/**************************************************************************************/
/******** override default pin assignments ********************/
/**************************************************************************************/
/* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
/* you may need to change PINx and PORTx plus #shift according to the desired pin! */
//#define OVERRIDE_V_BATPIN A0 // instead of A3 // Analog PIN 3
//#define OVERRIDE_PSENSORPIN A1 // instead of A2 // Analog PIN 2
//#define OVERRIDE_LEDPIN_PINMODE pinMode (A1, OUTPUT); // use A1 instead of d13
//#define OVERRIDE_LEDPIN_TOGGLE PINC |= 1<<1; // PINB |= 1<<5; //switch LEDPIN state (digital PIN 13)
//#define OVERRIDE_LEDPIN_OFF PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
//#define OVERRIDE_LEDPIN_ON PORTC |= 1<<1; // was PORTB |= (1<<5);
//#define OVERRIDE_BUZZERPIN_PINMODE pinMode (A2, OUTPUT); // use A2 instead of d8
//#define OVERRIDE_BUZZERPIN_ON PORTC |= 1<<2 //PORTB |= 1;
//#define OVERRIDE_BUZZERPIN_OFF PORTC &= ~(1<<2); //PORTB &= ~1;
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 5 - ALTERNATE SETUP *******/
/***************** ***************/
/*************************************************************************************************/
/****** Serial com speed *********************************/
/* This is the speed of the serial interfaces */
#define SERIAL0_COM_SPEED 115200
#define SERIAL1_COM_SPEED 115200
#define SERIAL2_COM_SPEED 115200
#define SERIAL3_COM_SPEED 115200
/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
it is relevent only for a conf with NK */
#define INTERLEAVING_DELAY 3000
/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
it is relevent only for a conf with at least a WMP */
#define NEUTRALIZE_DELAY 100000
/**************************************************************************************/
/******** Gyro filters ********************/
/**************************************************************************************/
/********************* Lowpass filter for some gyros ****************************/
/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define ITG3200_LPF_188HZ
//#define ITG3200_LPF_98HZ
#define ITG3200_LPF_42HZ
//#define ITG3200_LPF_20HZ
//#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props
/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define MPU6050_LPF_188HZ
#define MPU6050_LPF_98HZ
//#define MPU6050_LPF_42HZ
//#define MPU6050_LPF_20HZ
//#define MPU6050_LPF_10HZ
//#define MPU6050_LPF_5HZ // Use this only in extreme cases, rather change motors and/or props
/****** Gyro smoothing **********************************/
/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
may try this gyro smoothing via averaging. Not suitable for multicopters!
Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
//#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw
/************************ Moving Average Gyros **********************************/
#define MMGYRO 10 // (*) Active Moving Average Function for Gyros
#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
/* Moving Average ServoGimbal Signal Output */
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
/************************ Analog Reads **********************************/
/* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
//#define FASTER_ANALOG_READS
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 6 - OPTIONAL FEATURES *******/
/***************** ***************/
/*************************************************************************************************/
/************************ Angele throttle correction ********************/
/* Automatically increase throttle based on the angle of the copter
Original idea by Kraut Rob, first implementation HAdrian */
#define THROTTLE_ANGLE_CORRECTION 40
/************************* Advanced Headfree Mode ********************/
/* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
the bearing between home and copter position will become the control direction
IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
first implementation by HAdrian, mods by EOSBandi
*/
#define ADVANCED_HEADFREE //Advanced headfree mode is enabled when this is uncommented
#define ADV_HEADFREE_RANGE 15 //Range where advanced headfree mode activated
/************************ continuous gyro calibration ********************/
/* Gyrocalibration will be repeated if copter is moving during calibration. */
//#define GYROCALIBRATIONFAILSAFE
/************************ AP FlightMode **********************************/
/*** FUNCTIONALITY TEMPORARY REMOVED
/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
//#define AP_MODE 40 // Create a deadspan for GPS.
/************************ Assisted AcroTrainer ************************************/
/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
Remember to activate ANGLE_MODE first!...
A Value on 200 will give a very distinct transfer */
//#define ACROTRAINER_MODE 200 //
viewtopic.php?f=16&t=1944#p17437 /******** Failsafe settings ********************/
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
for best results. This value is depended from your configuration, AUW and some other params. Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
//#define FAILSAFE // uncomment to activate the failsafe function
#define FAILSAFE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
#define FAILSAFE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
#define FAILSAFE_DETECT_TRESHOLD 985
/***************** DFRobot LED RING *********************************/
/* I2C DFRobot LED RING communication */
//#define LED_RING
/******************************** LED FLASHER ***********************************/
//#define LED_FLASHER
//#define LED_FLASHER_DDR DDRB
//#define LED_FLASHER_PORT PORTB
//#define LED_FLASHER_BIT PORTB4
//#define LED_FLASHER_INVERT
//#define LED_FLASHER_SEQUENCE 0b00000000 // leds OFF
//#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes
//#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination
//#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination
/******************************* Landing lights *********************************/
/* Landing lights
Use an output pin to control landing lights.
They can be switched automatically when used in conjunction
with altitude data from a sonar unit. */
//#define LANDING_LIGHTS_DDR DDRC
//#define LANDING_LIGHTS_PORT PORTC
//#define LANDING_LIGHTS_BIT PORTC0
//#define LANDING_LIGHTS_INVERT
/* altitude above ground (in cm) as reported by sonar */
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50
/* adopt the flasher pattern for landing light LEDs */
//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
/************************* INFLIGHT ACC Calibration *****************************/
/* This will activate the ACC-Inflight calibration if unchecked */
//#define INFLIGHT_ACC_CALIBRATION
/******************************* OSD Switch *************************************/
// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
//#define OSD_SWITCH
/**************************************************************************************/
/*********************** TX-related **************************/
/**************************************************************************************/
/* introduce a deadband around the stick center
Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
//#define DEADBAND 6
/**************************************************************************************/
/*********************** GPS **************************/
/**************************************************************************************/
//#define GPS_SIMULATOR
/* GPS using a SERIAL port
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
#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
MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
//**!*!*!*!*!*!*!*!*!*!* I2C GPS code is NOT finished in this version, please DON'T USE !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi
http://code.google.com/p/i2c-gps-nav/ You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
// If your I2C GPS board has Sonar support enabled
//#define I2C_GPS_SONAR
/* 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
//Enables the MSP_WP command set , which is used by WinGUI for displaying an setting up navigation
#define USE_MSP_WP
// HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
//#define DONT_RESET_HOME_AT_ARM
/* GPS navigation can control the heading */
// copter faces toward the navigation point, maghold must be enabled for it
#define NAV_CONTROLS_HEADING 1 //(**)
// true - copter comes in with tail first
#define NAV_TAIL_FIRST 0 //(**)
// true - when copter arrives to home position it rotates it's head to takeoff direction
#define NAV_SET_TAKEOFF_HEADING 1 //(**)
/* Get your magnetic declination from here :
http://magnetic-declination.com/ Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST)
Also note, that maqgnetic declination changes with time, so recheck your value every 3-6 months */
#define MAG_DECLINATION 2.86f //(**)
// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
#define GPS_LEAD_FILTER //(**)
// add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
// use it with NMEA gps only
#define GPS_FILTERING //(**)
// if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define GPS_WP_RADIUS 100 //(**)
// Safe WP distance, do not start mission if the first wp distance is larger than this number (in meters)
// Also aborts mission if the next waypoint distance is more than this number
#define SAFE_WP_DISTANCE 500 //(**)
//Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
#define MAX_NAV_ALTITUDE 100 //(**)
// minimum speed when approach waypoint
#define NAV_SPEED_MIN 100 // cm/sec //(**)
// maximum speed to reach between waypoints
#define NAV_SPEED_MAX 400 // cm/sec //(**)
// Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
#define NAV_SLOW_NAV 0 //(**)
// Weight factor of the crosstrack error in navigation calculations (do not touch)
#define CROSSTRACK_GAIN .4 //(**)
// Maximum allowable banking than navigation outputs
#define NAV_BANK_MAX 3000 //(**)
//Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
#define RTH_ALTITUDE 15 //(**)
//Wait to reach RTH alt before start moving to home (0-no, 1-yes)
#define WAIT_FOR_RTH_ALT 1 //(**)
//Navigation engine will takeover BARO mode control
#define NAV_TAKEOVER_BARO 1 //(**)
//Throttle stick input will be ignored (only in BARO)
#define IGNORE_THROTTLE 1 //(**)
//If FENCE DISTANCE is larger than 0 then copter will switch to RTH when it farther from home
//than the defined number in meters
#define FENCE_DISTANCE 600
//This governs the descent speed during landing. 100 is equals approc 50cm/sec
#define LAND_SPEED 100
/**************************************************************************************/
/*********************** LCD/OLED - display settings *********************/
/**************************************************************************************/
/*
http://www.multiwii.com/wiki/index.php? ... D_.2F_OLED */
/***************************** The type of LCD **********************************/
/* choice of LCD attached for configuration and telemetry, see notes below */
//#define LCD_DUMMY // No Physical LCD attached. With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.
//#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
//#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
//#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
//#define LCD_TTY // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
//#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
//#define LCD_LCD03 // I2C LCD: LCD03, which is i2c
//#define OLED_I2C_128x64 // I2C LCD: OLED
viewtopic.php?f=7&t=1350 //#define OLED_DIGOLE // I2C OLED from
http://www.digole.com/index.php?productID=550 /****************************** Display settings ***********************************/
#define LCD_SERIAL_PORT 0 // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
/* double font height for better readability. Reduces visible #lines by half.
* The lower part of each page is accessible under the name of shifted keyboard letter :
* 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
* You must add both to your lcd.telemetry.* sequences
*/
//#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
/* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
//#define DISPLAY_2LINES
//#define DISPLAY_MULTILINE
//#define MULTILINE_PRE 2 // multiline configMenu # pref lines
//#define MULTILINE_POST 6 // multiline configMenu # post lines
//#define DISPLAY_COLUMNS 16
/******************************** Navigation ***********************************/
/* keys to navigate the LCD menu */
#define LCD_MENU_PREV 'p'
#define LCD_MENU_NEXT 'n'
#define LCD_VALUE_UP 'u'
#define LCD_VALUE_DOWN 'd'
#define LCD_MENU_SAVE_EXIT 's'
#define LCD_MENU_ABORT 'x'
/**************************************************************************************/
/*********************** LCD configuration menu **************************/
/**************************************************************************************/
/* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
*
http://www.multiwii.com/wiki/index.php? ... ation_Menu */
//#define LCD_CONF
/* to include setting the aux switches for AUX1 -> AUX4 via LCD */
//#define LCD_CONF_AUX
/* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
//#define SUPPRESS_LCD_CONF_AUX2
//#define SUPPRESS_LCD_CONF_AUX34
/**************************************************************************************/
/*********************** LCD telemetry **************************/
/**************************************************************************************/
/* to monitor system values (battery level, loop time etc. with LCD
*
http://www.multiwii.com/wiki/index.php? ... _Telemetry */
/******************************** Activation ***********************************/
//#define LCD_TELEMETRY
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */
//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2
/* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
//#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
/* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
//#define SUPPRESS_TELEMETRY_PAGE_1
//#define SUPPRESS_TELEMETRY_PAGE_2
//#define SUPPRESS_TELEMETRY_PAGE_3
//#define SUPPRESS_TELEMETRY_PAGE_4
//#define SUPPRESS_TELEMETRY_PAGE_5
//#define SUPPRESS_TELEMETRY_PAGE_6
//#define SUPPRESS_TELEMETRY_PAGE_7
//#define SUPPRESS_TELEMETRY_PAGE_8
//#define SUPPRESS_TELEMETRY_PAGE_9
//#define SUPPRESS_TELEMETRY_PAGE_R
/********************************************************************/
/**** RSSI ****/
/********************************************************************/
//#define RX_RSSI
//#define RX_RSSI_PIN A3
/********************************************************************/
/**** Buzzer ****/
/********************************************************************/
//#define BUZZER
#define RCOPTIONSBEEP // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
//#define ARMEDTIMEWARNING 330 // (*) Trigger an alarm after a certain time of being armed [s] to save you lipo (if your TX does not have a countdown)
//#define PILOTLAMP //Uncomment if you are using a X-Arcraft Pilot Lamp
/********************************************************************/
/**** battery voltage monitoring ****/
/********************************************************************/
/* for V BAT monitoring
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
with R1=33k and R2=51k
vbat = [0;1023]*16/VBATSCALE
must be associated with #define BUZZER ! */
//#define VBAT // uncomment this line to activate the vbat code
#define VBATSCALE 131 // (*) (**) change this value if readed Battery voltage is different than real voltage
#define VBATNOMINAL 126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
#define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
#define VBATLEVEL_WARN2 99 // (*) (**) 9.9V
#define VBATLEVEL_CRIT 93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
#define NO_VBAT 16 // Avoid beeping without any battery
/********************************************************************/
/**** powermeter (battery capacity monitoring) ****/
/********************************************************************/
/* enable monitoring of the power consumption from battery (think of mAh)
allows to set alarm value in GUI or via LCD
Full description and howto here
http://www.multiwii.com/wiki/index.php?title=Powermeter Two options:
1 - hard: - (uses hardware sensor, after configuration gives very good results)
2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC) */
//#define POWERMETER_SOFT
//#define POWERMETER_HARD
#define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
gives 1/2 Vss; that is approx 2.49Volt; */
#define PINT2mA 132 /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
soft: use fictional value, start with 100.
for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
/********************************************************************/
/**** altitude hold ****/
/********************************************************************/
/* defines the neutral zone of throttle stick during altitude hold, default setting is
+/-50 uncommend and change the value below if you want to change it. */
#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 100
//#define ALT_HOLD_THROTTLE_MIDPOINT 1500 // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
/* uncomment to disable the altitude hold feature.
* This is useful if all of the following apply
* + you have a baro
* + want altitude readout and/or variometer
* + do not use altitude hold feature
* + want to save memory space */
//#define SUPPRESS_BARO_ALTHOLD
/********************************************************************/
/**** altitude variometer ****/
/********************************************************************/
/* enable to get audio feedback upon rising/falling copter/plane.
* Requires a working baro.
* For now, Output gets sent to an enabled vt100 terminal program over the serial line.
* choice of two methods (enable either one or both)
* method 1 : use short term movement from baro ( bigger code size)
* method 2 : use long term observation of altitude from baro (smaller code size)
*/
//#define VARIOMETER 12 // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
//#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired
//#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
//#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals
/********************************************************************/
/**** baord naming ****/
/********************************************************************/
/*
* this name is displayed together with the MultiWii version number
* upon powerup on the LCD.
* If you are without a DISPLAYD then You may enable LCD_TTY and
* use arduino IDE's serial monitor to view the info.
*
* You must preserve the format of this string!
* It must be 16 characters total,
* The last 4 characters will be overwritten with the version number.
*/
#define BOARD_NAME "MultiWii V-.--"
// 123456789.123456
/************* Support multiple configuration profiles in EEPROM ************/
//#define MULTIPLE_CONFIGURATION_PROFILES
/************* do no reset constants when change of flashed program is detected ***********/
// #define NO_FLASH_CHECK
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 7 - TUNING & DEVELOPER **************/
/***************** ***************/
/*************************************************************************************************/
/**************************************************************************************/
/******** special ESC with extended range [0-2000] microseconds ********************/
/**************************************************************************************/
//#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
/**************************************************************************************/
/******** brushed ESC ****************************************************************/
/**************************************************************************************/
// for 328p proc
//#define EXT_MOTOR_32KHZ
//#define EXT_MOTOR_4KHZ
//#define EXT_MOTOR_1KHZ
// for 32u4 proc
//#define EXT_MOTOR_64KHZ
//#define EXT_MOTOR_32KHZ
//#define EXT_MOTOR_16KHZ
//#define EXT_MOTOR_8KHZ
/**************************************************************************************/
/*********************** motor, servo and other presets ***********************/
/**************************************************************************************/
/* motors will not spin when the throttle command is in low position
this is an alternative method to stop immediately the motors */
//#define MOTOR_STOP
/* some radios have not a neutral point centered on 1500. can be changed here */
#define MIDRC 1500
/*********************** Servo Refreshrates ***********************/
/* Default 50Hz Servo refresh rate*/
#define SERVO_RFR_50HZ
/* up to 160Hz servo refreshrate .. works with the most analog servos*/
//#define SERVO_RFR_160HZ
/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
for use with digital servos
dont use it with analog servos! thay may get damage. (some will work but be careful) */
//#define SERVO_RFR_300HZ
/*********************** HW PWM Servos ***********************/
/* HW PWM Servo outputs for Arduino Mega.. moves:
Pitch = pin 44
Roll = pin 45
CamTrig = pin 46
SERVO4 = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
SERVO5 = pin 12 (aileron right for fixed wing)
SERVO6 = pin 6 (rudder for fixed wing)
SERVO7 = pin 7 (elevator for fixed wing)
SERVO8 = pin 8 (motor for fixed wing) */
//#define MEGA_HW_PWM_SERVOS
/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
* one of the 3 fixed servo.refresh.rates *
* Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
* motor[0] = motor = pin 6
* servo[3] = nick servo = pin 11
* servo[4] = left servo = pin 10
* servo[5] = yaw servo = pin 5
* servo[6] = right servo= pin 9
*/
//#define A32U4_4_HW_PWM_SERVOS
#define SERVO_RFR_RATE 50 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
//#define SERVO_PIN5_RFR_RATE 200 // separate yaw pwm rate.
// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
/********************************************************************/
/**** Memory savings ****/
/********************************************************************/
/* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
/**** suppress handling of serial commands.***
* This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
* Enable either one or both of the following options */
/* Remove handling of all commands of the New MultiWii Serial Protocol.
* This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
* You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
* If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
//#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
/* Remove handling of other serial commands.
* This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
* Navigating via stick inputs on tx is not affected and will work the same. */
//#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves approx 0 to 100 bytes, depending on features enabled
/**** suppress keeping the defaults for initial setup and reset in the code.
* This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
* reset in GUI will not work on PIDs
*/
//#define SUPPRESS_DEFAULTS_FROM_GUI
//#define DISABLE_SETTINGS_TAB // Saves ~400bytes on ProMini
/********************************************************************/
/**** diagnostics ****/
/********************************************************************/
/* to log values like max loop time and others to come
logging values are visible via LCD config
set to 1, enable 'R' option to reset values, max current, max altitude
set to 2, adds min/max cycleTimes
set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
//#define LOG_VALUES 1
/* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
* used to track number of flights etc. over lifetime of controller board.
* Writes to end of eeprom - should not conflict with stored parameters yet.
* Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
* #failsafe@disarm, #i2c_errs@disarm
* Enable one or more options to show the log
*/
//#define LOG_PERMANENT
//#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
//#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
//#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
//#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
/* to add debugging code
not needed and not recommended for normal operation
will add extra code that may slow down the main loop or make copter non-flyable */
//#define DEBUG
//#define DEBUG_FREE // will add 'F' command to show free memory
/* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_CONF_DEBUG
/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
//#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.
/* Enable string transmissions from copter to GUI */
//#define DEBUGMSG
/********************************************************************/
/**** ESCs calibration ****/
/********************************************************************/
/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
Warning: this creates a special version of MultiWii Code
You cannot fly with this special version. It is only to be used for calibrating ESCs
Read How To at
http://code.google.com/p/multiwii/wiki/ESCsCalibration */
#define ESC_CALIB_LOW MINCOMMAND
#define ESC_CALIB_HIGH 2000
//#define ESC_CALIB_CANNOT_FLY // uncomment to activate
/**** internal frequencies ****/
/* frequenies for rare cyclic actions in the main loop, depend on cycle time
time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
example: with cycle time of approx 3ms, do action every 6*3ms=18ms
value must be [1; 65535] */
#define LCD_TELEMETRY_FREQ 23 // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
#define LCD_TELEMETRY_AUTO_FREQ 967// to step to next telemetry page 967 <=> 3s
#define PSENSOR_SMOOTH 16 // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
#define VBAT_SMOOTH 16 // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
#define RSSI_SMOOTH 16 // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
/********************************************************************/
/**** Dynamic Motor/Prop Balancing ****/
/********************************************************************/
/* !!! No Fly Mode !!! */
//#define DYNBALANCE // (**) Dynamic balancing controlled from Gui
/********************************************************************/
/**** Regression testing ****/
/********************************************************************/
/* for development only:
to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
together. This is meant to help detecting compile time errors for various features in a coordinated way.
It is not meant to produce your flying firmware
To use:
- do not set any options in config.h,
- enable with #define COPTERTEST 1, then compile
- if possible, check for the size
- repeat with other values of 2, 3, 4 etc.
*/
//#define COPTERTEST 1
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 8 - DEPRECATED *******/
/***************** ***************/
/*************************************************************************************************/
/* these features will be removed in the unforseeable future. Do not build new products or
* functionality based on such features. The default for all such features is OFF.
*/
/************************** WMP power pin *******************************/
//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
/* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
#define DISABLE_POWER_PIN
/*************************************************************************************************/
/**** END OF CONFIGURABLE PARAMETERS ****/
/*************************************************************************************************/
#endif /* CONFIG_H_ */
