MultiWii

Hi

I have a question about GPS return to home and position hold. In the GUI, there is only an option for assigning a switch to 'GPS'. Which function will this active? And does this mean I need two channels if I want to use both?

Thanks, Zane

Another thing, what ports on an Arduino Pro Mini should I use for I2C gps module, and magnometer?

im not sure about the port thing as use serial on a mega

in gui there is actually POSHOLD & RTH options in switch assignment screen, you need to assign some way of choosing/activating them depending on what ones you want.

for me i use a three way switch setup -> 0:off, 1:POSHOLD/BARO/LEVEL/MAG, 2:RTH/BARO/LEVEL/MAG

BARO & MAG are optional

what does the quad use for its altitude when poshold is activated? the gps altitude or the baro altitude?
is it best to leave baro off for poshold or baro on?

Baro is used for the Althold.
GPS Alt have a resolution of 1meter.

If you have a good working Althold on your setup it's ok to use.