alterations of throttle on fail safe v2.2 arduino config h

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s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

alterations of throttle on fail safe v2.2 arduino config h

Post by s15mpo »

Please help!!!!
Having owned my dji f450 with multiwii FC for around four years it has had very little use mainly due to my lack of understanding of all things computer related... however just lately I have started to re kindle the flame after having a few good flights lately only at close range, I've started to try my best to get my head around it!! So here goes..... I purchased the quad ready built as a rtf job lot (probably not a good idea looking back) I have started to be concerned with the failsafe and noticed that if I turn off my tx the throttle level almost reaches full.. I assume this results in no more quad and GoPro :o should I venture too far!! #desaster so my first question to anybody willing to spare me some time and knowledge is if I open arduino to alter fs throttle will I need to completely re write codes as I have no original or can I recover some how the existing codes my fear is I will resolve failsafe throttle issue but the quad will never fly again!! Making it all pretty pointless lol or are the codes as easy as the guy on YouTube makes out!! Does it alter pids etc? I have no idea and darent mess but also would love to venture past my garden fence!! : ( I'm in stoke on Trent area and will be more than willing to pay somebody to assist my first longish range fpv flight!! A wing man lol
Many thanks
Andy

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote: I have started to be concerned with the failsafe and noticed that if I turn off my tx the throttle level almost reaches full.. I assume this results in no more quad and GoPro :o should I venture too far!! #desaster so my first question to anybody willing to spare me some time and knowledge is if I open arduino to alter fs throttle will I need to completely re write codes as I have no original or can I recover some how the existing codes my fear is I will resolve failsafe throttle issue but the quad will never fly again!!
First, in order to make changes you need to have a copy of the firmware on your computer. I suppose if you have the configurator installed you could hookup to the FC and see what your PIDs are set at. Write them down (or take a screenshot) in case you screw up somewhere uploading. In your arduino config.h sketch you need to fix the speed setting on the #define_FAILSAFE_THROTTLE. This setting should be no more than a couple hundred RPM more than minthrottle. In the snippet of code below mine is set at minthrottle +300 (RPM)
My guess right now is that your failsafe is probably not even enabled. If this line in the failsafe code looks like this: //#define FAILSAFE 
Make it look like this instead:
#define FAILSAFE 
That will enable it. Failsafe comes disabled by default in Multiwii firmware. You must enable it for it to function as anticipated.

Code: Select all

[code]
  /********                          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 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 300                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 300)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  985

[/code]

s15mpo wrote:Making it all pretty pointless lol or are the codes as easy as the guy on YouTube makes out!! Does it alter pids etc? I have no idea and darent mess but also would love to venture past my garden fence!! : ( I'm in stoke on Trent area and will be more than willing to pay somebody to assist my first longish range fpv flight!! A wing man lol
Many thanks
Andy

The section of code below deals with how to keep your PIDs after an upload

Code: Select all

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


Notice the statement #define SUPPRESS_DEFAULTS_FROM_GUI is enabled. When this statement is enabled your PIDs will remain set as you had them.
I give you this info only assuming you know how to use config.h well enough to get by.
My ultimate advice to you is if you can't figure things out then you probably would be better off flying an RTF than something with a MW in it. This is one platform that can make someone that is not tech savy pullout their hair.

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

GOOD MAN
yes I do have a slight amount of tech no how it just appeared everybody was talking in another language lol thanks for the rapid reply I understand how to define and upload just didn't dare in case I screwed up I had already took a picture on my phone of the gui...... so to recap if I define as you stated in Arduino it should remember all pids etc ..... I have so many questions for you lol I also have the gps unit wired direct with no i2c board in between will gps home and hold work if I select them as aux? again I have never dared agggghhhh one step at a time hey! thanks again much appreciated I'm on it now!!!

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

sorry its also asking me to select board type I believe its a hexatronik multiwii on version 2.2 maybe the pro but it is not stated anywhere on the board would I be correct in selecting FMIMUV2?? how anybody can be an expert in this field is beyond me ..

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

feel free to call me stupid .....bbut regards too the memory savings section of the code is that also under the config h tab.....I cant see it for looking lol

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

still unable to see this bloody save section and ive been through every tab......so I thought u would go for it and manually enter pid etc and on verifying the sketch my next hurdle is this error message :

Arduino: 1.6.13 (Windows 10), Board: "Arduino/Genuino Mega or Mega 2560, ATmega2560 (Mega 2560)"

C:\Users\Andy\Documents\MultiWii_2_2\MultiWii\MultiWii.ino: In function 'void setup()':

MultiWii:694: error: 'SerialOpen' was not declared in this scope

SerialOpen(0,SERIAL0_COM_SPEED);

^

exit status 1
'SerialOpen' was not declared in this scope

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.
sorry again but I must be so close....... so frustrating

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

i really feel like setting it on fire and watching it burn would be more fun at very this moment! i am still unable to see any tab containing suppress defaults from gui
also this serial port open issue is driving me mad!!! ive tried two laptops now nothing write to the board i dont even get past verification #endif dose not end in #if
etc etc oh my god!!!!!!! please some body help! if sombody could talk me through it i would really appreciate it i am more than willing to pay..... my time invested alone is already off the scale days of my life i will never get back //# b******t

am i correct in using the same usb connection for my gui as arduino ?
my lap top can connect to gui but not write to board via arduino if i even get that far
all i want to do is alter the fail safe throttle level

thanks again

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Why not just upgrade to version 2.4 MW? Here's the reasons you should.
1. The latest version
2. More stable than v. 2.2
3.Has all the sections in config.h that you need
4. 2.2 doesn't support GPS

After you upgrade to that version I can try and walk you through this.

I have one bit of advice before we start. I am offering to help you on the condition that you not blame me if you can't get things right. I have tried helping before and it almost always ends badly. Usually the person needing help is a complete greenhorn at MW. When I start giving them things to do in config.h they often have no clue how to actually use it. I end up getting blamed for all their stupidity and they swear up and down that MW is junk and everyone flying it is faking and trying to rip them off somehow......

I've built three quadcopters from scratch using various versions of Atmega 2560 MW Pro boards. All of my quads fly well and all use GPS. I often fly autonomously using GPS waypoint navigation. I guarantee I know what I'm doing. I hope that I actually end up helping and you get it flying.

I will not continue helping anyone that acts like they are paying me for my free advice.
You must be willing to try and understand how it works on your own as well.
It's up to you.

If you decide you want my help I will need a list of devices in your setup. Motors, ESCs, FC (make and model) TX and RX.

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

my hero!!!! im more than willing to give it my all and do like the idea of 2.4 i believe rth can be activated as a fail safe always a good idea! an i promise not to call you any names provided you dont abandon me mid process lol
gear is as follows
rx dx6i
tx ar6210s with seperate dsmx sat unit (i believe)
esc hk 20a ubec 5v 3a
motors turnigy d2822/14 1450kv
board states hexatronik on the underside i believe is a multiwii se pro but not sure (may need help to determine) with small, flat white gps unit i imagine sold with the fc as a cobo not sure again on the model name
the quad is a little heavy with the gimbal all in weighing about 1.6kg
with a zippy 3000 20c 3s lipo ill try to let you know my windows os if that will help
many thanks
andy
and i will certainly not treat you like a dedicated tech support team

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Ok. its really kind of important that we know exactly what FC you are using. Can you post a pic of it? Looking up what you called yours I can find hextronik mw pro, but no hextronik mw SE pro. Is it red? Is it square in shape or does it have wings where the wires hook up?
I personally own one of the HK MW Pro Red boards (manufactured also by hextronik.)
Now, if your board is actually a MW SE, then I will be wasting our time especially if you want to someday fly GPS. That FC is based on the old 328P processor and I would recommend replacement of that FC rather than try and help you make that one worth anything. That processor has very limited memory and capabilities.

It is important that we know what board it is for the boards and sensor definition part.
I don't care about the GPS unit at this point in time.

Upon checking the PDF for your TX I see it is a six channel unit. Theoretically that is enough. The more channels the better.
I can find no info on how this TX works in a typical multi rotor craft and the manual seems oriented towards RC airplanes.
The more you know about your TX the better. I have no way of knowing how to center the TX as the PDF seems to concentrate on only the most basic of functions relating to getting the RX to bind and other trivial (to quadcopters at least) info.
Somewhere down the line you need to get your TX centered using the configurator or the win gui. Failure to do this properly will guarantee failure when trying to fly.

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

so just to recap as i will try to get the update done tonight
i am correct using the usb connection on the board to upload?
i will need to download latest 2.4 multiwii google code
also latest arduino (windows installer or just windows version?)
also the latest gui
open the multiwii file with the arduino logo then upload the code without altering anything?
is this correct
cheers

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

Sorry I did not notice you posted before my last... yes the board is red and I am sure it is not completely square and 100% it says hextronik on the bottom I will whip the lid off and do my best to post you a picture I will see what I can read up on regarding centering tx sticks
Cheers

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

youtu.be/o8gu_x3vbbw Would this be correct for centering procedure?
Cheers

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

The board does have the wider tabs where the pins go as you said I can't post a picture from my phone but could email it to you if it is vital? Or email it to myself and try to post it on the pc? Also would it be safe to go straight to 2.4 from 2.2 I wouldn't need to flash 2.3 first? Just a crazy idea of mine??
and thanks for the time and effort you have already invested

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:so just to recap as i will try to get the update done tonight
i am correct using the usb connection on the board to upload?
Yes
s15mpo wrote:i will need to download latest 2.4 multiwii google code
also latest arduino (windows installer or just windows version?)
also the latest gui
open the multiwii file with the arduino logo then upload the code without altering anything?
is this correct
cheers
Whooooaaa slow down.... Yes you do need to alter things. If you are familiar with copy and paste in arduino I can set you up a working config.h sketch and you can just paste it in to replace what you have and get things working. It would be helpful to do this one section at a time going down through the config.h sketch. That way you can learn step by step what needs changed and where.
Also, do you plan on using the configurator or the win gui?

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:youtu.be/o8gu_x3vbbw Would this be correct for centering procedure?
Cheers

That link doesn't work

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

lol ok sorry just so much in my head!!! I intend to use the gui but never really used the configurator
try again with this 1 : (
https://youtu.be/MYnqmxv132I
but I think I'm wrong u mentioned centering on win gui?
which version of Arduino would you suggest? I am running windows 10 if that matters
https://www.arduino.cc/en/Main/Software windows installer or zip file this is version 1.6.13
thanks
Last edited by s15mpo on Mon Dec 12, 2016 12:18 am, edited 1 time in total.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:The board does have the wider tabs where the pins go as you said I can't post a picture from my phone but could email it to you if it is vital? Or email it to myself and try to post it on the pc?
Sounds to me like it is the Hextronik MW Pro. It most likely came with a generic NMEA GPS
s15mpo wrote: Also would it be safe to go straight to 2.4 from 2.2 I wouldn't need to flash 2.3 first? Just a crazy idea of mine??
and thanks for the time and effort you have already invested
Yes, you can just go from 2.2 to 2.4. BUT if you want to keep your PIDs you better not do anything involved with uploading until you get the config.h set up to save the PIDs.

As far as the boards and sensor definitions go, when its time to set that it depends on what barometer your board has on it. Find the baro. Its a little metal covered chip with one tiny hole in the middle or two tiny holes kitty corner on the metal. If it is the one hole version, you will use the following board definition.
#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883
If it has two holes use the following definition.
#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

ok I will go check and I haven't done anything as yet just removed old multiwii versions installed multiwii 2.4 and awaiting your suggestions on Arduino before I do anything at all

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

it has 1 hole woooo hooo progress!!!!!

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:ok I will go check and I haven't done anything as yet just removed old multiwii versions installed multiwii 2.4 and awaiting your suggestions on Arduino before I do anything at all
Yes use the latest arduino. 1.6.3 I think it is.

OK first things first. The following code is your basic setup and boards and sensor definitions.

Code: Select all

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

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

  /****************************    Motor minthrottle    *******************************/
    /* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
       This is the minimum value that allow motors to run at a idle speed  */
    //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
    //#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
    //#define MINTHROTTLE 1064 // special ESC (simonk)
    //#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
    #define MINTHROTTLE 1000 // (*) (**)

  /****************************    Motor maxthrottle    *******************************/
    /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
    #define MAXTHROTTLE 1950

  /****************************    Mincommand          *******************************/
    /* this is the value for the ESCs when they are not armed
       in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
    #define MINCOMMAND  950

  /**********************************  I2C speed for old WMP config (useless config for other sensors)  *************/
    #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
    //#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones

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

  /**********************************  constant loop time  ******************************/
    #define LOOP_TIME 2800

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

    /***************************    Combined IMU Boards    ********************************/
      /* if you use a specific sensor board:
         please submit any correction to this list.
           Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
      //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
      #define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
      //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
      //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
      //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
      //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
      //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
      //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
      //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
      //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
      //#define PIPO            // 9DOF board from erazz
      //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
      //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
      //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
      //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
      //#define AEROQUADSHIELDv2
      //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
      //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
      //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
      //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
      //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com           <- confirmed by Alex
      //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
      //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
      //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
      //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
      //#define CITRUSv2_1      // CITRUS from qcrc.ca
      //#define CHERRY6DOFv1_0
      //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
      //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
      //#define DROTEK_6DOFv2   // Drotek 6DOF v2
      //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
      //#define DROTEK_10DOF_MPU//
      //#define MONGOOSE1_0     // mongoose 1.0    http://store.ckdevices.com/
      //#define CRIUS_LITE      // Crius MultiWii Lite
      //#define CRIUS_SE        // Crius MultiWii SE
      //#define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
      //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
      //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
      //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
      //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
      //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
      //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
      //#define GY_88 // Chinese 10 DOF with MPU6050 HMC5883L BMP085, LLC
      //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
      //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
      //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
      //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
      //#define PROTO_DIY       // 10DOF mega board
      //#define IOI_MINI_MULTIWII// www.bambucopter.com
      //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
      //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
      //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
      //#define FLYDUINO_MPU       // MPU6050 Break Out onboard 3.3V reg
      //#define CRIUS_AIO_PRO
      //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
      //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
      //#define LADYBIRD
      //#define MEGAWAP_V2_STD     // available here: http://www.multircshop.com                    <- confirmed by Alex
      //#define MEGAWAP_V2_ADV
      //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
      //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite) 
      //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
      //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
      //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
      //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
      //#define MultiWii_32U4_SE         // Hextronik MultiWii_32U4_SE
      //#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA to free flash-memory for other functions
      //#define Flyduino9DOF       // Flyduino 9DOF IMU MPU6050+HMC5883l
      //#define Nano_Plane         // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html

You should be able to just make changes to your version or you could copy and paste. If you do that be careful to only cut what is being replaced.
DO NOT UPLOAD ANYTHING TO THE FC YET!!!

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Next step: go to the memory savings section (it's way down near the end of the code.)

Code: Select all

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



Same thing here. Copy and paste what I have here or just make the changes to your version. This is the part that will save your PIDs. Still DO NOT UPLOAD TO THE FC YET.

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

ok i will download that version just ensuring we are on the same page from the get go!
i would prefer to go through what you send and alter my end if that makes sense thanks again!!!!! i will need to continue tomorrow as im off to work early tomorrow if you can spare the time tomorrow i will have everything infront of my and you will have my full attention!!! what time is best for you im usually in by around 5pm

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Next. In the following section you should only be concerned with the PID controller settings and the Arm/Disarm settings. If you look closely, I have disabled the servos settings as my quadcopter uses no servo's. There are also no common airplane and helicopter settings used because the quadcopter does not use swashplates and things like that.

Code: Select all

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

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

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

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

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

    /* Do not move servos if copter is unarmed
     * It is a quick hack to overcome feedback tail wigglight when copter has a flexibile
     * landing gear
    */
    //#define DISABLE_SERVOS_WHEN_UNARMED


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

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

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

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

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

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

    /* Governor: attempts to maintain rpm through pitch and voltage changes
     * predictive approach: observe input signals and voltage and guess appropriate corrections.
     * (the throttle curve must leave room for the governor, so 0-50-75-80-80 is ok, 0-50-95-100-100 is _not_ ok.
     * Can be toggled via aux switch.
     */
    //#define GOVERNOR_P 7     // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
    //#define GOVERNOR_D 4     // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;

    /* tail precomp from collective */
    //#define YAW_COLL_PRECOMP 10           // (*) proportional factor in 0.1. Higher value -> higher precomp effect. value of 10 equals no/neutral effect
    //#define YAW_COLL_PRECOMP_DEADBAND 120 // (*) deadband for collective pitch input signal around 0-pitch input value

    //#define VOLTAGEDROP_COMPENSATION // voltage impact correction

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

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

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

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

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


s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

sorry me being cautious again but to confirm

Windows Installer or
Windows ZIP file for non admin install version

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:ok i will download that version just ensuring we are on the same page from the get go!
i would prefer to go through what you send and alter my end if that makes sense thanks again!!!!! i will need to continue tomorrow as im off to work early tomorrow if you can spare the time tomorrow i will have everything infront of my and you will have my full attention!!! what time is best for you im usually in by around 5pm


From here on I will just be publishing snippets of code you will need to either change or copy and paste.

What you need to do when you get back tomorrow is apply the changes in my code to yours.

When we get the code setup I will walk you through the update to the FC.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

In this section of code I'm sorry but the end result will be up to what you can find out about how your TX works. I don't use a Spektrum so there might be something in there you need to enable or disable.
With my Turnigy 9x TX I just disable everything in this section.

Code: Select all

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

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

/****************************    EXTENDED AUX STATES    ***********************************/
/* If you uncomment this line, you can use six states for each of the aux channels (AUX1-AUX4)
to control your copter.
Channel values
1000-1230
1231-1360
1361-1490
1491-1620
1621-1749
1750-

At this moment you can use this function only with WinGUI 2.3 release. MultiWiiConf does not support it yet
*/

//#define EXTENDED_AUX_STATES


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

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

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

    /**********************    Spektrum Satellite Reciver    *******************************/
      /* The following lines apply only for Spektrum Satellite Receiver
         Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
         For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
         For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
      //#define SPEKTRUM 1024
      //#define SPEKTRUM 2048
      //#define RX_SERIAL_PORT 1    // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
      //**************************
      // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
      //   Bind mode will be same as declared above, if your TX is capable.
      //   Ground, Power, and Signal must come from three adjacent pins.
      //   By default, these are Ground=4, Power=5, Signal=6.  These pins are in a row on most MultiWii shield boards. Pins can be overriden below. 
      //   Normally use 3.3V regulator is needed on the power pin!!  If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
      //**************************
      //   For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
      //#define SPEK_BIND             //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it.
      //#define SPEK_BIND_GROUND 4
      //#define SPEK_BIND_POWER  5
      //#define SPEK_BIND_DATA   6

    /*******************************    SBUS RECIVER    ************************************/
      /* The following line apply only for Futaba S-Bus Receiver on MEGA boards or PROMICRO boards.
         You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
      //#define SBUS     PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11,12,13,14,15,16,17  // dsm2 orangerx
      //#define SBUS     ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11,12,13,14,15,16,17  // T14SG
      //#define RX_SERIAL_PORT 1
      //#define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500

    /******************************* HOTT RECIVER ************************************/
    /* Graupner Hott HD */
    //#define SUMD PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4
    //#define RX_SERIAL_PORT 1


Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

I leave everything disabled in this section as well

Code: Select all

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

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

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

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


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


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

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

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

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

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

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

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


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

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

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

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

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


s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

so far so good I understand all that you have suggested in config h I think I haven't yet opened my Arduino so you are a little ahead of me but I assume you inserted the // before :-
//#define SERVO_NICK { +10, -10, 0 }
//#define SERVO_LEFT { +10, +5, +10 }
//#define SERVO_RIGHT { +10, +5, -10 }

or just this section :-
//#define DISABLE_SERVOS_WHEN_UNARMED

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

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

ok all taken on board! with your help the Arduino makes sense its all this downloading zip files uploading etc so many versions some not compatable with eachother but I think I'm on the right track
cheers

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:so far so good I understand all that you have suggested in config h I think I haven't yet opened my Arduino so you are a little ahead of me but I assume you inserted the // before :-
//#define SERVO_NICK { +10, -10, 0 }
//#define SERVO_LEFT { +10, +5, +10 }
//#define SERVO_RIGHT { +10, +5, -10 }

Yes I disabled all of that servo stuff and the common for heli and airplane stuff too.

Kbev5709
Posts: 451
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

The following section sets the baud rate for your serial ports. You might also want to set your Gyro filter to 98 Hz.This helps with vibration issues in subtle ways.

Code: Select all

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

    /* 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.
         available for ITG3050, ITG3200, MPU3050, MPU6050*/
      //#define GYRO_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define GYRO_LPF_188HZ
      #define GYRO_LPF_98HZ
      //#define GYRO_LPF_42HZ
      //#define GYRO_LPF_20HZ
      //#define GYRO_LPF_10HZ
      //#define GYRO_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props -- setting not available on ITG3200

Ignore and leave disabled Gyro smoothing, moving average gyros, and analog reads.

Next comes optional features.
Here, in optional features you want to enable #define ALTITUDE_RESET_ON_ARM. This resets the altitude in the baro to zero every time you arm. If your quad loses altitude in turns you want to enable the //#define THROTTLE_ANGLE_CORRECTION 40 (shown disabled) and you can change the number from 40 to whatever works best for your setup. Headfree is a flight mode that I use sometimes but if you don't want it just disable it. (Shown enabled) Advanced headfree through assisted acrotrainer everything is disabled.

Code: Select all

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

  /************************        Reset Baro altitude on arm         ********************/
  /* When unchecked a calibration of the baro altitude is preformed every time arming is activated */
  #define ALTITUDE_RESET_ON_ARM

  /************************        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
  
  /*** HEADFREE : the copter can be controled by an absolute stick orientation, whatever the yaw orientation ***/
  #define HEADFREE
  
 /*************************        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   // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437

Last edited by Kbev5709 on Mon Dec 12, 2016 1:54 am, edited 1 time in total.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

The next section is the mighty failsafe. The version below should be reasonable in speed settings considering the weight of your craft.

Code: Select all


  /********                          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 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 300                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 300)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  985


Kbev5709
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Next section is left alone from DFRobot LED Ring to OSD Switch.

Code: Select all


  /*****************                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


Kbev5709
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

The next section sets up a dead zone in your TX. I don't feel like explaining this in depth but it is almost always a good idea to enable this. Mine is set to ten because I have some slop in my sticks when zeroing. From 6 to 12 would be about it on that.

Code: Select all

  /**************************************************************************************/
  /***********************                  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 10

Last edited by Kbev5709 on Mon Dec 12, 2016 1:57 am, edited 1 time in total.

Kbev5709
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

The next section deals with GPS settings. We need to know what GPS module you are using before we can set it up correctly.

Kbev5709
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:sorry me being cautious again but to confirm

Windows Installer or
Windows ZIP file for non admin install version

I believe the zip file is fine.
Make sure you extract everything.
When you make changes in the code, save them.
I found this old link to info on setting that board up. Some of it is old and outdated. Some is just plain wrong but most of the info is still relevant.https://www.rcgroups.com/forums/showthread.php?1726790-MultiWii-on-HK-MultiWii-Mega-Board-WITH-MTK-3329-GPS
The following link also contains some old but still relevant info:
http://www.multiwii.com/wiki/index.php?title=Main_Page

s15mpo
Posts: 53
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Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

Ok thank you!! I will Try to get some done tonight what damage can i do if I set them the same as yours regarding tx settings and should I get it wrong can I alter accordingly and re write?
Where would you suggest I start to look for tx info? If I took a gamble and replicate yours as a test what's the worst that can happen???
I think I have the Mtk 3329 gps unit going off pictures I will view the links asap
Thanks again
Andy

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:Ok thank you!! I will Try to get some done tonight what damage can i do if I set them the same as yours regarding tx settings and should I get it wrong can I alter accordingly and re write?
Yes you can re write after altering. You should try and find out about the TX and how it works because I'm not certain that the setup I use will work.
s15mpo wrote:Where would you suggest I start to look for tx info? If I took a gamble and replicate yours as a test what's the worst that can happen???
There is instructions included in the code on what to do with your code when it comes to spektrum TX. Other than that maybe YouTube? The RX and the FC wouldn't communicate is probably the worst thing that can happen. Not anything too deep there.
s15mpo wrote:I think I have the Mtk 3329 gps unit going off pictures I will view the links asap
Thanks again
Andy

With that GPS module you need to set up NMEA and do an initialize before it will work, I will explain that in the GPS code coming up.
Too bad you live in England and I live in U.S. It would be a lot easier to just come and help you hands on.

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

wow I didn't realise you are from US if you were in uk I think you would be the only person in the country with an understanding of it all lol cool ok I think I have done all that you suggested on the code so far even the save settings I left all the tx as standard andi have saved the file but not closed Arduino...... I daren't even let the lap top close down hahaha
is this what I should be trying to understand?

/********************** Spektrum Satellite Reciver *******************************/
/* The following lines apply only for Spektrum Satellite Receiver
Spektrum Satellites are 3V devices. DO NOT connect to 5V!
For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
For PROMINI, attach sat grey to RX0. Attach sat black to ground. */
//#define SPEKTRUM 1024
//#define SPEKTRUM 2048
//#define RX_SERIAL_PORT 1 // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
//**************************
// Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
// Bind mode will be same as declared above, if your TX is capable.
// Ground, Power, and Signal must come from three adjacent pins.
// By default, these are Ground=4, Power=5, Signal=6. These pins are in a row on most MultiWii shield boards. Pins can be overriden below.
// Normally use 3.3V regulator is needed on the power pin!! If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
//**************************
// For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
//#define SPEK_BIND //Un-Comment for Spektrum Satellie Bind Support. Code is ~420 bytes smaller without it.
//#define SPEK_BIND_GROUND 4
//#define SPEK_BIND_POWER 5
//#define SPEK_BIND_DATA 6

cheers

a conversation for another time but fancy Trump getting in!!!! look up Borris over here now he is something special lol google him....... if you don't already know of him

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

I found this

Spektrum Satellite support for MultiWii is ready for Alpha test.

At the moment, it supports one Spektrum Satellite and requires an Arduino Mega 2560 or Seeduino Mega

Future plans include:•Integration into the MultiWii trunk code base
•Binding directly from the Arduino
•ProMini support for 1 Satellite
•Mega support for multiple Satellites
•11MS refresh support for the DX7SE and similar
•Perhaps other things... feel free to suggest

Binding: At this moment in time, you must bind the Satellite to the TX by using a Spektrum "main" receiver. You must bind in 1024 mode and in 22MS refresh mode. Getting these modes is dependent on what TX/RX pair you use when binding. The simplest way is to use a 6xxx or 7xxx receiver.

Connections: The satellite has three wires, Orange, Black, Grey. Black goes to any ground. Orange goes to the +3.3V pin marked on the Mega board. Grey goes to Pin 19 / RX1. Diagram here.

Important note: Spektrum has been known to ship cables with the colors reversed! When holding the Satellite with the Spektrum logo toward you and the antennas up, Orange should be left, Black middle, Grey right. Like this

Code: The code is here. Be sure and un-comment the #Define Spektrum option. This was built from a development version slightly above 1_8, so all other definable options from 1_8 should work. Be sure and define things correctly for your copter.

Note: Since MultiWii + Spektrum was built from an above 1_8 base, a matching GUI Config release is required. It is available here


Good Luck, have fun, be safe, and remember: This is ALPHA code! It has been flight tested exactly once, on one of my Tri-Copters. Be safe, and don't fly a bird you aren't willing to crash!

Please Post all Satellite flight-test reports, questions, and suggestions to this thread.


let me know what you think please the receiver must be wired correctly as it has worked and does still .... for now ! I'm unsure as to how it translates to the code my aux do activate flight modes in config gui I only use 2 aux channels and all switches on tx are 2 position
cheers

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:

let me know what you think please the receiver must be wired correctly as it has worked and does still .... for now ! I'm unsure as to how it translates to the code my aux do activate flight modes in config gui I only use 2 aux channels and all switches on tx are 2 position
cheers

Like I said, I am not the person for advice on spektrum stuff. I suppose if the RX is already bound to the TX and it has already worked, then just leave the spektrum stuff in the code alone. If the RX has already controlled the FC from the TX then leave well enough alone. If for some reason the TX and RX fail to work after the upload of the new firmware, you will have to find out what needs done at that point in time.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

Following is the code set up to use and initialize the GPS. Change your GPS section to look like this. After the initial upload of the firmware to the FC, go back into the config.h and DISABLE THE #define INIT_MTK_GPS only. Then re-upload one more time. This is how one initializes the unit for operation.
Just a tip right now since we are talking upload. Any time you upload a new update done to the firmware, all of your previous ACC and level mode trims go away. After ANY UPLOAD ALWAYS RE CALIBRATE THE ACC (set on level surface, hit calibrate) and the magnetometer. When first using level mode you will need to retune the level mode trims.

Code: Select all

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

    /* ENable this for using GPS simulator (NMEA only)*/
    //#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
                                   // must be 0 for PRO_MINI (ex GPS_PRO_MINI)
                                   // note: Now a GPS can share MSP on the same port. The only constrain is to not use it simultaneously, and use the same port speed.

    // 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   57600       // GPS_BAUD will override SERIALx_COM_SPEED for the selected port

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

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


    /* I2C GPS device made with an independant arduino + GPS device
       including some navigation functions
       contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/
       You have to use at least I2CGpsNav code r33 */
    /* all functionnalities allowed by SERIAL_GPS are now available for I2C_GPS: all relevant navigation computations are gathered in the main FC */

    //#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 -5.2f   //(**)

// 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           200      //(**)

//Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
#define MAX_NAV_ALTITUDE           80     //(**)

// minimum speed when approach waypoint
#define NAV_SPEED_MIN              100    // cm/sec //(**)
// maximum speed to reach between waypoints
#define NAV_SPEED_MAX              500    // 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


    //#define ONLY_ALLOW_ARM_WITH_GPS_3DFIX      // Only allow FC arming if GPS has a 3D fix.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

For the rest of the code, unless you have an on board LCD or OLED or plan on using telemetry turn all that stuff off except what I have left on in mine. When you get to #define MOTOR_STOP, it is up to you if you leave that enabled or not. What that does is it prevents the motors from turning when the throttle is down all the way. I like to be able to arm my quads without the motors spinning because they are armed, so I enabled this function.

Code: Select all

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

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

    /*****************************   The type of LCD     **********************************/
      /* choice of LCD attached for configuration and telemetry, see notes below */
      //#define LCD_DUMMY       // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink. 
      //#define LCD_SERIAL3W    // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
      //#define LCD_TEXTSTAR    // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
      //#define LCD_VT100       // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
      //#define LCD_TTY         // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
      //#define LCD_ETPP        // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
      //#define LCD_LCD03       // I2C LCD: LCD03, which is i2c
      //#define LCD_LCD03S      // SERIAL LCD: LCD03 whit serial 9600 baud comunication enabled.
      //#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
      //#define OLED_DIGOLE     // I2C OLED from http://www.digole.com/index.php?productID=550

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
    //#define SUPPRESS_TELEMETRY_PAGE_1
    //#define SUPPRESS_TELEMETRY_PAGE_2 // sensor readings
    //#define SUPPRESS_TELEMETRY_PAGE_3 // checkboxitems
    //#define SUPPRESS_TELEMETRY_PAGE_4 // rx inputs
    //#define SUPPRESS_TELEMETRY_PAGE_5 // servo&motor outputs
    //#define SUPPRESS_TELEMETRY_PAGE_6 // cells voltages
    //#define SUPPRESS_TELEMETRY_PAGE_7 // gps
    //#define SUPPRESS_TELEMETRY_PAGE_8 // alarms states
    //#define SUPPRESS_TELEMETRY_PAGE_9 // cycle & fails
    //#define SUPPRESS_TELEMETRY_PAGE_R // reset

    /* optional override default items for some telemetry pages - for complete list of usable functions see LCD.h */
    //#define LCD_TELEMETRY_PAGE1 { output_V, output_mAh, }
    //#define LCD_TELEMETRY_PAGE2 { output_gyroX, output_gyroY, output_accZ, }
    //#define LCD_TELEMETRY_PAGE9 { output_fails, output_annex, output_debug0, output_debug3, }

  /********************************************************************/
  /****                             RSSI                           ****/
  /********************************************************************/
    //#define RX_RSSI
    //#define RX_RSSI_PIN A3
    //#define RX_RSSI_CHAN 8   //RSSI injection on selected channel (for PPM, Olrs, SBUS, etc.) (Starts at 0)

  /********************************************************************/
  /****                             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
    #define VBAT_OFFSET       0 // offset in 0.1Volts, gets added to voltage value  - useful for zener diodes

    /* for V BAT monitoring of individual cells
     * enable both VBAT and VBAT_CELLS
     */
    //#define VBAT_CELLS
    #define VBAT_CELLS_NUM 0 // set this to the number of cells you monitor via analog pins
    #define VBAT_CELLS_PINS {A0, A1, A2, A3, A4, A5 } // set this to the sequence of analog pins
    #define VBAT_CELLS_OFFSETS {0, 50, 83, 121, 149, 177 } // in 0.1 volts, gets added to voltage value  - useful for zener diodes
    #define VBAT_CELLS_DIVS { 75, 122,  98, 18, 30, 37 } // divisor for proportional part according to resistors - larger value here gives smaller voltage

  /********************************************************************/
  /****           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) */
    //#define WATTS // compute and display the actual watts (=Volt*Ampere) consumed - requires both POWERMETER_HARD and VBAT

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

    /* defines the neutral zone of throttle stick during altitude hold, default setting is
       +/-50 uncommend and change the value below if you want to change it. */
    #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    50
    //#define ALT_HOLD_THROTTLE_MIDPOINT        1500  // in us    - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.


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

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

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

  /********************************************************************/
  /****           board 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                                  **************/
/*****************                                                                 ***************/
/*************************************************************************************************/

  #define VBAT_PRESCALER 16 // set this to 8 if vbatscale would exceed 255

  /**************************************************************************************/
  /********   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  300    // 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_ */


s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

wo wo wo now whos moving too fast lol... just to recap firt upload code like:
#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
#define INIT_MTK_GPS


then re load up again ie open the same saved code alter only this section back to:
#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
// #define INIT_MTK_GPS
then re write?

also do I need to select a board type?
regards to autolevel trim I understand altering them I think
thanks

s15mpo
Posts: 53
Joined: Thu Jun 20, 2013 7:42 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by s15mpo »

also a processor by the looks of things currently selected are
Arduino/genuine mega or mega 2560 board and processor is ATmega 2560

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

After you get all the code changed, compile it and save it.
Now, hookup your USB to the FC from the computer then hit the upload button. Wait until all the flashing lights settle down then voila, your new firmware is ready.
Don't forget after this first upload that you must go back and disable the #define INIT_MTK_GPS that you used to initialize theGPS with.

Immediately after this second successful upload you want to re calibrate the ACC and the mag.

Next step is to center up the TX to the readings on the GUI.

Since you are using that friggin spektrum, once again I am not of any help with this and perhaps a youtube video exists for doing that.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:wo wo wo now whos moving too fast lol... just to recap firt upload code like:
#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
#define INIT_MTK_GPS


then re load up again ie open the same saved code alter only this section back to:
#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
// #define INIT_MTK_GPS
then re write?
Yes that is correct.

s15mpo wrote:also do I need to select a board type?
In the tools menu in the arduino interface? There you choose Arduino Mega or Mega 2560

In boards and sensor definitions in the config.h you enable #define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

s15mpo wrote:also a processor by the looks of things currently selected are
Arduino/genuine mega or mega 2560 board and processor is ATmega 2560

Those are correct.

Kbev5709
Posts: 451
Joined: Mon Aug 17, 2015 5:56 pm

Re: alterations of throttle on fail safe v2.2 arduino config

Post by Kbev5709 »

I'm sorry but the connection to the internet is messed up today. I'm going to have to give up for now.

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