"I have calibrated the mpu in multiconfig gui by rotating the copter in all direction for 30sec"
// Proc auto detection
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
#define PROMINI
RCvertt wrote://#define ESC_CALIB_CANNOT_FLY // I have no idea what that is. I never touched it. I calibrate each ESC directly from the receiver one at a time. It's the easiest method. Calibrate your TX first, then calibrate the ESC one at a time, directly from the receiver.
uint8_t PWM_PIN[8] = {9,10,5,6,11,13,SW_PWM_P3,SW_PWM_P4}; //for a quad+: rear,right,left,front
/**************************************************************************************/
/*************** Motor Pin order ********************/
/**************************************************************************************/
// since we are uing the PWM generation in a direct way, the pin order is just to inizialie the right pins
// its not possible to change a PWM output pin just by changing the order
#if defined(PROMINI)
uint8_t PWM_PIN[8] = {9,10,11,3,6,5,A2,12}; //for a quad+: rear,right,left,front
#endif
#if defined(PROMICRO)
#if !defined(HWPWM6)
#if defined(TEENSY20)
uint8_t PWM_PIN[8] = {14,15,9,12,22,18,16,17}; //for a quad+: rear,right,left,front
#elif defined(A32U4_4_HW_PWM_SERVOS)
uint8_t PWM_PIN[8] = {6,9,10,11,5,13,SW_PWM_P3,SW_PWM_P4}; //
#else
uint8_t PWM_PIN[8] = {9,10,5,6,4,A2,SW_PWM_P3,SW_PWM_P4}; //for a quad+: rear,right,left,front
#endif
#else
#if defined(TEENSY20)
uint8_t PWM_PIN[8] = {14,15,9,12,4,10,16,17}; //for a quad+: rear,right,left,front
#elif defined(A32U4_4_HW_PWM_SERVOS)
uint8_t PWM_PIN[8] = {6,9,10,11,5,13,SW_PWM_P3,SW_PWM_P4}; //
#else
uint8_t PWM_PIN[8] = {9,10,5,6,11,13,SW_PWM_P3,SW_PWM_P4}; //for a quad+: rear,right,left,front
#endif
#endif
#endif
#if defined(MEGA)
uint8_t PWM_PIN[8] = {3,5,6,2,7,8,9,10}; //for a quad+: rear,right,left,front //+ for y6: 7:under right 8:under left
#endif
#define GYRO_LPF_42HZ
/************************ Moving Average Gyros **********************************/
#define MMGYRO 10 // (*) Active Moving Average Function for Gyros
#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
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