMU v0.3.5 no baro[/color]
[color=#7E7E7E]//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex[/color]
[color=#7E7E7E]//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP[/color]
[color=#7E7E7E]//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex[/color]
[color=#7E7E7E]//#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)[/color]
[color=#7E7E7E]//#define NANOWII // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex[/color]
[color=#7E7E7E]//#define PIPO // 9DOF board from erazz[/color]
[color=#7E7E7E]//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex[/color]
[color=#7E7E7E]//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition[/color]
[color=#7E7E7E]//#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex[/color]
[color=#7E7E7E]//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU[/color]
[color=#7E7E7E]//#define AEROQUADSHIELDv2[/color]
[color=#7E7E7E]//#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.[/color]
[color=#7E7E7E]//#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex[/color]
[color=#7E7E7E]//#define SIRIUSGPS // Sirius Navigator IMU using external MAG on GPS board <- confirmed by Alex[/color]
[color=#7E7E7E]//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro[/color]
[color=#7E7E7E]//#define SIRIUS_AIR // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com <- confirmed by Alex[/color]
[color=#7E7E7E]//#define SIRIUS_AIR_GPS // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located[/color]
[color=#7E7E7E]//#define SIRIUS_MEGAv5_OSD // Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox http://www.Multiwiicopter.com <- confirmed by Alex[/color]
[color=#7E7E7E]//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex[/color]
[color=#7E7E7E]//#define MICROWII // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/[/color]
[color=#7E7E7E]//#define CITRUSv2_1 // CITRUS from qcrc.ca[/color]
[color=#7E7E7E]//#define CHERRY6DOFv1_0[/color]
[color=#7E7E7E]//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC[/color]
[color=#7E7E7E]//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC[/color]
[color=#7E7E7E]//#define DROTEK_6DOFv2 // Drotek 6DOF v2[/color]
[color=#7E7E7E]//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050[/color]
[color=#7E7E7E]//#define DROTEK_10DOF_MPU//[/color]
[color=#7E7E7E]//#define MONGOOSE1_0 // mongoose 1.0 http://store.ckdevices.com/[/color]
[color=#7E7E7E]//#define CRIUS_LITE // Crius MultiWii Lite[/color]
[color=#7E7E7E]//#define CRIUS_SE // Crius MultiWii SE[/color]
[color=#7E7E7E]//#define CRIUS_SE_v2_0 // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085[/color]
[color=#7E7E7E]//#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345[/color]
[color=#7E7E7E]//#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro[/color]
[color=#7E7E7E]//#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro[/color]
[color=#7E7E7E]//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC[/color]
[color=#7E7E7E]//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC[/color]
[color=#7E7E7E]//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC[/color]
[color=#7E7E7E]//#define GY_521 // Chinese 6 DOF with MPU6050, LLC[/color]
[color=#7E7E7E]//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com[/color]
[color=#7E7E7E]//#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com[/color]
[color=#7E7E7E]//#define MultiWiiMega // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com[/color]
[color=#7E7E7E]//#define PROTO_DIY // 10DOF mega board[/color]
[color=#7E7E7E]//#define IOI_MINI_MULTIWII// http://www.bambucopter.com[/color]
[color=#7E7E7E]//#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180[/color]
[color=#7E7E7E]//#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L[/color]
[color=#7E7E7E]//#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085[/color]
[color=#7E7E7E]//#define FLYDUINO_MPU // MPU6050 Break Out onboard 3.3V reg[/color]
#define CRIUS_AIO_PRO_V1
[color=#7E7E7E]//#define DESQUARED6DOFV2GO // DEsquared V2 with ITG3200 only[/color]
[color=#7E7E7E]//#define DESQUARED6DOFV4 // DEsquared V4 with MPU6050[/color]
[color=#7E7E7E]//#define LADYBIRD[/color]
[color=#7E7E7E]//#define MEGAWAP_V2_STD // available here: http://www.multircshop.com <- confirmed by Alex[/color]
[color=#7E7E7E]//#define MEGAWAP_V2_ADV[/color]
[color=#7E7E7E]//#define HK_MultiWii_SE_V2 // Hobbyking board with MPU6050 + HMC5883L + BMP085[/color]
[color=#7E7E7E]//#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back. ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite) [/color]
[color=#7E7E7E]//#define RCNet_FC // RCNet FC with MPU6050 and MS561101BA http://www.rcnet.com[/color]
[color=#7E7E7E]//#define RCNet_FC_GPS // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com[/color]
[color=#7E7E7E]//#define FLYDU_ULTRA // MEGA+10DOF+MT3339 FC[/color]
[color=#7E7E7E]//#define DIYFLYING_MAGE_V1 // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk[/color]
[color=#7E7E7E]//#define MultiWii_32U4_SE // Hextronik MultiWii_32U4_SE[/color]
[color=#7E7E7E]//#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory[/color]
[color=#7E7E7E]//#define Flyduino9DOF // Flyduino 9DOF IMU MPU6050+HMC5883l[/color]
[color=#7E7E7E]//#define Nano_Plane // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html[/color]
[color=#7E7E7E]/*************************** independent sensors ********************************/[/color]
[color=#7E7E7E]/* leave it commented if you already checked a specific board above */[/color]
[color=#7E7E7E]/* I2C gyroscope */[/color]
[color=#7E7E7E]//#define WMP[/color]
[color=#7E7E7E]//#define ITG3200[/color]
[color=#7E7E7E]//#define MPU3050[/color]
[color=#7E7E7E]//#define L3G4200D[/color]
[color=#7E7E7E]//#define MPU6050 //combo + ACC[/color]
[color=#7E7E7E]//#define LSM330 //combo + ACC[/color]
[color=#7E7E7E]/* I2C accelerometer */[/color]
[color=#7E7E7E]//#define NUNCHUCK // if you want to use the nunckuk connected to a WMP[/color]
[color=#7E7E7E]//#define MMA7455[/color]
[color=#7E7E7E]//#define ADXL345[/color]
[color=#7E7E7E]//#define BMA020[/color]
[color=#7E7E7E]//#define BMA180[/color]
[color=#7E7E7E]//#define BMA280[/color]
[color=#7E7E7E]//#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP[/color]
[color=#7E7E7E]//#define LIS3LV02[/color]
[color=#7E7E7E]//#define LSM303DLx_ACC[/color]
[color=#7E7E7E]//#define MMA8451Q[/color]
[color=#7E7E7E]/* I2C barometer */[/color]
[color=#7E7E7E]//#define BMP085[/color]
[color=#7E7E7E]//#define MS561101BA[/color]
[color=#7E7E7E]/* I2C magnetometer */[/color]
[color=#7E7E7E]//#define HMC5843[/color]
[color=#7E7E7E]//#define HMC5883[/color]
[color=#7E7E7E]//#define AK8975[/color]
[color=#7E7E7E]//#define MAG3110[/color]
[color=#7E7E7E]/* Sonar */[/color] [color=#7E7E7E]// for visualization purpose currently - no control code behind[/color]
[color=#7E7E7E]//#define SRF02 // use the Devantech SRF i2c sensors[/color]
[color=#7E7E7E]//#define SRF08[/color]
[color=#7E7E7E]//#define SRF10[/color]
[color=#7E7E7E]//#define SRF23[/color]
[color=#7E7E7E]/* ADC accelerometer */[/color] [color=#7E7E7E]// for 5DOF from sparkfun, uses analog PIN A1/A2/A3[/color]
[color=#7E7E7E]//#define ADCACC[/color]
[color=#7E7E7E]/* enforce your individual sensor orientation - even overrides board specific defaults */[/color]
[color=#7E7E7E]//#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;}[/color]
[color=#7E7E7E]//#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = Z;}[/color]
[color=#7E7E7E]//#define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}[/color]
[color=#7E7E7E]/* Board orientation shift */[/color]
[color=#7E7E7E]/* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)[/color]
[color=#7E7E7E] * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.[/color]
[color=#7E7E7E] * Check motors order and directions of motors rotation for matching with new front point! Uncomment only one option! */[/color]
[color=#7E7E7E]//#define SENSORS_TILT_45DEG_RIGHT // rotate the FRONT 45 degres clockwise[/color]
[color=#7E7E7E]//#define SENSORS_TILT_45DEG_LEFT // rotate the FRONT 45 degres counterclockwise[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/******************************** PID Controller *********************************/[/color]
[color=#7E7E7E]/* choose one of the alternate PID control algorithms[/color]
[color=#7E7E7E] * 1 = evolved oldschool algorithm (similar to v2.2)[/color]
[color=#7E7E7E] * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387[/color]
[color=#7E7E7E] * */[/color]
#define PID_CONTROLLER 1
[color=#7E7E7E]/* NEW: not used anymore for servo coptertypes <== NEEDS FIXING - MOVE TO WIKI */[/color]
#define YAW_DIRECTION 1
[color=#7E7E7E]//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction[/color]
#define ONLYARMWHENFLAT [color=#7E7E7E]//prevent the copter from arming when the copter is tilted[/color]
[color=#7E7E7E]/******************************** ARM/DISARM *********************************/[/color]
[color=#7E7E7E]/* optionally disable stick combinations to arm/disarm the motors.[/color]
[color=#7E7E7E] * In most cases one of the two options to arm/disarm via TX stick is sufficient */[/color]
#define ALLOW_ARM_DISARM_VIA_TX_YAW
[color=#7E7E7E]//#define ALLOW_ARM_DISARM_VIA_TX_ROLL[/color]
[color=#7E7E7E]/******************************** SERVOS *********************************/[/color]
[color=#7E7E7E]/* info on which servos connect where and how to setup can be found here[/color]
[color=#7E7E7E] * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]/* if you want to preset min/middle/max values for servos right after flashing, because of limited physical[/color]
[color=#7E7E7E] * room for servo travel, then you must enable and set all three following options */[/color]
[color=#7E7E7E]//#define SERVO_MIN {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}[/color]
[color=#7E7E7E]//#define SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}[/color]
[color=#7E7E7E]//#define SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)[/color]
[color=#7E7E7E]//#define FORCE_SERVO_RATES {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse[/color]
[color=#7E7E7E]/*********************** Cam Stabilisation ***********************/[/color]
[color=#7E7E7E]/* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */[/color]
[color=#7E7E7E]//#define SERVO_MIX_TILT[/color]
[color=#7E7E7E]//#define SERVO_TILT[/color]
[color=#7E7E7E]/* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */[/color]
[color=#7E7E7E]// trigger interval can be changed via (*GUI*) or via AUX channel[/color]
[color=#7E7E7E]//#define CAMTRIG[/color]
#define CAM_TIME_HIGH 1000 [color=#7E7E7E]// the duration of HIGH state servo expressed in ms[/color]
[color=#7E7E7E]/*********************** Airplane ***********************/[/color]
[color=#7E7E7E]//#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.[/color]
[color=#7E7E7E]//#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.[/color]
#define FLAPPERON_EP { 1500, 1700 } [color=#7E7E7E]// Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.[/color]
#define FLAPPERON_INVERT { -1, 1 } [color=#7E7E7E]// Change direction om flapperons { Wing1, Wing2 }[/color]
[color=#7E7E7E]//#define FLAPS // Traditional Flaps on SERVO3.[/color]
[color=#7E7E7E]//#define FLAPSPEED 3 // Make flaps move slowm Higher value is Higher Speed.[/color]
[color=#7E7E7E]/*********************** Common for Heli & Airplane ***********************/[/color]
[color=#7E7E7E]/* Governor: attempts to maintain rpm through pitch and voltage changes[/color]
[color=#7E7E7E] * predictive approach: observe input signals and voltage and guess appropriate corrections.[/color]
[color=#7E7E7E] * (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.[/color]
[color=#7E7E7E] * Can be toggled via aux switch.[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define GOVERNOR_P 7 // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off[/color]
[color=#7E7E7E]//#define GOVERNOR_D 4 // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;[/color]
[color=#7E7E7E]//#define VOLTAGEDROP_COMPENSATION // voltage impact correction[/color]
[color=#7E7E7E]/*********************** Heli ***********************/[/color]
[color=#7E7E7E]/* Channel to control CollectivePitch */[/color]
#define COLLECTIVE_PITCH THROTTLE
[color=#7E7E7E]/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */[/color]
#define COLLECTIVE_RANGE { 80, 0, 80 }[color=#7E7E7E]// {Min%, ZeroPitch offset from 1500, Max%}.[/color]
#define YAWMOTOR 0 [color=#7E7E7E]// If a motor is used as YAW Set to 1 else set to 0.[/color]
[color=#7E7E7E]/* Servo mixing for heli 120[/color]
[color=#7E7E7E] {Coll,Nick,Roll} */[/color]
#define SERVO_NICK { +10, -10, 0 }
#define SERVO_LEFT { +10, +5, +10 }
#define SERVO_RIGHT { +10, +5, -10 }
[color=#7E7E7E]/* Limit Maximum controll for Roll & Nick in 0-100% */[/color]
#define CONTROL_RANGE { 100, 100 } [color=#7E7E7E]// { ROLL,PITCH }[/color]
[color=#7E7E7E]/* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.[/color]
[color=#7E7E7E] if inactive, throttle output will be treated as a motor output, so it can drive an ESC */[/color]
[color=#7E7E7E]//#define HELI_USE_SERVO_FOR_THROTTLE[/color]
[color=#7E7E7E]/*********************** your individual mixing ***********************/[/color]
[color=#7E7E7E]/* if you want to override an existing entry in the mixing table, you may want to avoid editing the[/color]
[color=#7E7E7E] * mixTable() function for every version again and again. [/color]
[color=#7E7E7E] * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define MY_PRIVATE_MIXING "filename.h"[/color]
[color=#7E7E7E]/*********************** your individual defaults ***********************/[/color]
[color=#7E7E7E]/* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),[/color]
[color=#7E7E7E] * you may want to avoid editing the LoadDefaults() function for every version again and again.[/color]
[color=#7E7E7E] * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define MY_PRIVATE_DEFAULTS "filename.h"[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 3 - RC SYSTEM SETUP *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/* note: no need to uncomment something in this section if you use a standard receiver */[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** special receiver types ********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/**************************** PPM Sum Reciver ***********************************/[/color]
[color=#7E7E7E]/* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2[/color]
[color=#7E7E7E] Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */[/color]
[color=#7E7E7E]//#define SERIAL_SUM_PPM PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum[/color]
[color=#7E7E7E]//#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba[/color]
[color=#7E7E7E]//#define SERIAL_SUM_PPM ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex[/color]
[color=#7E7E7E]//#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others[/color]
[color=#7E7E7E]// Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)[/color]
[color=#7E7E7E]//#define PPM_ON_THROTTLE[/color]
[color=#7E7E7E]/********************** Spektrum Satellite Reciver *******************************/[/color]
[color=#7E7E7E]/* The following lines apply only for Spektrum Satellite Receiver[/color]
[color=#7E7E7E] Spektrum Satellites are 3V devices. DO NOT connect to 5V![/color]
[color=#7E7E7E] 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).[/color]
[color=#7E7E7E] For PROMINI, attach sat grey to RX0. Attach sat black to ground. */[/color]
[color=#7E7E7E]//#define SPEKTRUM 1024[/color]
[color=#7E7E7E]//#define SPEKTRUM 2048[/color]
[color=#7E7E7E]//#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).[/color]
[color=#7E7E7E]//**************************[/color]
[color=#7E7E7E]// Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.[/color]
[color=#7E7E7E]// Bind mode will be same as declared above, if your TX is capable.[/color]
[color=#7E7E7E]// Ground, Power, and Signal must come from three adjacent pins. [/color]
[color=#7E7E7E]// 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. [/color]
[color=#7E7E7E]// 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. [/color]
[color=#7E7E7E]//**************************[/color]
[color=#7E7E7E]// For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins. [/color]
[color=#7E7E7E]//#define SPEK_BIND //Un-Comment for Spektrum Satellie Bind Support. Code is ~420 bytes smaller without it. [/color]
[color=#7E7E7E]//#define SPEK_BIND_GROUND 4[/color]
[color=#7E7E7E]//#define SPEK_BIND_POWER 5[/color]
[color=#7E7E7E]//#define SPEK_BIND_DATA 6[/color]
[color=#7E7E7E]/******************************* SBUS RECIVER ************************************/[/color]
[color=#7E7E7E]/* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.[/color]
[color=#7E7E7E] You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */[/color]
[color=#7E7E7E]//#define SBUS[/color]
[color=#7E7E7E]//#define SBUS_SERIAL_PORT 1[/color]
#define SBUS_MID_OFFSET 988 [color=#7E7E7E]//SBUS Mid-Point at 1500[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 4 - ALTERNATE CPUs & BOARDS *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** Promini Specifig Settings ********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/************************** Hexa Motor 5 & 6 Pins *******************************/[/color]
[color=#7E7E7E]/* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config[/color]
[color=#7E7E7E] This mod allow the use of a standard receiver on a pro mini[/color]
[color=#7E7E7E] (no need to use a PPM sum receiver) */[/color]
[color=#7E7E7E]//#define A0_A1_PIN_HEX[/color]
[color=#7E7E7E]/********************************* Aux 2 Pin ***********************************/[/color]
[color=#7E7E7E]/* possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both)[/color]
[color=#7E7E7E] it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) */[/color]
[color=#7E7E7E]//#define RCAUXPIN8[/color]
[color=#7E7E7E]//#define RCAUXPIN12[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/***************** Teensy 2.0 Support ******************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* uncomment this if you use a teensy 2.0 with teensyduino[/color]
[color=#7E7E7E] it needs to run at 16MHz */[/color]
[color=#7E7E7E]//#define TEENSY20[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/********************************* pin Layout **********************************/[/color]
[color=#7E7E7E]/* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */[/color]
[color=#7E7E7E]//#define A32U4ALLPINS[/color]
[color=#7E7E7E]/********************************** PWM Setup **********************************/[/color]
[color=#7E7E7E]/* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13. [/color]
[color=#7E7E7E] note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)[/color]
[color=#7E7E7E] if activated:[/color]
[color=#7E7E7E] Motor 1-6 = 10-bit hardware PWM[/color]
[color=#7E7E7E] Motor 7-8 = 8-bit Software PWM[/color]
[color=#7E7E7E] Servos = 8-bit Software PWM[/color]
[color=#7E7E7E] if deactivated:[/color]
[color=#7E7E7E] Motor 1-4 = 10-bit hardware PWM[/color]
[color=#7E7E7E] Motor 5-8 = 10-bit Software PWM[/color]
[color=#7E7E7E] Servos = 10-bit Software PWM */[/color]
[color=#7E7E7E]//#define HWPWM6[/color]
[color=#7E7E7E]/********************************** Aux 2 Pin **********************************/[/color]
[color=#7E7E7E]/* AUX2 pin on pin RXO */[/color]
[color=#7E7E7E]//#define RCAUX2PINRXO[/color]
[color=#7E7E7E]/* aux2 pin on pin D17 (RXLED) */[/color]
[color=#7E7E7E]//#define RCAUX2PIND17[/color]
[color=#7E7E7E]/********************************** Buzzer Pin **********************************/[/color]
[color=#7E7E7E]/* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */[/color]
[color=#7E7E7E]//#define D8BUZZER[/color]
[color=#7E7E7E]/*********************** Promicro version related ****************************/[/color]
[color=#7E7E7E]/* Inverted status LED for Promicro ver 10 */[/color]
[color=#7E7E7E]//#define PROMICRO10[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** override default pin assignments ********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */[/color]
[color=#7E7E7E]/* you may need to change PINx and PORTx plus #shift according to the desired pin! */[/color]
[color=#7E7E7E]//#define OVERRIDE_V_BATPIN A0 // instead of A3 // Analog PIN 3[/color]
[color=#7E7E7E]//#define OVERRIDE_PSENSORPIN A1 // instead of A2 // Analog PIN 2[/color]
[color=#7E7E7E]//#define OVERRIDE_LEDPIN_PINMODE pinMode (A1, OUTPUT); // use A1 instead of d13[/color]
[color=#7E7E7E]//#define OVERRIDE_LEDPIN_TOGGLE PINC |= 1<<1; // PINB |= 1<<5; //switch LEDPIN state (digital PIN 13)[/color]
[color=#7E7E7E]//#define OVERRIDE_LEDPIN_OFF PORTC &= ~(1<<1); // PORTB &= ~(1<<5);[/color]
[color=#7E7E7E]//#define OVERRIDE_LEDPIN_ON PORTC |= 1<<1; // was PORTB |= (1<<5);[/color]
[color=#7E7E7E]//#define OVERRIDE_BUZZERPIN_PINMODE pinMode (A2, OUTPUT); // use A2 instead of d8[/color]
[color=#7E7E7E]//#define OVERRIDE_BUZZERPIN_ON PORTC |= 1<<2 //PORTB |= 1;[/color]
[color=#7E7E7E]//#define OVERRIDE_BUZZERPIN_OFF PORTC &= ~(1<<2); //PORTB &= ~1;[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 5 - ALTERNATE SETUP *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/****** Serial com speed *********************************/[/color]
[color=#7E7E7E]/* This is the speed of the serial interfaces */[/color]
#define SERIAL0_COM_SPEED 115200
#define SERIAL1_COM_SPEED 115200
#define SERIAL2_COM_SPEED 115200
#define SERIAL3_COM_SPEED 115200
[color=#7E7E7E]/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config[/color]
[color=#7E7E7E] if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000[/color]
[color=#7E7E7E] it is relevent only for a conf with NK */[/color]
#define INTERLEAVING_DELAY 3000
[color=#7E7E7E]/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds[/color]
[color=#7E7E7E] it is relevent only for a conf with at least a WMP */[/color]
#define NEUTRALIZE_DELAY 100000
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** Gyro filters ********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/********************* Lowpass filter for some gyros ****************************/[/color]
[color=#7E7E7E]/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try[/color]
[color=#7E7E7E] to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.[/color]
[color=#7E7E7E] It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and[/color]
[color=#7E7E7E] balancing options ran out. Uncomment only one option![/color]
[color=#7E7E7E] IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/[/color]
[color=#7E7E7E]//#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference[/color]
[color=#7E7E7E]//#define ITG3200_LPF_188HZ[/color]
[color=#7E7E7E]//#define ITG3200_LPF_98HZ[/color]
[color=#7E7E7E]//#define ITG3200_LPF_42HZ[/color]
[color=#7E7E7E]//#define ITG3200_LPF_20HZ[/color]
[color=#7E7E7E]//#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props[/color]
[color=#7E7E7E]/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try[/color]
[color=#7E7E7E] to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.[/color]
[color=#7E7E7E] It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and[/color]
[color=#7E7E7E] balancing options ran out. Uncomment only one option![/color]
[color=#7E7E7E] IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/[/color]
[color=#7E7E7E]//#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference[/color]
[color=#7E7E7E]//#define MPU6050_LPF_188HZ[/color]
[color=#7E7E7E]//#define MPU6050_LPF_98HZ[/color]
[color=#7E7E7E]//#define MPU6050_LPF_42HZ[/color]
[color=#7E7E7E]//#define MPU6050_LPF_20HZ[/color]
[color=#7E7E7E]//#define MPU6050_LPF_10HZ[/color]
[color=#7E7E7E]//#define MPU6050_LPF_5HZ // Use this only in extreme cases, rather change motors and/or props[/color]
[color=#7E7E7E]/****** Gyro smoothing **********************************/[/color]
[color=#7E7E7E]/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you[/color]
[color=#7E7E7E] may try this gyro smoothing via averaging. Not suitable for multicopters![/color]
[color=#7E7E7E] Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/[/color]
[color=#7E7E7E]//#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw[/color]
[color=#7E7E7E]/************************ Moving Average Gyros **********************************/[/color]
[color=#7E7E7E]//#define MMGYRO 10 // (*) Active Moving Average Function for Gyros[/color]
[color=#7E7E7E]//#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO[/color]
[color=#7E7E7E]/* Moving Average ServoGimbal Signal Output */[/color]
[color=#7E7E7E]//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal[/color]
[color=#7E7E7E]//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector[/color]
[color=#7E7E7E]/************************ Analog Reads **********************************/[/color]
[color=#7E7E7E]/* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */[/color]
[color=#7E7E7E]//#define FASTER_ANALOG_READS[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 6 - OPTIONAL FEATURES *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/************************ Angele throttle correction ********************/[/color]
[color=#7E7E7E]/* Automatically increase throttle based on the angle of the copter[/color]
[color=#7E7E7E] Original idea by Kraut Rob, first implementation HAdrian */[/color]
[color=#7E7E7E]//#define THROTTLE_ANGLE_CORRECTION 40[/color]
[color=#7E7E7E]/************************* Advanced Headfree Mode ********************/[/color]
[color=#7E7E7E]/* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then [/color]
[color=#7E7E7E] the bearing between home and copter position will become the control direction [/color]
[color=#7E7E7E] IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the [/color]
[color=#7E7E7E] bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance[/color]
[color=#7E7E7E] first implementation by HAdrian, mods by EOSBandi[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define ADVANCED_HEADFREE //Advanced headfree mode is enabled when this is uncommented[/color]
[color=#7E7E7E]//#define ADV_HEADFREE_RANGE 15 //Range where advanced headfree mode activated[/color]
[color=#7E7E7E]/************************ continuous gyro calibration ********************/[/color]
[color=#7E7E7E]/* Gyrocalibration will be repeated if copter is moving during calibration. */[/color]
[color=#7E7E7E]//#define GYROCALIBRATIONFAILSAFE[/color]
[color=#7E7E7E]/************************ AP FlightMode **********************************/[/color]
[color=#7E7E7E]/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/[/color]
#define AP_MODE 40 [color=#7E7E7E]// Create a deadspan for GPS.[/color]
[color=#7E7E7E]/************************ Assisted AcroTrainer ************************************/[/color]
[color=#7E7E7E]/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.[/color]
[color=#7E7E7E] Remember to activate ANGLE_MODE first!...[/color]
[color=#7E7E7E] A Value on 200 will give a very distinct transfer */[/color]
[color=#7E7E7E]//#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437[/color]
[color=#7E7E7E]/******** Failsafe settings ********************/[/color]
[color=#7E7E7E]/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels) [/color]
[color=#7E7E7E] the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),[/color]
[color=#7E7E7E] 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[/color]
[color=#7E7E7E] for best results. This value is depended from your configuration, AUW and some other params. Next, after FAILSAFE_OFF_DELAY the copter is disarmed, [/color]
[color=#7E7E7E] 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. */[/color]
[color=#7E7E7E]//#define FAILSAFE // uncomment to activate the failsafe function[/color]
#define FAILSAFE_DELAY 10 [color=#7E7E7E]// Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example[/color]
#define FAILSAFE_OFF_DELAY 200 [color=#7E7E7E]// Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example[/color]
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) [color=#7E7E7E]// (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case[/color]
#define FAILSAFE_DETECT_TRESHOLD 985
[color=#7E7E7E]/***************** DFRobot LED RING *********************************/[/color]
[color=#7E7E7E]/* I2C DFRobot LED RING communication */[/color]
[color=#7E7E7E]//#define LED_RING[/color]
[color=#7E7E7E]/******************************** LED FLASHER ***********************************/[/color]
[color=#7E7E7E]//#define LED_FLASHER[/color]
[color=#7E7E7E]//#define LED_FLASHER_DDR DDRB[/color]
[color=#7E7E7E]//#define LED_FLASHER_PORT PORTB[/color]
[color=#7E7E7E]//#define LED_FLASHER_BIT PORTB4[/color]
[color=#7E7E7E]//#define LED_FLASHER_INVERT[/color]
[color=#7E7E7E]//#define LED_FLASHER_SEQUENCE 0b00000000 // leds OFF[/color]
[color=#7E7E7E]//#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes[/color]
[color=#7E7E7E]//#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination[/color]
[color=#7E7E7E]//#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination[/color]
[color=#7E7E7E]/******************************* Landing lights *********************************/[/color]
[color=#7E7E7E]/* Landing lights[/color]
[color=#7E7E7E] Use an output pin to control landing lights.[/color]
[color=#7E7E7E] They can be switched automatically when used in conjunction[/color]
[color=#7E7E7E] with altitude data from a sonar unit. */[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_DDR DDRC[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_PORT PORTC[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_BIT PORTC0[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_INVERT[/color]
[color=#7E7E7E]/* altitude above ground (in cm) as reported by sonar */[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_AUTO_ALTITUDE 50[/color]
[color=#7E7E7E]/* adopt the flasher pattern for landing light LEDs */[/color]
[color=#7E7E7E]//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN[/color]
[color=#7E7E7E]/************************* INFLIGHT ACC Calibration *****************************/[/color]
[color=#7E7E7E]/* This will activate the ACC-Inflight calibration if unchecked */[/color]
[color=#7E7E7E]//#define INFLIGHT_ACC_CALIBRATION[/color]
[color=#7E7E7E]/******************************* OSD Switch *************************************/[/color]
[color=#7E7E7E]// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)[/color]
[color=#7E7E7E]//#define OSD_SWITCH[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** TX-related **************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* introduce a deadband around the stick center[/color]
[color=#7E7E7E] Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */[/color]
[color=#7E7E7E]//#define DEADBAND 6[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** GPS **************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* GPS using a SERIAL port[/color]
[color=#7E7E7E] if enabled, define here the Arduino Serial port number and the UART speed[/color]
[color=#7E7E7E] note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii[/color]
[color=#7E7E7E] 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)[/color]
[color=#7E7E7E] at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */[/color]
#define GPS_SERIAL 2 [color=#7E7E7E]// should be 2 for flyduino v2. It's the serial port number on arduino MEGA[/color]
[color=#7E7E7E]//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.[/color]
[color=#7E7E7E]// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)[/color]
#define GPS_BAUD 115200
[color=#7E7E7E]/* GPS protocol [/color]
[color=#7E7E7E] NMEA - Standard NMEA protocol GGA, GSA and RMC sentences are needed[/color]
[color=#7E7E7E] UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree [/color]
[color=#7E7E7E] MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)[/color]
[color=#7E7E7E] With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */[/color]
[color=#7E7E7E]//#define NMEA[/color]
#define UBLOX
[color=#7E7E7E]//#define MTK_BINARY16[/color]
[color=#7E7E7E]//#define MTK_BINARY19[/color]
[color=#7E7E7E]//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings[/color]
[color=#7E7E7E]/* I2C GPS device made with an independant arduino + GPS device[/color]
[color=#7E7E7E] including some navigation functions[/color]
[color=#7E7E7E] contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/ [/color]
[color=#7E7E7E] You have to use at least I2CGpsNav code r33 */[/color]
[color=#7E7E7E]//#define I2C_GPS[/color]
[color=#7E7E7E]// If your I2C GPS board has Sonar support enabled[/color]
[color=#7E7E7E]//#define I2C_GPS_SONAR[/color]
[color=#7E7E7E]/* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */[/color]
[color=#7E7E7E]//#define GPS_FROM_OSD[/color]
[color=#7E7E7E]/* 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 [/color]
[color=#7E7E7E] - No GPS FIX -> LED blink at speed of incoming GPS frames[/color]
[color=#7E7E7E] - Fix and sat no. bellow 5 -> LED off[/color]
[color=#7E7E7E] - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */[/color]
#define GPS_LED_INDICATOR
[color=#7E7E7E]//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions[/color]
[color=#7E7E7E]//#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)[/color]
[color=#7E7E7E]/* GPS navigation can control the heading */[/color]
#define NAV_CONTROLS_HEADING [color=#CC6600]true[/color] [color=#7E7E7E]// copter faces toward the navigation point, maghold must be enabled for it[/color]
#define NAV_TAIL_FIRST [color=#CC6600]false[/color] [color=#7E7E7E]// true - copter comes in with tail first [/color]
#define NAV_SET_TAKEOFF_HEADING [color=#CC6600]true[/color] [color=#7E7E7E]// true - when copter arrives to home position it rotates it's head to takeoff direction[/color]
[color=#7E7E7E]/* Get your magnetic declination from here : http://magnetic-declination.com/[/color]
[color=#7E7E7E] Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)[/color]
[color=#7E7E7E] Note the sign on declination it could be negative or positive (WEST or EAST) */[/color]
[color=#7E7E7E]//#define MAG_DECLINATION 3.96f //For Budapest Hungary.[/color]
#define MAG_DECLINATION 0.0f [color=#7E7E7E]//(**)[/color]
#define GPS_LEAD_FILTER [color=#7E7E7E]// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation[/color]
[color=#7E7E7E]//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable[/color]
#define GPS_WP_RADIUS 200 [color=#7E7E7E]// if we are within this distance to a waypoint then we consider it reached (distance is in cm)[/color]
#define NAV_SLEW_RATE 30 [color=#7E7E7E]// Adds a rate control to nav output, will smoothen out nav angle spikes[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** LCD/OLED - display settings *********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */[/color]
[color=#7E7E7E]/***************************** The type of LCD **********************************/[/color]
[color=#7E7E7E]/* choice of LCD attached for configuration and telemetry, see notes below */[/color]
[color=#7E7E7E]//#define LCD_DUMMY // No Physical LCD attached. With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink. [/color]
[color=#7E7E7E]//#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed[/color]
[color=#7E7E7E]//#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)[/color]
[color=#7E7E7E]//#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)[/color]
[color=#7E7E7E]//#define LCD_TTY // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'[/color]
[color=#7E7E7E]//#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)[/color]
[color=#7E7E7E]//#define LCD_LCD03 // I2C LCD: LCD03, which is i2c[/color]
[color=#7E7E7E]//#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350[/color]
#define OLED_DIGOLE [color=#7E7E7E]// I2C OLED from http://www.digole.com/index.php?productID=550[/color]
[color=#7E7E7E]/****************************** Display settings ***********************************/[/color]
#define LCD_SERIAL_PORT 0 [color=#7E7E7E]// must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board[/color]
[color=#7E7E7E]//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory[/color]
[color=#7E7E7E]/* double font height for better readability. Reduces visible #lines by half.[/color]
[color=#7E7E7E] * The lower part of each page is accessible under the name of shifted keyboard letter :[/color]
[color=#7E7E7E] * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - ([/color]
[color=#7E7E7E] * You must add both to your lcd.telemetry.* sequences[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE[/color]
[color=#7E7E7E]/* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */[/color]
[color=#7E7E7E]//#define DISPLAY_2LINES[/color]
[color=#7E7E7E]//#define DISPLAY_MULTILINE[/color]
[color=#7E7E7E]//#define MULTILINE_PRE 2 // multiline configMenu # pref lines[/color]
[color=#7E7E7E]//#define MULTILINE_POST 6 // multiline configMenu # post lines[/color]
[color=#7E7E7E]//#define DISPLAY_COLUMNS 16[/color]
[color=#7E7E7E]/******************************** Navigation ***********************************/[/color]
[color=#7E7E7E]/* keys to navigate the LCD menu */[/color]
#define LCD_MENU_PREV [color=#006699]'p'[/color]
#define LCD_MENU_NEXT [color=#006699]'n'[/color]
#define LCD_VALUE_UP [color=#006699]'u'[/color]
#define LCD_VALUE_DOWN [color=#006699]'d'[/color]
#define LCD_MENU_SAVE_EXIT [color=#006699]'s'[/color]
#define LCD_MENU_ABORT [color=#006699]'x'[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** LCD configuration menu **************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* uncomment this line if you plan to use a LCD or OLED for tweaking parameters[/color]
[color=#7E7E7E] * http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */[/color]
[color=#7E7E7E]//#define LCD_CONF[/color]
[color=#7E7E7E]/* to include setting the aux switches for AUX1 -> AUX4 via LCD */[/color]
[color=#7E7E7E]//#define LCD_CONF_AUX[/color]
[color=#7E7E7E]/* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */[/color]
[color=#7E7E7E]//#define SUPPRESS_LCD_CONF_AUX2[/color]
[color=#7E7E7E]//#define SUPPRESS_LCD_CONF_AUX34[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** LCD telemetry **************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* to monitor system values (battery level, loop time etc. with LCD [/color]
[color=#7E7E7E] * http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */[/color]
[color=#7E7E7E]/******************************** Activation ***********************************/[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY[/color]
[color=#7E7E7E]/* to enable automatic hopping between a choice of telemetry pages uncomment this. */[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2[/color]
[color=#7E7E7E]/* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.[/color]
[color=#7E7E7E]/* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_1[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_2[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_3[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_4[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_5[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_6[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_7[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_8[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_9[/color]
[color=#7E7E7E]//#define SUPPRESS_TELEMETRY_PAGE_R[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** RSSI ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]//#define RX_RSSI[/color]
[color=#7E7E7E]//#define RX_RSSI_PIN A3[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** Buzzer ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
#define BUZZER
[color=#7E7E7E]//#define RCOPTIONSBEEP // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4[/color]
[color=#7E7E7E]//#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)[/color]
[color=#7E7E7E]//#define PILOTLAMP //Uncomment if you are using a X-Arcraft Pilot Lamp[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** battery voltage monitoring ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* for V BAT monitoring[/color]
[color=#7E7E7E] after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN[/color]
[color=#7E7E7E] with R1=33k and R2=51k[/color]
[color=#7E7E7E] vbat = [0;1023]*16/VBATSCALE[/color]
[color=#7E7E7E] must be associated with #define BUZZER ! */[/color]
[color=#7E7E7E]//#define VBAT // uncomment this line to activate the vbat code[/color]
#define VBATSCALE 131 [color=#7E7E7E]// (*) (**) change this value if readed Battery voltage is different than real voltage[/color]
#define VBATNOMINAL 126 [color=#7E7E7E]// 12,6V full battery nominal voltage - only used for lcd.telemetry[/color]
#define VBATLEVEL_WARN1 107 [color=#7E7E7E]// (*) (**) 10,7V[/color]
#define VBATLEVEL_WARN2 99 [color=#7E7E7E]// (*) (**) 9.9V[/color]
#define VBATLEVEL_CRIT 93 [color=#7E7E7E]// (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered[/color]
#define NO_VBAT 16 [color=#7E7E7E]// Avoid beeping without any battery[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** powermeter (battery capacity monitoring) ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* enable monitoring of the power consumption from battery (think of mAh)[/color]
[color=#7E7E7E] allows to set alarm value in GUI or via LCD[/color]
[color=#7E7E7E] Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter[/color]
[color=#7E7E7E] Two options:[/color]
[color=#7E7E7E] 1 - hard: - (uses hardware sensor, after configuration gives very good results)[/color]
[color=#7E7E7E] 2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC) */[/color]
[color=#7E7E7E]//#define POWERMETER_SOFT[/color]
[color=#7E7E7E]//#define POWERMETER_HARD[/color]
#define PSENSORNULL 510 [color=#7E7E7E]/* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor[/color]
[color=#7E7E7E] gives 1/2 Vss; that is approx 2.49Volt; */[/color]
#define PINT2mA 132 [color=#7E7E7E]/* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;[/color]
[color=#7E7E7E] soft: use fictional value, start with 100.[/color]
[color=#7E7E7E] for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** altitude hold ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* defines the neutral zone of throttle stick during altitude hold, default setting is[/color]
[color=#7E7E7E] +/-50 uncommend and change the value below if you want to change it. */[/color]
#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 50
[color=#7E7E7E]//#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.[/color]
[color=#7E7E7E]/* uncomment to disable the altitude hold feature.[/color]
[color=#7E7E7E] * This is useful if all of the following apply[/color]
[color=#7E7E7E] * + you have a baro[/color]
[color=#7E7E7E] * + want altitude readout and/or variometer[/color]
[color=#7E7E7E] * + do not use altitude hold feature[/color]
[color=#7E7E7E] * + want to save memory space */[/color]
[color=#7E7E7E]//#define SUPPRESS_BARO_ALTHOLD[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** altitude variometer ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* enable to get audio feedback upon rising/falling copter/plane.[/color]
[color=#7E7E7E] * Requires a working baro.[/color]
[color=#7E7E7E] * For now, Output gets sent to an enabled vt100 terminal program over the serial line.[/color]
[color=#7E7E7E] * choice of two methods (enable either one or both)[/color]
[color=#7E7E7E] * method 1 : use short term movement from baro ( bigger code size)[/color]
[color=#7E7E7E] * method 2 : use long term observation of altitude from baro (smaller code size)[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define VARIOMETER 12 // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2[/color]
[color=#7E7E7E]//#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired[/color]
[color=#7E7E7E]//#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired[/color]
[color=#7E7E7E]//#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** baord naming ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/*[/color]
[color=#7E7E7E] * this name is displayed together with the MultiWii version number[/color]
[color=#7E7E7E] * upon powerup on the LCD.[/color]
[color=#7E7E7E] * If you are without a DISPLAYD then You may enable LCD_TTY and[/color]
[color=#7E7E7E] * use arduino IDE's serial monitor to view the info.[/color]
[color=#7E7E7E] *[/color]
[color=#7E7E7E] * You must preserve the format of this string![/color]
[color=#7E7E7E] * It must be 16 characters total,[/color]
[color=#7E7E7E] * The last 4 characters will be overwritten with the version number.[/color]
[color=#7E7E7E] */[/color]
#define BOARD_NAME [color=#006699]"MultiWii V-.--"[/color]
[color=#7E7E7E]// 123456789.123456[/color]
[color=#7E7E7E]/************* Support multiple configuration profiles in EEPROM ************/[/color]
[color=#7E7E7E]//#define MULTIPLE_CONFIGURATION_PROFILES[/color]
[color=#7E7E7E]/************* do no reset constants when change of flashed program is detected ***********/[/color]
#define NO_FLASH_CHECK
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 7 - TUNING & DEVELOPER **************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/******** special ESC with extended range [0-2000] microseconds ********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]//#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/*********************** motor, servo and other presets ***********************/[/color]
[color=#7E7E7E]/**************************************************************************************/[/color]
[color=#7E7E7E]/* motors will not spin when the throttle command is in low position[/color]
[color=#7E7E7E] this is an alternative method to stop immediately the motors */[/color]
[color=#7E7E7E]//#define MOTOR_STOP[/color]
[color=#7E7E7E]/* some radios have not a neutral point centered on 1500. can be changed here */[/color]
#define MIDRC 1500
[color=#7E7E7E]/*********************** Servo Refreshrates ***********************/[/color]
[color=#7E7E7E]/* Default 50Hz Servo refresh rate*/[/color]
#define SERVO_RFR_50HZ
[color=#7E7E7E]/* up to 160Hz servo refreshrate .. works with the most analog servos*/[/color]
[color=#7E7E7E]//#define SERVO_RFR_160HZ[/color]
[color=#7E7E7E]/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).[/color]
[color=#7E7E7E] for use with digital servos[/color]
[color=#7E7E7E] dont use it with analog servos! thay may get damage. (some will work but be careful) */[/color]
[color=#7E7E7E]//#define SERVO_RFR_300HZ[/color]
[color=#7E7E7E]/*********************** HW PWM Servos ***********************/[/color]
[color=#7E7E7E]/* HW PWM Servo outputs for Arduino Mega.. moves:[/color]
[color=#7E7E7E] Pitch = pin 44[/color]
[color=#7E7E7E] Roll = pin 45[/color]
[color=#7E7E7E] CamTrig = pin 46[/color]
[color=#7E7E7E] SERVO4 = pin 11 (aileron left for fixed wing or TRI YAW SERVO)[/color]
[color=#7E7E7E] SERVO5 = pin 12 (aileron right for fixed wing)[/color]
[color=#7E7E7E] SERVO6 = pin 6 (rudder for fixed wing)[/color]
[color=#7E7E7E] SERVO7 = pin 7 (elevator for fixed wing)[/color]
[color=#7E7E7E] SERVO8 = pin 8 (motor for fixed wing) */[/color]
#define MEGA_HW_PWM_SERVOS
[color=#7E7E7E]/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or[/color]
[color=#7E7E7E] * one of the 3 fixed servo.refresh.rates *[/color]
[color=#7E7E7E] * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..[/color]
[color=#7E7E7E] * motor[0] = motor = pin 6[/color]
[color=#7E7E7E] * servo[3] = nick servo = pin 11[/color]
[color=#7E7E7E] * servo[4] = left servo = pin 10[/color]
[color=#7E7E7E] * servo[5] = yaw servo = pin 5[/color]
[color=#7E7E7E] * servo[6] = right servo= pin 9[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define A32U4_4_HW_PWM_SERVOS[/color]
#define SERVO_RFR_RATE 50 [color=#7E7E7E]// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4[/color]
[color=#7E7E7E]//#define SERVO_PIN5_RFR_RATE 200 // separate yaw pwm rate.[/color]
[color=#7E7E7E]// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** Memory savings ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */[/color]
[color=#7E7E7E]/**** suppress handling of serial commands.***[/color]
[color=#7E7E7E] * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.[/color]
[color=#7E7E7E] * Enable either one or both of the following options */[/color]
[color=#7E7E7E]/* Remove handling of all commands of the New MultiWii Serial Protocol.[/color]
[color=#7E7E7E] * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.[/color]
[color=#7E7E7E] * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.[/color]
[color=#7E7E7E] * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */[/color]
[color=#7E7E7E]//#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes[/color]
[color=#7E7E7E]/* Remove handling of other serial commands.[/color]
[color=#7E7E7E] * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .[/color]
[color=#7E7E7E] * Navigating via stick inputs on tx is not affected and will work the same. */[/color]
[color=#7E7E7E]//#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves approx 0 to 100 bytes, depending on features enabled[/color]
[color=#7E7E7E]/**** suppress keeping the defaults for initial setup and reset in the code.[/color]
[color=#7E7E7E] * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;[/color]
[color=#7E7E7E] * reset in GUI will not work on PIDs[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define SUPPRESS_DEFAULTS_FROM_GUI[/color]
[color=#7E7E7E]//#define DISABLE_SETTINGS_TAB // Saves ~400bytes on ProMini[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** diagnostics ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* to log values like max loop time and others to come[/color]
[color=#7E7E7E] logging values are visible via LCD config[/color]
[color=#7E7E7E] set to 1, enable 'R' option to reset values, max current, max altitude[/color]
[color=#7E7E7E] set to 2, adds min/max cycleTimes[/color]
[color=#7E7E7E] 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) */[/color]
[color=#7E7E7E]//#define LOG_VALUES 1[/color]
[color=#7E7E7E]/* Permanent logging to eeprom - survives (most) upgrades and parameter resets.[/color]
[color=#7E7E7E] * used to track number of flights etc. over lifetime of controller board.[/color]
[color=#7E7E7E] * Writes to end of eeprom - should not conflict with stored parameters yet.[/color]
[color=#7E7E7E] * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,[/color]
[color=#7E7E7E] * #failsafe@disarm, #i2c_errs@disarm[/color]
[color=#7E7E7E] * Enable one or more options to show the log[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define LOG_PERMANENT[/color]
[color=#7E7E7E]//#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup[/color]
[color=#7E7E7E]//#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'[/color]
[color=#7E7E7E]//#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu[/color]
[color=#7E7E7E]//#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time[/color]
[color=#7E7E7E]/* to add debugging code[/color]
[color=#7E7E7E] not needed and not recommended for normal operation[/color]
[color=#7E7E7E] will add extra code that may slow down the main loop or make copter non-flyable */[/color]
[color=#7E7E7E]//#define DEBUG[/color]
[color=#7E7E7E]//#define DEBUG_FREE // will add 'F' command to show free memory[/color]
[color=#7E7E7E]/* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */[/color]
[color=#7E7E7E]//#define LCD_CONF_DEBUG[/color]
[color=#7E7E7E]/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.[/color]
[color=#7E7E7E]//#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.[/color]
[color=#7E7E7E]/* Enable string transmissions from copter to GUI */[/color]
[color=#7E7E7E]//#define DEBUGMSG[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** ESCs calibration ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)[/color]
[color=#7E7E7E] Warning: this creates a special version of MultiWii Code[/color]
[color=#7E7E7E] You cannot fly with this special version. It is only to be used for calibrating ESCs[/color]
[color=#7E7E7E] Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */[/color]
#define ESC_CALIB_LOW MINCOMMAND
#define ESC_CALIB_HIGH 2000
[color=#7E7E7E]//#define ESC_CALIB_CANNOT_FLY // uncomment to activate[/color]
[color=#7E7E7E]/**** internal frequencies ****/[/color]
[color=#7E7E7E]/* frequenies for rare cyclic actions in the main loop, depend on cycle time[/color]
[color=#7E7E7E] time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop[/color]
[color=#7E7E7E] example: with cycle time of approx 3ms, do action every 6*3ms=18ms[/color]
[color=#7E7E7E] value must be [1; 65535] */[/color]
#define LCD_TELEMETRY_FREQ 23 [color=#7E7E7E]// to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)[/color]
#define LCD_TELEMETRY_AUTO_FREQ 967[color=#7E7E7E]// to step to next telemetry page 967 <=> 3s[/color]
#define PSENSOR_SMOOTH 16 [color=#7E7E7E]// len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable[/color]
#define VBAT_SMOOTH 16 [color=#7E7E7E]// len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable[/color]
#define RSSI_SMOOTH 16 [color=#7E7E7E]// len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** Dynamic Motor/Prop Balancing ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* !!! No Fly Mode !!! */[/color]
[color=#7E7E7E]//#define DYNBALANCE // (**) Dynamic balancing controlled from Gui[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/**** Regression testing ****/[/color]
[color=#7E7E7E]/********************************************************************/[/color]
[color=#7E7E7E]/* for development only:[/color]
[color=#7E7E7E] to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept[/color]
[color=#7E7E7E] together. This is meant to help detecting compile time errors for various features in a coordinated way.[/color]
[color=#7E7E7E] It is not meant to produce your flying firmware[/color]
[color=#7E7E7E] To use:[/color]
[color=#7E7E7E] - do not set any options in config.h,[/color]
[color=#7E7E7E] - enable with #define COPTERTEST 1, then compile[/color]
[color=#7E7E7E] - if possible, check for the size[/color]
[color=#7E7E7E] - repeat with other values of 2, 3, 4 etc.[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]//#define COPTERTEST 1[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/**************** SECTION 8 - DEPRECATED *******/[/color]
[color=#7E7E7E]/***************** ***************/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/* these features will be removed in the unforseeable future. Do not build new products or[/color]
[color=#7E7E7E] * functionality based on such features. The default for all such features is OFF.[/color]
[color=#7E7E7E] */[/color]
[color=#7E7E7E]/************************** WMP power pin *******************************/[/color]
[color=#7E7E7E]//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12[/color]
[color=#7E7E7E]/* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */[/color]
#define DISABLE_POWER_PIN
[color=#7E7E7E]/*************************************************************************************************/[/color]
[color=#7E7E7E]/**** END OF CONFIGURABLE PARAMETERS ****/[/color]
[color=#7E7E7E]/*************************************************************************************************/[/color]
#endif [color=#7E7E7E]/* CONFIG_H_ */[/color]
pas glop
