Tricopter Software

[DRose]

Here is thwe last code that I have used that gave me the least number of errors when running the sketch. I hope I did this right and have everything you need to see. Thank you for your help and patience.

core.a(main.cpp.o): In function `main’:

C:\Documents and Settings\HP_Administrator\Desktop\arduino-1.0.5-r2\hardware\arduino\cores\arduino/main.cpp:11: undefined reference to `setup’

C:\Documents and Settings\HP_Administrator\Desktop\arduino-1.0.5-r2\hardware\arduino\cores\arduino/main.cpp:14: undefined reference to `loop’

/*

MultiWiiCopter by Alexandre Dubus

www.multiwii.com

November 2013 V2.3

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

any later version. see <http://www.gnu.org/licenses/>

*/

#include <avr/io.h>

#include “Arduino.h”

#include “config.h”

#include “def.h”

#include “types.h”

#include “MultiWii.h”

#include “Alarms.h”

#include “EEPROM.h”

#include “IMU.h”

#include “LCD.h”

#include “Output.h”

#include “RX.h”

#include “Sensors.h”

#include “Serial.h”

#include “GPS.h”

#include “Protocol.h”

#include <avr/pgmspace.h>

/*********** RC alias *****************/

const char pidnames PROGMEM =

“ROLL;”

“PITCH;”

“YAW;”

“ALT;”

“Pos;”

“PosR;”

“NavR;”

“LEVEL;”

“MAG;”

“VEL;”

;

const char boxnames PROGMEM = // names for dynamic generation of config GUI

“ARM;”

#if ACC

“ANGLE;”

“HORIZON;”

#endif

#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))

“BARO;”

#endif

#ifdef VARIOMETER

“VARIO;”

#endif

#if MAG

“MAG;”

“HEADFREE;”

“HEADADJ;”

#endif

#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)

“CAMSTAB;”

#endif

#if defined(CAMTRIG)

“CAMTRIG;”

#endif

#if GPS

“GPS HOME;”

“GPS HOLD;”

#endif

#if defined(FIXEDWING) || defined(HELICOPTER)

“PASSTHRU;”

#endif

#if defined(BUZZER)

“BEEPER;”

#endif

#if defined(LED_FLASHER)

“LEDMAX;”

“LEDLOW;”

#endif

#if defined(LANDING_LIGHTS_DDR)

“LLIGHTS;”

#endif

#ifdef INFLIGHT_ACC_CALIBRATION

“CALIB;”

#endif

#ifdef GOVERNOR_P

“GOVERNOR;”

#endif

#ifdef OSD_SWITCH

“OSD SW;”

#endif

;

const uint8_t boxids PROGMEM = {// permanent IDs associated to boxes. This way, you can rely on an ID number to identify a BOX function.

0, //“ARM;”

#if ACC

1, //“ANGLE;”

2, //“HORIZON;”

#endif

#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))

3, //“BARO;”

#endif

#ifdef VARIOMETER

4, //“VARIO;”

#endif

#if MAG

5, //“MAG;”

6, //“HEADFREE;”

7, //“HEADADJ;”

#endif

#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)

8, //“CAMSTAB;”

#endif

#if defined(CAMTRIG)

9, //“CAMTRIG;”

#endif

#if GPS

10, //“GPS HOME;”

11, //“GPS HOLD;”

#endif

#if defined(FIXEDWING) || defined(HELICOPTER)

12, //“PASSTHRU;”

#endif

#if defined(BUZZER)

13, //“BEEPER;”

#endif

#if defined(LED_FLASHER)

14, //“LEDMAX;”

15, //“LEDLOW;”

#endif

#if defined(LANDING_LIGHTS_DDR)

16, //“LLIGHTS;”

#endif

#ifdef INFLIGHT_ACC_CALIBRATION

17, //“CALIB;”

#endif

#ifdef GOVERNOR_P

18, //“GOVERNOR;”

#endif

#ifdef OSD_SWITCH

19, //“OSD_SWITCH;”

#endif

};

uint32_t currentTime = 0;

uint16_t previousTime = 0;

uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop

uint16_t calibratingA = 0; // the calibration is done in the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.

uint16_t calibratingB = 0; // baro calibration = get new ground pressure value

uint16_t calibratingG;

int16_t magHold,headFreeModeHold; // [-180;+180]

uint8_t vbatMin = VBATNOMINAL; // lowest battery voltage in 0.1V steps

uint8_t rcOptions[CHECKBOXITEMS];

int32_t AltHold; // in cm

int16_t sonarAlt;

int16_t BaroPID = 0;

int16_t errorAltitudeI = 0;

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

// gyro+acc IMU

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

int16_t gyroZero[3] = {0,0,0};

imu_t imu;

analog_t analog;

alt_t alt;

att_t att;

#if defined(ARMEDTIMEWARNING)

uint32_t ArmedTimeWarningMicroSeconds = 0;

#endif

int16_t debug[4];

flags_struct_t f;

//for log

#if defined(LOG_VALUES) || defined(LCD_TELEMETRY)

uint16_t cycleTimeMax = 0; // highest ever cycle timen

uint16_t cycleTimeMin = 65535; // lowest ever cycle timen

int32_t BAROaltMax; // maximum value

uint16_t GPS_speedMax = 0; // maximum speed from gps

uint16_t powerValueMaxMAH = 0;

#endif

#if defined(LOG_VALUES) || defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT)

uint32_t armedTime = 0;

#endif

int16_t i2c_errors_count = 0;

int16_t annex650_overrun_count = 0;

#if defined(THROTTLE_ANGLE_CORRECTION)

int16_t throttleAngleCorrection = 0; // correction of throttle in lateral wind,

int8_t cosZ = 100; // cos(angleZ)*100

#endif

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

//Automatic ACC Offset Calibration

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

#if defined(INFLIGHT_ACC_CALIBRATION)

uint16_t InflightcalibratingA = 0;

int16_t AccInflightCalibrationArmed;

uint16_t AccInflightCalibrationMeasurementDone = 0;

uint16_t AccInflightCalibrationSavetoEEProm = 0;

uint16_t AccInflightCalibrationActive = 0;

#endif

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

// power meter

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

#if defined(POWERMETER) || ( defined(LOG_VALUES) && (LOG_VALUES >= 3) )

uint32_t pMeter[PMOTOR_SUM + 1]; // we use [0:7] for eight motors,one extra for sum

uint8_t pMeterV; // dummy to satisfy the paramStruct logic in ConfigurationLoop()

uint32_t pAlarm; // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]

uint16_t powerValue = 0; // last known current

#endif

uint16_t intPowerTrigger1;

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

// telemetry

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

#if defined(LCD_TELEMETRY)

uint8_t telemetry = 0;

uint8_t telemetry_auto = 0;

#endif

#ifdef LCD_TELEMETRY_STEP

char telemetryStepSequence = LCD_TELEMETRY_STEP;

uint8_t telemetryStepIndex = 0;

#endif

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

// rc functions

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

#define ROL_LO (1<<(2*ROLL))

#define ROL_CE (3<<(2*ROLL))

#define ROL_HI (2<<(2*ROLL))

#define PIT_LO (1<<(2*PITCH))

#define PIT_CE (3<<(2*PITCH))

#define PIT_HI (2<<(2*PITCH))

#define YAW_LO (1<<(2*YAW))

#define YAW_CE (3<<(2*YAW))

#define YAW_HI (2<<(2*YAW))

#define THR_LO (1<<(2*THROTTLE))

#define THR_CE (3<<(2*THROTTLE))

#define THR_HI (2<<(2*THROTTLE))

int16_t failsafeEvents = 0;

volatile int16_t failsafeCnt = 0;

int16_t rcData[RC_CHANS]; // interval [1000;2000]

int16_t rcSerial[8]; // interval [1000;2000] - is rcData coming from MSP

int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW

uint8_t rcSerialCount = 0; // a counter to select legacy RX when there is no more MSP rc serial data

int16_t lookupPitchRollRC[5];// lookup table for expo & RC rate PITCH+ROLL

int16_t lookupThrottleRC[11];// lookup table for expo & mid THROTTLE

#if defined(SPEKTRUM)

volatile uint8_t spekFrameFlags;

volatile uint32_t spekTimeLast;

#endif

#if defined(OPENLRSv2MULTI)

uint8_t pot_P,pot_I; // OpenLRS onboard potentiometers for P and I trim or other usages

#endif

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

// motor and servo functions

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

int16_t axisPID[3];

int16_t motor[8];

int16_t servo[8] = {1500,1500,1500,1500,1500,1500,1500,1000};

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

// EEPROM Layout definition

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

static uint8_t dynP8[2], dynD8[2];

global_conf_t global_conf;

conf_t conf;

#ifdef LOG_PERMANENT

plog_t plog;

#endif

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

// GPS common variables

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

int16_t GPS_angle[2] = { 0, 0}; // the angles that must be applied for GPS correction

int32_t GPS_coord[2];

int32_t GPS_home[2];

int32_t GPS_hold[2];

uint8_t GPS_numSat;

uint16_t GPS_distanceToHome; // distance to home - unit: meter

int16_t GPS_directionToHome; // direction to home - unit: degree

uint16_t GPS_altitude; // GPS altitude - unit: meter

uint16_t GPS_speed; // GPS speed - unit: cm/s

uint8_t GPS_update = 0; // a binary toogle to distinct a GPS position update

uint16_t GPS_ground_course = 0; // - unit: degree*10

uint8_t GPS_Present = 0; // Checksum from Gps serial

uint8_t GPS_Enable = 0;

// The desired bank towards North (Positive) or South (Negative) : latitude

// The desired bank towards East (Positive) or West (Negative) : longitude

int16_t nav[2];

int16_t nav_rated[2]; //Adding a rate controller to the navigation to make it smoother

uint8_t nav_mode = NAV_MODE_NONE; // Navigation mode

uint8_t alarmArray[16]; // array

#if BARO

int32_t baroPressure;

int32_t baroTemperature;

int32_t baroPressureSum;

#endif

void annexCode() { // this code is excetuted at each loop and won’t interfere with control loop if it lasts less than 650 microseconds

static uint32_t calibratedAccTime;

uint16_t tmp,tmp2;

uint8_t axis,prop1,prop2;

// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value

prop2 = 128; // prop2 was 100, is 128 now

if (rcData[THROTTLE]>1500) { // breakpoint is fix: 1500

if (rcData[THROTTLE]<2000) {

prop2 -= ((uint16_t)conf.dynThrPID*(rcData[THROTTLE]-1500)>>9); // /512 instead of /500

} else {

prop2 -= conf.dynThrPID;

}

}

for(axis=0;axis<3;axis++) {

tmp = min(abs(rcData[axis]-MIDRC),500);

#if defined(DEADBAND)

if (tmp>DEADBAND) { tmp -= DEADBAND; }

else { tmp=0; }

#endif

if(axis!=2) { //ROLL & PITCH

tmp2 = tmp>>7; // 500/128 = 3.9 => range [0;3]

rcCommand[axis] = lookupPitchRollRC[tmp2] + ((tmp-(tmp2<<7)) * (lookupPitchRollRC[tmp2+1]-lookupPitchRollRC[tmp2])>>7);

prop1 = 128-((uint16_t)conf.rollPitchRate*tmp>>9); // prop1 was 100, is 128 now – and /512 instead of /500

prop1 = (uint16_t)prop1*prop2>>7; // prop1: max is 128 prop2: max is 128 result prop1: max is 128

dynP8[axis] = (uint16_t)conf.pid[axis].P8*prop1>>7; // was /100, is /128 now

dynD8[axis] = (uint16_t)conf.pid[axis].D8*prop1>>7; // was /100, is /128 now

} else { // YAW

rcCommand[axis] = tmp;

}

if (rcData[axis]<MIDRC) rcCommand[axis] = -rcCommand[axis];

}

tmp = constrain(rcData[THROTTLE],MINCHECK,2000);

tmp = (uint32_t)(tmp-MINCHECK)*2559/(2000-MINCHECK); // [MINCHECK;2000] → [0;2559]

tmp2 = tmp/256; // range [0;9]

rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp-tmp2*256) * (lookupThrottleRC[tmp2+1]-lookupThrottleRC[tmp2]) / 256; // [0;2559] → expo → [conf.minthrottle;MAXTHROTTLE]

if(f.HEADFREE_MODE) { //to optimize

float radDiff = (att.heading - headFreeModeHold) * 0.0174533f; // where PI/180 ~= 0.0174533

float cosDiff = cos(radDiff);

float sinDiff = sin(radDiff);

int16_t rcCommand_PITCH = rcCommand[PITCH]*cosDiff + rcCommand[ROLL]*sinDiff;

rcCommand[ROLL] = rcCommand[ROLL]*cosDiff - rcCommand[PITCH]*sinDiff;

rcCommand[PITCH] = rcCommand_PITCH;

}

// query at most one multiplexed analog channel per MWii cycle

static uint8_t analogReader =0;

switch (analogReader++%3) {

#if defined(POWERMETER_HARD)

case 0:

{

uint16_t pMeterRaw; // used for current reading

static uint32_t lastRead = currentTime;

static uint8_t ind = 0;

static uint16_t pvec[PSENSOR_SMOOTH], psum;

uint16_t p = analogRead(PSENSORPIN);

//LCDprintInt16(p); LCDcrlf();

//debug[0] = p;

#if PSENSOR_SMOOTH != 1

psum += p;

psum -= pvec[ind];

pvec[ind++] = p;

ind %= PSENSOR_SMOOTH;

p = psum / PSENSOR_SMOOTH;

#endif

powerValue = ( conf.psensornull > p ? conf.psensornull - p : p - conf.psensornull); // do not use abs(), it would induce implicit cast to uint and overrun

analog.amperage = powerValue * conf.pint2ma;

pMeter[PMOTOR_SUM] += ((currentTime-lastRead) * (uint32_t)((uint32_t)powerValue*conf.pint2ma))/100000; // [10 mA * msec]

lastRead = currentTime;

break;

}

#endif // POWERMETER_HARD

#if defined(VBAT)

case 1:

{

static uint8_t ind = 0;

static uint16_t vvec[VBAT_SMOOTH], vsum;

uint16_t v = analogRead(V_BATPIN);

//debug[1] = v;

#if VBAT_SMOOTH == 1

analog.vbat = (v<<4) / conf.vbatscale; // result is Vbatt in 0.1V steps

#else

vsum += v;

vsum -= vvec[ind];

vvec[ind++] = v;

ind %= VBAT_SMOOTH;

#if VBAT_SMOOTH == 16

analog.vbat = vsum / conf.vbatscale; // result is Vbatt in 0.1V steps

#elif VBAT_SMOOTH < 16

analog.vbat = (vsum * (16/VBAT_SMOOTH)) / conf.vbatscale; // result is Vbatt in 0.1V steps

#else

analog.vbat = ((vsum /VBAT_SMOOTH) * 16) / conf.vbatscale; // result is Vbatt in 0.1V steps

#endif

#endif

break;

}

#endif // VBAT

#if defined(RX_RSSI)

case 2:

{

static uint8_t ind = 0;

static uint16_t rvec[RSSI_SMOOTH], rsum;

uint16_t r = analogRead(RX_RSSI_PIN);

#if RSSI_SMOOTH == 1

analog.rssi = r;

#else

rsum += r;

rsum -= rvec[ind];

rvec[ind++] = r;

ind %= RSSI_SMOOTH;

r = rsum / RSSI_SMOOTH;

analog.rssi = r;

#endif

break;

}

#endif

} // end of switch()

#if defined(BUZZER)

alarmHandler(); // external buzzer routine that handles buzzer events globally now

#endif

if ( (calibratingA>0 && ACC ) || (calibratingG>0) ) { // Calibration phasis

LEDPIN_TOGGLE;

} else {

if (f.ACC_CALIBRATED) {LEDPIN_OFF;}

if (f.ARMED) {LEDPIN_ON;}

}

#if defined(LED_RING)

static uint32_t LEDTime;

if ( currentTime > LEDTime ) {

LEDTime = currentTime + 50000;

i2CLedRingState();

}

#endif

#if defined(LED_FLASHER)

auto_switch_led_flasher();

#endif

if ( currentTime > calibratedAccTime ) {

if (! f.SMALL_ANGLES_25) {

// the multi uses ACC and is not calibrated or is too much inclinated

f.ACC_CALIBRATED = 0;

LEDPIN_TOGGLE;

calibratedAccTime = currentTime + 100000;

} else {

f.ACC_CALIBRATED = 1;

}

}

#if !(defined(SPEKTRUM) && defined(PROMINI)) //Only one serial port on ProMini. Skip serial com if Spektrum Sat in use. Note: Spek code will auto-call serialCom if GUI data detected on serial0.

#if defined(GPS_PROMINI)

if(GPS_Enable == 0) {serialCom();}

#else

serialCom();

#endif

#endif

#if defined(POWERMETER)

analog.intPowerMeterSum = (pMeter[PMOTOR_SUM]/PLEVELDIV);

intPowerTrigger1 = conf.powerTrigger1 * PLEVELSCALE;

#endif

#ifdef LCD_TELEMETRY_AUTO

static char telemetryAutoSequence = LCD_TELEMETRY_AUTO;

static uint8_t telemetryAutoIndex = 0;

static uint16_t telemetryAutoTimer = 0;

if ( (telemetry_auto) && (! (++telemetryAutoTimer % LCD_TELEMETRY_AUTO_FREQ) ) ){

telemetry = telemetryAutoSequence[++telemetryAutoIndex % strlen(telemetryAutoSequence)];

LCDclear(); // make sure to clear away remnants

}

#endif

#ifdef LCD_TELEMETRY

static uint16_t telemetryTimer = 0;

if (! (++telemetryTimer % LCD_TELEMETRY_FREQ)) {

#if (LCD_TELEMETRY_DEBUG+0 > 0)

telemetry = LCD_TELEMETRY_DEBUG;

#endif

if (telemetry) lcd_telemetry();

}

#endif

#if GPS & defined(GPS_LED_INDICATOR) // modified by MIS to use STABLEPIN LED for number of sattelites indication

static uint32_t GPSLEDTime; // - No GPS FIX → LED blink at speed of incoming GPS frames

static uint8_t blcnt; // - Fix and sat no. bellow 5 → LED off

if(currentTime > GPSLEDTime) { // - Fix and sat no. >= 5 → LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 …

if(f.GPS_FIX && GPS_numSat >= 5) {

if(++blcnt > 2*GPS_numSat) blcnt = 0;

GPSLEDTime = currentTime + 150000;

if(blcnt >= 10 && ((blcnt%2) == 0)) {STABLEPIN_ON;} else {STABLEPIN_OFF;}

}else{

if((GPS_update == 1) && !f.GPS_FIX) {STABLEPIN_ON;} else {STABLEPIN_OFF;}

blcnt = 0;

}

}

#endif

#if defined(LOG_VALUES) && (LOG_VALUES >= 2)

if (cycleTime > cycleTimeMax) cycleTimeMax = cycleTime; // remember highscore

if (cycleTime < cycleTimeMin) cycleTimeMin = cycleTime; // remember lowscore

#endif

if (f.ARMED) {

#if defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT)

armedTime += (uint32_t)cycleTime;

#endif

#if defined(VBAT)

if ( (analog.vbat > NO_VBAT) && (analog.vbat < vbatMin) ) vbatMin = analog.vbat;

#endif

#ifdef LCD_TELEMETRY

#if BARO

if ( (alt.EstAlt > BAROaltMax) ) BAROaltMax = alt.EstAlt;

#endif

#if GPS

if ( (GPS_speed > GPS_speedMax) ) GPS_speedMax = GPS_speed;

#endif

#endif

}

}

void setup() {

#if !defined(GPS_PROMINI)

SerialOpen(0,SERIAL0_COM_SPEED);

#if defined(PROMICRO)

SerialOpen(1,SERIAL1_COM_SPEED);

#endif

#if defined(MEGA)

SerialOpen(1,SERIAL1_COM_SPEED);

SerialOpen(2,SERIAL2_COM_SPEED);

SerialOpen(3,SERIAL3_COM_SPEED);

#endif

#endif

LEDPIN_PINMODE;

POWERPIN_PINMODE;

BUZZERPIN_PINMODE;

STABLEPIN_PINMODE;

POWERPIN_OFF;

initOutput();

readGlobalSet();

#ifndef NO_FLASH_CHECK

#if defined(MEGA)

uint16_t i = 65000; // only first ~64K for mega board due to pgm_read_byte limitation

#else

uint16_t i = 32000;

#endif

uint16_t flashsum = 0;

uint8_t pbyt;

while(i–) {

pbyt = pgm_read_byte(i); // calculate flash checksum

flashsum += pbyt;

flashsum ^= (pbyt<<8);

}

#endif

#ifdef MULTIPLE_CONFIGURATION_PROFILES

global_conf.currentSet=2;

#else

global_conf.currentSet=0;

#endif

while(1) { // check settings integrity

#ifndef NO_FLASH_CHECK

if(readEEPROM()) { // check current setting integrity

if(flashsum != global_conf.flashsum) update_constants(); // update constants if firmware is changed and integrity is OK

}

#else

readEEPROM(); // check current setting integrity

#endif

if(global_conf.currentSet == 0) break; // all checks is done

global_conf.currentSet–; // next setting for check

}

readGlobalSet(); // reload global settings for get last profile number

#ifndef NO_FLASH_CHECK

if(flashsum != global_conf.flashsum) {

global_conf.flashsum = flashsum; // new flash sum

writeGlobalSet(1); // update flash sum in global config

}

#endif

readEEPROM(); // load setting data from last used profile

blinkLED(2,40,global_conf.currentSet+1);

configureReceiver();

#if defined (PILOTLAMP)

PL_INIT;

#endif

#if defined(OPENLRSv2MULTI)

initOpenLRS();

#endif

initSensors();

#if defined(I2C_GPS) || defined(GPS_SERIAL) || defined(GPS_FROM_OSD)

GPS_set_pids();

#endif

previousTime = micros();

#if defined(GIMBAL)

calibratingA = 512;

#endif

calibratingG = 512;

calibratingB = 200; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles

#if defined(POWERMETER)

for(uint8_t j=0; j<=PMOTOR_SUM; j++) pMeter[j]=0;

#endif

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

#if defined(GPS_SERIAL)

GPS_SerialInit();

for(uint8_t j=0;j<=5;j++){

GPS_NewData();

LEDPIN_ON

delay(20);

LEDPIN_OFF

delay(80);

}

if(!GPS_Present){

SerialEnd(GPS_SERIAL);

SerialOpen(0,SERIAL0_COM_SPEED);

}

#if !defined(GPS_PROMINI)

GPS_Present = 1;

#endif

GPS_Enable = GPS_Present;

#endif

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

#if defined(I2C_GPS) || defined(GPS_FROM_OSD)

GPS_Enable = 1;

#endif

#if defined(LCD_ETPP) || defined(LCD_LCD03) || defined(OLED_I2C_128x64) || defined(OLED_DIGOLE) || defined(LCD_TELEMETRY_STEP)

initLCD();

#endif

#ifdef LCD_TELEMETRY_DEBUG

telemetry_auto = 1;

#endif

#ifdef LCD_CONF_DEBUG

configurationLoop();

#endif

#ifdef LANDING_LIGHTS_DDR

init_landing_lights();

#endif

#ifdef FASTER_ANALOG_READS

ADCSRA |= _BV(ADPS2) ; ADCSRA &= ~_BV(ADPS1); ADCSRA &= ~_BV(ADPS0); // this speeds up analogRead without loosing too much resolution: http://www.arduino.cc/cgi-bin/yabb2/YaB … 8715493/11

#endif

#if defined(LED_FLASHER)

init_led_flasher();

led_flasher_set_sequence(LED_FLASHER_SEQUENCE);

#endif

f.SMALL_ANGLES_25=1; // important for gyro only conf

#ifdef LOG_PERMANENT

// read last stored set

readPLog();

plog.lifetime += plog.armed_time / 1000000;

plog.start++; // #powercycle/reset/initialize events

// dump plog data to terminal

#ifdef LOG_PERMANENT_SHOW_AT_STARTUP

dumpPLog(0);

#endif

plog.armed_time = 0; // lifetime in seconds

//plog.running = 0; // toggle on arm & disarm to monitor for clean shutdown vs. powercut

#endif

debugmsg_append_str(“initialization completed\n”);

}

void go_arm() {

if(calibratingG == 0

#if defined(ONLYARMWHENFLAT)

&& f.ACC_CALIBRATED

#endif

#if defined(FAILSAFE)

&& failsafeCnt < 2

#endif

) {

if(!f.ARMED && !f.BARO_MODE) { // arm now!

f.ARMED = 1;

headFreeModeHold = att.heading;

magHold = att.heading;

#if defined(VBAT)

if (analog.vbat > NO_VBAT) vbatMin = analog.vbat;

#endif

#ifdef LCD_TELEMETRY // reset some values when arming

#if BARO

BAROaltMax = alt.EstAlt;

#endif

#if GPS

GPS_speedMax = 0;

#endif

#ifdef POWERMETER_HARD

powerValueMaxMAH = 0;

#endif

#endif

#ifdef LOG_PERMANENT

plog.arm++; // #arm events

plog.running = 1; // toggle on arm & disarm to monitor for clean shutdown vs. powercut

// write now.

writePLog();

#endif

}

} else if(!f.ARMED) {

blinkLED(2,255,1);

alarmArray[8] = 1;

}

}

void go_disarm() {

if (f.ARMED) {

f.ARMED = 0;

#ifdef LOG_PERMANENT

plog.disarm++; // #disarm events

plog.armed_time = armedTime ; // lifetime in seconds

if (failsafeEvents) plog.failsafe++; // #acitve failsafe @ disarm

if (i2c_errors_count > 10) plog.i2c++; // #i2c errs @ disarm

plog.running = 0; // toggle @ arm & disarm to monitor for clean shutdown vs. powercut

// write now.

writePLog();

#endif

}

}

// ******** Main Loop *********

void loop () {

static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors

static uint8_t rcSticks; // this hold sticks position for command combos

uint8_t axis,i;

int16_t error,errorAngle;

int16_t delta;

int16_t PTerm = 0,ITerm = 0,DTerm, PTermACC, ITermACC;

static int16_t lastGyro[2] = {0,0};

static int16_t errorAngleI[2] = {0,0};

#if PID_CONTROLLER == 1

static int32_t errorGyroI_YAW;

static int16_t delta1[2],delta2[2];

static int16_t errorGyroI[2] = {0,0};

#elif PID_CONTROLLER == 2

static int16_t delta1[3],delta2[3];

static int32_t errorGyroI[3] = {0,0,0};

static int16_t lastError[3] = {0,0,0};

int16_t deltaSum;

int16_t AngleRateTmp, RateError;

#endif

static uint32_t rcTime = 0;

static int16_t initialThrottleHold;

static uint32_t timestamp_fixated = 0;

int16_t rc;

int32_t prop = 0;

#if defined(SPEKTRUM)

if (spekFrameFlags == 0x01) readSpektrum();

#endif

#if defined(OPENLRSv2MULTI)

Read_OpenLRS_RC();

#endif

if (currentTime > rcTime ) { // 50Hz

rcTime = currentTime + 20000;

computeRC();

// Failsafe routine - added by MIS

#if defined(FAILSAFE)

if ( failsafeCnt > (5*FAILSAFE_DELAY) && f.ARMED) { // Stabilize, and set Throttle to specified level

for(i=0; i<3; i++) rcData = MIDRC; // after specified guard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = conf.failsafe_throttle;
if (failsafeCnt > 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) { // Turn OFF motors after specified Time (in 0.1sec)
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeEvents++;
}
if ( failsafeCnt > (5FAILSAFE_DELAY) && !f.ARMED) { //Turn of "Ok To arm to prevent the motors from spinning after repowering the RX with low throttle and aux to arm
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will have to switch off first to rearm
}
failsafeCnt++;
#endif
// end of failsafe routine - next change is made with RcOptions setting
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
uint8_t stTmp = 0;
for(i=0;i<4;i++) {
stTmp >>= 2;
if(rcData > MINCHECK) stTmp |= 0x80; // check for MIN
if(rcData < MAXCHECK) stTmp |= 0x40; // check for MAX
_}
if(stTmp == rcSticks) {
if(rcDelayCommand<250) rcDelayCommand++;
} else rcDelayCommand = 0;*
rcSticks = stTmp;_

// perform actions
if (rcData[THROTTLE] <= MINCHECK) { // THROTTLE at minimum
#if !defined(FIXEDWING)
errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0;
#if PID_CONTROLLER == 1
errorGyroI_YAW = 0;
#elif PID_CONTROLLER == 2
errorGyroI[YAW] = 0;
#endif
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
#endif
if (conf.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if ( rcOptions[BOXARM] && f.OK_TO_ARM ) go_arm(); else if (f.ARMED) go_disarm();
}
}
if(rcDelayCommand == 20) {
if(f.ARMED) { // actions during armed
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) go_disarm(); // Disarm via YAW
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO) go_disarm(); // Disarm via ROLL
#endif
} else { // actions during not armed
i=0;
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) { // GYRO calibration
calibratingG=512;
#if GPS
GPS_reset_home_position();
#endif
#if BARO
calibratingB=10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
}
#if defined(INFLIGHT_ACC_CALIBRATION)
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI) { // Inflight ACC calibration START/STOP
if (AccInflightCalibrationMeasurementDone){ // trigger saving into eeprom after landing
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}else{
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
#if defined(BUZZER)
if (AccInflightCalibrationArmed) alarmArray[0]=2; else alarmArray[0]=3;
#endif
}
}
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) i=1; // ROLL left → Profile 1
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) i=2; // PITCH up → Profile 2
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) i=3; // ROLL right → Profile 3
if(i) {
global_conf.currentSet = i-1;
writeGlobalSet(0);
readEEPROM();
blinkLED(2,40,i);
alarmArray[0] = i;
}
#endif
if (rcSticks == THR_LO + YAW_HI + PIT_HI + ROL_CE) { // Enter LCD config
#if defined(LCD_CONF)
configurationLoop(); // beginning LCD configuration
#endif
previousTime = micros();
}
#ifdef ALLOW_ARM_DISARM_VIA_TX_YAW
else if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) go_arm(); // Arm via YAW
#endif
#ifdef ALLOW_ARM_DISARM_VIA_TX_ROLL
else if (conf.activate[BOXARM] == 0 && rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI) go_arm(); // Arm via ROLL
#endif
#ifdef LCD_TELEMETRY_AUTO
else if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) { // Auto telemetry ON/OFF
if (telemetry_auto) {
telemetry_auto = 0;
telemetry = 0;
} else
telemetry_auto = 1;
}
#endif
#ifdef LCD_TELEMETRY_STEP
else if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) { // Telemetry next step
telemetry = telemetryStepSequence[++telemetryStepIndex % strlen(telemetryStepSequence)];
#if defined( OLED_I2C_128x64)
if (telemetry != 0) i2c_OLED_init();
#elif defined(OLED_DIGOLE)
if (telemetry != 0) i2c_OLED_DIGOLE_init();
#endif
LCDclear();
}
#endif
#if ACC
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) calibratingA=512; // throttle=max, yaw=left, pitch=min
#endif
#if MAG
else if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) f.CALIBRATE_MAG = 1; // throttle=max, yaw=right, pitch=min
#endif
i=0;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {conf.angleTrim[PITCH]+=2; i=1;}
else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {conf.angleTrim[PITCH]-=2; i=1;}
else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {conf.angleTrim[ROLL] +=2; i=1;}
else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {conf.angleTrim[ROLL] -=2; i=1;}
if (i) {
writeParams(1);
rcDelayCommand = 0; // allow autorepetition
#if defined(LED_RING)
blinkLedRing();
#endif
}
}
}
#if defined(LED_FLASHER)
led_flasher_autoselect_sequence();
#endif

#if defined(INFLIGHT_ACC_CALIBRATION)
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > MINCHECK && !rcOptions[BOXARM] ){ // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone){
InflightcalibratingA = 50;
}
}else if(AccInflightCalibrationMeasurementDone && !f.ARMED){
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}
#endif
uint16_t auxState = 0;
for(i=0;i<4;i++)
auxState |= (rcData[AUX1+i]<1300)<<(3i) | (1300<rcData[AUX1+i] && rcData[AUX1+i]<1700)<<(3i+1) | (rcData[AUX1+i]>1700)<<(3*i+2);
for(i=0;i<CHECKBOXITEMS;i++)
rcOptions = (auxState & conf.activate)>0;
// note: if FAILSAFE is disable, failsafeCnt > 5FAILSAFE_DELAY is always false
_#if ACC*
if ( rcOptions[BOXANGLE] || (failsafeCnt > 5*FAILSAFE_DELAY) ) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
f.ANGLE_MODE = 1;
}
} else {
// failsafe support
f.ANGLE_MODE = 0;
}
if ( rcOptions[BOXHORIZON] ) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
f.HORIZON_MODE = 1;
}
} else {
f.HORIZON_MODE = 0;
}
#endif
if (rcOptions[BOXARM] == 0) f.OK_TO_ARM = 1;
#if !defined(GPS_LED_INDICATOR)
if (f.ANGLE_MODE || f.HORIZON_MODE) {STABLEPIN_ON;} else {STABLEPIN_OFF;}
#endif
#if BARO
#if (!defined(SUPPRESS_BARO_ALTHOLD))
if (rcOptions[BOXBARO]) {
if (!f.BARO_MODE) {
f.BARO_MODE = 1;
AltHold = alt.EstAlt;
#if defined(ALT_HOLD_THROTTLE_MIDPOINT)
initialThrottleHold = ALT_HOLD_THROTTLE_MIDPOINT;
#else
initialThrottleHold = rcCommand[THROTTLE];
#endif
errorAltitudeI = 0;
BaroPID=0;
}
} else {
f.BARO_MODE = 0;
}
#endif
#ifdef VARIOMETER
if (rcOptions[BOXVARIO]) {
if (!f.VARIO_MODE) {
f.VARIO_MODE = 1;
}
} else {
f.VARIO_MODE = 0;
}
#endif
#endif
#if MAG
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = att.heading;
}
} else {
f.MAG_MODE = 0;
}
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
* #if defined(ADVANCED_HEADFREE)
if ((f.GPS_FIX && GPS_numSat >= 5) && (GPS_distanceToHome > ADV_HEADFREE_RANGE) ) {*
if (GPS_directionToHome < 180) {headFreeModeHold = GPS_directionToHome + 180;} else {headFreeModeHold = GPS_directionToHome - 180;}
}
#endif
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = att.heading; // acquire new heading
}
#endif_

#if GPS
static uint8_t GPSNavReset = 1;
if (f.GPS_FIX && GPS_numSat >= 5 ) {
if (rcOptions[BOXGPSHOME]) { // if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
if (!f.GPS_HOME_MODE) {
f.GPS_HOME_MODE = 1;
f.GPS_HOLD_MODE = 0;
GPSNavReset = 0;
#if defined(I2C_GPS)
GPS_I2C_command(I2C_GPS_COMMAND_START_NAV,0); //waypoint zero
#else // SERIAL
GPS_set_next_wp(&GPS_home[LAT],&GPS_home[LON]);
nav_mode = NAV_MODE_WP;
#endif
}
} else {
f.GPS_HOME_MODE = 0;
if (rcOptions[BOXGPSHOLD] && abs(rcCommand[ROLL])< AP_MODE && abs(rcCommand[PITCH]) < AP_MODE) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
#if defined(I2C_GPS)
GPS_I2C_command(I2C_GPS_COMMAND_POSHOLD,0);
#else
GPS_hold[LAT] = GPS_coord[LAT];
GPS_hold[LON] = GPS_coord[LON];
GPS_set_next_wp(&GPS_hold[LAT],&GPS_hold[LON]);
nav_mode = NAV_MODE_POSHOLD;
#endif
}
} else {
f.GPS_HOLD_MODE = 0;
// both boxes are unselected here, nav is reset if not already done
if (GPSNavReset == 0 ) {
GPSNavReset = 1;
GPS_reset_nav();
}
}
}
} else {
f.GPS_HOME_MODE = 0;
f.GPS_HOLD_MODE = 0;
#if !defined(I2C_GPS)
nav_mode = NAV_MODE_NONE;
#endif
}
#endif

#if defined(FIXEDWING) || defined(HELICOPTER)
if (rcOptions[BOXPASSTHRU]) {f.PASSTHRU_MODE = 1;}
else {f.PASSTHRU_MODE = 0;}
#endif

} else { // not in rc loop
static uint8_t taskOrder=0; // never call all functions in the same loop, to avoid high delay spikes
if(taskOrder>4) taskOrder-=5;
switch (taskOrder) {
case 0:
taskOrder++;
#if MAG
if (Mag_getADC()) break; // max 350 µs (HMC5883) // only break when we actually did something
#endif
case 1:
taskOrder++;
#if BARO
if (Baro_update() != 0 ) break;
#endif
case 2:
taskOrder++;
#if BARO
if (getEstimatedAltitude() !=0) break;
#endif
case 3:
taskOrder++;
#if GPS
if(GPS_Enable) GPS_NewData();
break;
#endif
case 4:
taskOrder++;
#if SONAR
Sonar_update(); //debug[2] = sonarAlt;
#endif
#ifdef LANDING_LIGHTS_DDR
auto_switch_landing_lights();
#endif
#ifdef VARIOMETER
if (f.VARIO_MODE) vario_signaling();
#endif
break;
}
}

computeIMU();
// Measure loop rate just afer reading the sensors
currentTime = micros();
cycleTime = currentTime - previousTime;
previousTime = currentTime;
//***********************************
//**** Experimental FlightModes *****
//***********************************
#if defined(ACROTRAINER_MODE)
if(f.ANGLE_MODE){
if (abs(rcCommand[ROLL]) + abs(rcCommand[PITCH]) >= ACROTRAINER_MODE ) {
f.ANGLE_MODE=0;
f.HORIZON_MODE=0;
f.MAG_MODE=0;
f.BARO_MODE=0;
f.GPS_HOME_MODE=0;
f.GPS_HOLD_MODE=0;
}
}
#endif
//***********************************

#if MAG
if (abs(rcCommand[YAW]) <70 && f.MAG_MODE) {
int16_t dif = att.heading - magHold;
if (dif <= - 180) dif += 360;
if (dif >= + 180) dif -= 360;
if ( f.SMALL_ANGLES_25 ) rcCommand[YAW] -= difconf.pid[PIDMAG].P8>>5;
_} else magHold = att.heading;
#endif*
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
/* Smooth alt change routine , for slow auto and aerophoto modes (in general solution from alexmos). It’s slowly increase/decrease_
* altitude proportional to stick movement (+/-100 throttle gives about +/-50 cm in 1 second with cycle time about 3-4ms)
*/
if (f.BARO_MODE) {
static uint8_t isAltHoldChanged = 0;
static int16_t AltHoldCorr = 0;
if (abs(rcCommand[THROTTLE]-initialThrottleHold)>ALT_HOLD_THROTTLE_NEUTRAL_ZONE) {
// Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms)
AltHoldCorr+= rcCommand[THROTTLE] - initialThrottleHold;
if(abs(AltHoldCorr) > 512) {
AltHold += AltHoldCorr/512;
AltHoldCorr %= 512;
}
isAltHoldChanged = 1;
} else if (isAltHoldChanged) {
AltHold = alt.EstAlt;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
}
#endif
#if defined(THROTTLE_ANGLE_CORRECTION)
if(f.ANGLE_MODE || f.HORIZON_MODE) {
rcCommand[THROTTLE]+= throttleAngleCorrection;
}
#endif

#if GPS
if ( (f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME ) {
float sin_yaw_y = sin(att.heading0.0174532925f);
float cos_yaw_x = cos(att.heading0.0174532925f);
#if defined(NAV_SLEW_RATE)
nav_rated[LON] += constrain(wrap_18000(nav[LON]-nav_rated[LON]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
nav_rated[LAT] += constrain(wrap_18000(nav[LAT]-nav_rated[LAT]),-NAV_SLEW_RATE,NAV_SLEW_RATE);
GPS_angle[ROLL] = (nav_rated[LON]cos_yaw_x - nav_rated[LAT]sin_yaw_y) /10;
GPS_angle[PITCH] = (nav_rated[LON]sin_yaw_y + nav_rated[LAT]cos_yaw_x) /10;
_#else
GPS_angle[ROLL] = (nav[LON]*cos_yaw_x - nav[LAT]*sin_yaw_y) /10;
GPS_angle[PITCH] = (nav[LON]*sin_yaw_y + nav[LAT]*cos_yaw_x) /10;
#endif
} else {
GPS_angle[ROLL] = 0;
GPS_angle[PITCH] = 0;
}
#endif
//**** PITCH & ROLL & YAW PID _
#if PID_CONTROLLER == 1 // evolved oldschool
if ( f.HORIZON_MODE ) prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),512);
_// PITCH & ROLL
for(axis=0;axis<2;axis++) {
rc = rcCommand[axis]<<1;
error = rc - imu.gyroData[axis];
errorGyroI[axis] = constrain(errorGyroI[axis]+error,-16000,+16000); // WindUp 16 bits is ok here
if (abs(imu.gyroData[axis])>640) errorGyroI[axis] = 0;
ITerm = (errorGyroI[axis]>>7)conf.pid[axis].I8>>6; // 16 bits is ok here 16000/125 = 128 ; 128250 = 32000
PTerm = (int32_t)rc*conf.pid[axis].P8>>6;
if (f.ANGLE_MODE || f.HORIZON_MODE) { // axis relying on ACC
// 50 degrees max inclination
errorAngle = constrain(rc + GPS_angle[axis],-500,+500) - att.angle[axis] + conf.angleTrim[axis]; //16 bits is ok here
errorAngleI[axis] = constrain(errorAngleI[axis]+errorAngle,-10000,+10000); // WindUp //16 bits is ok here_
PTermACC = ((int32_t)errorAngleconf.pid[PIDLEVEL].P8)>>7; // 32 bits is needed for calculation: errorAngleP8 could exceed 32768 16 bits is ok for result

int16_t limit = conf.pid[PIDLEVEL].D85;
PTermACC = constrain(PTermACC,-limit,+limit);
ITermACC = ((int32_t)errorAngleI[axis]conf.pid[PIDLEVEL].I8)>>12; // 32 bits is needed for calculation:10000I8 could exceed 32768 16 bits is ok for result
ITerm = ITermACC + ((ITerm-ITermACC)*prop>>9);
PTerm = PTermACC + ((PTerm-PTermACC)*prop>>9);
_}*_
PTerm -= ((int32_t)imu.gyroData[axis]*dynP8[axis])>>6; // 32 bits is needed for calculation

delta = imu.gyroData[axis] - lastGyro[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastGyro[axis] = imu.gyroData[axis];
DTerm = delta1[axis]+delta2[axis]+delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;

DTerm = ((int32_t)DTermdynD8[axis])>>5; // 32 bits is needed for calculation
axisPID[axis] = PTerm + ITerm - DTerm;
_}
//YAW*
#define GYRO_P_MAX 300
#define GYRO_I_MAX 250
rc = (int32_t)rcCommand[YAW] * (2*conf.yawRate + 30) >> 5;
error = rc - imu.gyroData[YAW];_
errorGyroI_YAW += (int32_t)error*conf.pid[YAW].I8;
errorGyroI_YAW = constrain(errorGyroI_YAW, 2-((int32_t)1<<28), -2+((int32_t)1<<28));
if (abs(rc) > 50) errorGyroI_YAW = 0;

PTerm = (int32_t)errorconf.pid[YAW].P8>>6;
#ifndef COPTER_WITH_SERVO*
int16_t limit = GYRO_P_MAX-conf.pid[YAW].D8;
PTerm = constrain(PTerm,-limit,+limit);
#endif

ITerm = constrain((int16_t)(errorGyroI_YAW>>13),-GYRO_I_MAX,+GYRO_I_MAX);

axisPID[YAW] = PTerm + ITerm;

#elif PID_CONTROLLER == 2 // alexK
#define GYRO_I_MAX 256
#define ACC_I_MAX 256
prop = min(max(abs(rcCommand[PITCH]),abs(rcCommand[ROLL])),500); // range [0;500]
//----------PID controller----------
for(axis=0;axis<3;axis++) {
//-----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis<2 ) { // MODE relying on ACC
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = constrain((rcCommand[axis]<<1) + GPS_angle[axis],-500,+500) - att.angle[axis] + conf.angleTrim[axis]; //16 bits is ok here
}
if (axis == 2) {//YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t) (conf.yawRate + 27) * rcCommand[2]) >> 5);
} else {
if (!f.ANGLE_MODE) {//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (conf.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
//mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += ((int32_t) errorAngle * conf.pid[PIDLEVEL].I8)>>8;
}
} else {//it’s the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = ((int32_t) errorAngle * conf.pid[PIDLEVEL].P8)>>4;
}
}
//--------low-level gyro-based PID. ----------
//Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
//-----calculate scaled error.AngleRates
//multiplication of rcCommand corresponds to changing the sticks scaling here
RateError = AngleRateTmp - imu.gyroData[axis];
//-----calculate P component
PTerm = ((int32_t) RateError * conf.pid[axis].P8)>>7;
//-----calculate I component
//there should be no division before accumulating the error to integrator, because the precision would be reduced.
//Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
//Time correction (to avoid different I scaling for different builds based on average cycle time)
//is normalized to cycle time = 2048.
errorGyroI[axis] += (((int32_t) RateError * cycleTime)>>11) * conf.pid[axis].I8;
//limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
//I coefficient (I8) moved before integration to make limiting independent from PID settings
errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -GYRO_I_MAX<<13, (int32_t) +GYRO_I_MAX<<13);
ITerm = errorGyroI[axis]>>13;
//-----calculate D-term
delta = RateError - lastError[axis]; // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
lastError[axis] = RateError;
//Correct difference by cycle time. Cycle time is jittery (can be different 2 times), so calculated difference
// would be scaled by different dt each time. Division by dT fixes that.
delta = ((int32_t) delta * ((uint16_t)0xFFFF / (cycleTime>>4)))>>6;
//add moving average here to reduce noise
deltaSum = delta1[axis]+delta2[axis]+delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = (deltaSum*conf.pid[axis].D8)>>8;
//-----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
}
#else
#error “*** you must set PID_CONTROLLER to one existing implementation”
#endif
mixTable();
// do not update servos during unarmed calibration of sensors which are sensitive to vibration
if ( (f.ARMED) || ((!calibratingG) && (!calibratingA)) ) writeServos();
writeMotors();
}

[DRose]

I was just looking thru the code I just sent and see that I have a fixed wing defined instead of a tricopter or am I wrong? Got to go to Doctor office–will review more when I get back.

[DRose]

I think I’ve answerer my own question from my above post. I assume this code looks into the defination h folder and will see that I defined my item as a Tricopter and not a fixed wing plane.

[Ross_Robotics]

Code tags…

[DRose]

Codlink,

I don’t know what you mean by “code tags”. Are these all the folders listed in the Multiwii 2.3 folder? And if so, do I open each one, and copy/past each of them to you? They are all in notepad form. I’m sorry, but I’m just not at all familiar with all the software type of talk. Please tell me exactly what to do.

[Ross_Robotics]

Did you already forget what was on page 1? Start from this reply and read a few posts…

https://forum.sparkfun.com/viewtopic.ph … 81#p175163

[DRose]

]

Codlink,

I really messed up things trying to keep the tags in MW2.3 down to 60,000 bytes for the posts I need to get back to where I was yesterday, and then I’ll try to send you the tags. Thank you for your patience and help. I’ll be out of town for a couple of days, so it may be tuesday until I get back to you.

Don

[Mee_n_Mac]

DRose:
Codlink,

I really messed up things trying to keep the tags in MW2.3 down to 60,000 bytes for the posts I need to get back to where I was yesterday, and then I’ll try to send you the tags. Thank you for your patience and help. I’ll be out of town for a couple of days, so it may be tuesday until I get back to you.

Don

Instead of doing what I did, just post a .ZIP file of the sketch or a direct link to the file you're talking about. We'all can take it from there. But it's faaaaaar too easy for some one to post about some version of code and the rest of us to assume it's another piece of code.

Moreover I find it nigh impossible to believe some widely used code still has some simple compilation problems associated with it. Too many people would have complained and it would be fixed by now. So that leads me to think that there’s some problem w/the downloading and storage of the code or “we” are talking about 2 different sketches. Or that the code hasn’t been used on the (new) target board, ie - code intended for, and widely used on, an ATMega 328 now is being tried on a ATmel 32U4. Yet neither of these seems to be the case.

So I’m left wondering if there’s some configuration process that’s intended to be run before the code is compiled for your usage. And I can’t comment further re: this.

[DRose]

Mee_n_Mac

I was going round and round on sending what I believe are the tags that Codlink wanted until I got things all messed up. It would have taken 13 posts (4 had to be split into 2 posts each) to keep the info under 60 k bytes. Then I read your latest post, so I’ll answer it now.

I am using MultiWii 2.3 which I got by asking for that on the Internet. I got a Google list by clicking on Google Code Archive - Long-term storage for Google Code Project Hosting. it’s the top one on that list that was released for use–not the development one. This version contains Arduino 1.0.5 for running the sketsh.

There were 2 things that I changed–I deleted the EEPROM.cpp, and used the modified EEPROM that you sent me, and

(2) I changed the Config .h (65 kb) to reflect the Tricopter that I have. I am sending you that tag (if I am understanding what a tag is). It will take 2 posts since it is 65Kb. I’ll try to stop at a convenient spot without messing it up.

/*************************************************************************************************/
/****           CONFIGURABLE PARAMETERS                                                       ****/
/*************************************************************************************************/

/* this file consists of several sections
 * to create a working combination you must at least make your choices in section 1.
 * 1 - BASIC SETUP - you must select an option in every block.
 *      this assumes you have 4 channels connected to your board with standard ESCs and servos.
 * 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
 * 3 - RC SYSTEM SETUP
 * 4 - ALTERNATE CPUs & BOARDS - if you have
 * 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
 * 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
 * 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
 *     - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)
 * 8 - DEPRECATED - these features will be removed in some future release
 */

/* Notes:
 * 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.
 * 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI
 */


/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  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 1150 // (*) (**)

  /****************************    Motor maxthrottle    *******************************/
    /* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
    #define MAXTHROTTLE 1850

  /****************************    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  1000

  /**********************************    I2C speed   ************************************/
    #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

  /**************************************************************************************/
  /*****************          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_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_V1
      //#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 for more free flash-memory
      //#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
      
    /***************************    independent sensors    ********************************/
      /* leave it commented if you already checked a specific board above */
      /* I2C gyroscope */
      #define WMP
      //#define ITG3200
      //#define MPU3050
      //#define L3G4200D
      //#define MPU6050       //combo + ACC
      //#define LSM330        //combo + ACC
      
      /* I2C accelerometer */
     #define NUNCHUCK  // if you want to use the nunckuk connected to a WMP
      //#define MMA7455
      //#define ADXL345
      //#define BMA020
      //#define BMA180
      //#define BMA280
      //#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
      //#define LIS3LV02
      //#define LSM303DLx_ACC
      //#define MMA8451Q

      /* I2C barometer */
      //#define BMP085
      //#define MS561101BA

      /* I2C magnetometer */
      //#define HMC5843
      //#define HMC5883
      //#define AK8975
      //#define MAG3110

      /* Sonar */ // for visualization purpose currently - no control code behind
      //#define SRF02 // use the Devantech SRF i2c sensors
      //#define SRF08
      //#define SRF10
      //#define SRF23

      /* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
      //#define ADCACC

      /* enforce your individual sensor orientation - even overrides board specific defaults */
      //#define FORCE_ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  = Z;}
      //#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] =  X; imu.gyroADC[YAW] = Z;}
      //#define FORCE_MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}

      /* Board orientation shift */
      /* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
       * you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
       * Check motors order and directions of motors rotation for matching with new front point!  Uncomment only one option! */
      //#define SENSORS_TILT_45DEG_RIGHT        // rotate the FRONT 45 degres clockwise
      //#define SENSORS_TILT_45DEG_LEFT         // rotate the FRONT 45 degres counterclockwise


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


    /* 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;

    //#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

  /***********************      your individual mixing     ***********************/
    /* if you want to override an existing entry in the mixing table, you may want to avoid editing the
     * mixTable() function for every version again and again. 
     * howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
     */
    //#define MY_PRIVATE_MIXING "filename.h"

  /***********************      your individual defaults     ***********************/
    /* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
     * you may want to avoid editing the LoadDefaults() function for every version again and again.
     * http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
     */
    //#define MY_PRIVATE_DEFAULTS "filename.h"


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

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

  /**************************************************************************************/
  /********                       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 SPEK_SERIAL_PORT 1    // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
      //**************************
      // 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 at RX1 only (Serial 1) 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
      //#define SBUS_SERIAL_PORT 1
      #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  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;

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  5 - ALTERNATE SETUP                                            *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /******                Serial com speed    *********************************/
    /* This is the speed of the serial interfaces */
    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 115200
    #define SERIAL2_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 115200

    /* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
       if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
       it is relevent only for a conf with NK */
    #define INTERLEAVING_DELAY 3000

    /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
       it is relevent only for a conf with at least a WMP */
    #define NEUTRALIZE_DELAY 100000


  /**************************************************************************************/
  /********                              Gyro filters                ********************/
  /**************************************************************************************/

    /*********************    Lowpass filter for some gyros    ****************************/
      /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
         to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
         It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
         balancing options ran out. Uncomment only one option!
         IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
      //#define ITG3200_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define ITG3200_LPF_188HZ
      //#define ITG3200_LPF_98HZ
      //#define ITG3200_LPF_42HZ
      //#define ITG3200_LPF_20HZ
      //#define ITG3200_LPF_10HZ      // Use this only in extreme cases, rather change motors and/or props

      /* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
         to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
         It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
         balancing options ran out. Uncomment only one option!
         IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
      //#define MPU6050_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define MPU6050_LPF_188HZ
      //#define MPU6050_LPF_98HZ
      //#define MPU6050_LPF_42HZ
      //#define MPU6050_LPF_20HZ
      //#define MPU6050_LPF_10HZ
      //#define MPU6050_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props

    /******                Gyro smoothing    **********************************/
      /* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
         may try this gyro smoothing via averaging. Not suitable for multicopters!
         Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
      //#define GYRO_SMOOTHING {20, 20, 3}    // (*) separate averaging ranges for roll, pitch, yaw

    /************************    Moving Average Gyros    **********************************/
      //#define MMGYRO 10                      // (*) Active Moving Average Function for Gyros
      //#define MMGYROVECTORLENGTH 15          // Length of Moving Average Vector (maximum value for tunable MMGYRO
      /* Moving Average ServoGimbal Signal Output */
      //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
      //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector

  /************************    Analog Reads              **********************************/
    /* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
    //#define FASTER_ANALOG_READS

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

[DRose]

Mee_n_Mac

Here is the other half of Config.h

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

  /************************        Angele throttle correction         ********************/
  /* Automatically increase throttle based on the angle of the copter
     Original idea by Kraut Rob, first implementation HAdrian							*/

  //#define THROTTLE_ANGLE_CORRECTION 40
  
 /*************************        Advanced Headfree Mode             ********************/
 /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then 
    the  bearing between home and copter position will become the control direction 
	IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the 
	bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
	first implementation by HAdrian, mods by EOSBandi
 */

   //#define ADVANCED_HEADFREE									//Advanced headfree mode is enabled when this is uncommented
   //#define ADV_HEADFREE_RANGE 15								//Range where advanced headfree mode activated


  /************************        continuous gyro calibration        ********************/
  /* Gyrocalibration will be repeated if copter is moving during calibration. */
    //#define GYROCALIBRATIONFAILSAFE

  /************************        AP FlightMode        **********************************/
    /* 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


  /********                          Failsafe settings                 ********************/
    /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels) 
       the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
       PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
       for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed, 
       and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
    //#define FAILSAFE                                // uncomment  to activate the failsafe function
    #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
    #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  985


  /*****************                DFRobot LED RING    *********************************/
    /* I2C DFRobot LED RING communication */
    //#define LED_RING

  /********************************    LED FLASHER    ***********************************/
    //#define LED_FLASHER
    //#define LED_FLASHER_DDR DDRB
    //#define LED_FLASHER_PORT PORTB
    //#define LED_FLASHER_BIT PORTB4
    //#define LED_FLASHER_INVERT
    //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
    //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
    //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
    //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination


  /*******************************    Landing lights    *********************************/
  /* Landing lights
     Use an output pin to control landing lights.
     They can be switched automatically when used in conjunction
     with altitude data from a sonar unit. */
    //#define LANDING_LIGHTS_DDR DDRC
    //#define LANDING_LIGHTS_PORT PORTC
    //#define LANDING_LIGHTS_BIT PORTC0
    //#define LANDING_LIGHTS_INVERT

    /* altitude above ground (in cm) as reported by sonar */
    //#define LANDING_LIGHTS_AUTO_ALTITUDE 50

    /* adopt the flasher pattern for landing light LEDs */
    //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN

  /*************************    INFLIGHT ACC Calibration    *****************************/
    /* This will activate the ACC-Inflight calibration if unchecked */
    //#define INFLIGHT_ACC_CALIBRATION

  /*******************************    OSD Switch    *************************************/
    // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  //#define OSD_SWITCH

  /**************************************************************************************/
  /***********************                  TX-related         **************************/
  /**************************************************************************************/

    /* introduce a deadband around the stick center
       Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
    //#define DEADBAND 6

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

    /* GPS using a SERIAL port
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
       in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
       at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
       
    //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
    //#define GPS_PROMINI_SERIAL   // Will Autosense if GPS is connected when ardu boots.

    // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
    #define GPS_BAUD   57600

   /* 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 */
    //#define I2C_GPS
    // If your I2C GPS board has Sonar support enabled
    //#define I2C_GPS_SONAR

    /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
    //#define GPS_FROM_OSD

    /* 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

    //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions

    //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)

    /* GPS navigation can control the heading */
    
    #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
    #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first 
    #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
    
    
    /* 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) */
    //#define MAG_DECLINATION  3.96f              //For Budapest Hungary.
    #define MAG_DECLINATION  0.0f   //(**)

    #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
    
    //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
    #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes


  /**************************************************************************************/
  /***********************        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 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
    //#define SUPPRESS_TELEMETRY_PAGE_3
    //#define SUPPRESS_TELEMETRY_PAGE_4
    //#define SUPPRESS_TELEMETRY_PAGE_5
    //#define SUPPRESS_TELEMETRY_PAGE_6
    //#define SUPPRESS_TELEMETRY_PAGE_7
    //#define SUPPRESS_TELEMETRY_PAGE_8
    //#define SUPPRESS_TELEMETRY_PAGE_9
    //#define SUPPRESS_TELEMETRY_PAGE_R

  /********************************************************************/
  /****                             RSSI                           ****/
  /********************************************************************/
    //#define RX_RSSI
    //#define RX_RSSI_PIN A3

  /********************************************************************/
  /****                             Buzzer                         ****/
  /********************************************************************/
    //#define BUZZER
    //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
    //#define ARMEDTIMEWARNING 330  // (*) Trigger an alarm after a certain time of being armed [s] to save you lipo (if your TX does not have a countdown)
    //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp

  /********************************************************************/
  /****           battery voltage monitoring                       ****/
  /********************************************************************/
    /* for V BAT monitoring
       after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
       with R1=33k and R2=51k
       vbat = [0;1023]*16/VBATSCALE
       must be associated with #define BUZZER ! */
    //#define VBAT              // uncomment this line to activate the vbat code
    #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
    #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
    #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
    #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
    #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
    #define NO_VBAT          16 // Avoid beeping without any battery


  /********************************************************************/
  /****           powermeter (battery capacity monitoring)         ****/
  /********************************************************************/

    /* enable monitoring of the power consumption from battery (think of mAh)
       allows to set alarm value in GUI or via LCD
      Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
       Two options:
       1 - hard: - (uses hardware sensor, after configuration gives very good results)
       2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
    //#define POWERMETER_SOFT
    //#define POWERMETER_HARD
    #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
                                   gives 1/2 Vss; that is approx 2.49Volt; */
    #define PINT2mA 132     /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
                                   soft: use fictional value, start with 100.
                                   for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */

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

    /* defines the neutral zone of throttle stick during altitude hold, default setting is
       +/-50 uncommend and change the value below if you want to change it. */
    #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    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

  /********************************************************************/
  /****           baord naming                                     ****/
  /********************************************************************/

    /*
     * this name is displayed together with the MultiWii version number
     * upon powerup on the LCD.
     * If you are without a DISPLAYD then You may enable LCD_TTY and
     * use arduino IDE's serial monitor to view the info.
     *
     * You must preserve the format of this string!
     * It must be 16 characters total,
     * The last 4 characters will be overwritten with the version number.
     */
    #define BOARD_NAME "MultiWii   V-.--"
    //                  123456789.123456

  /*************      Support multiple configuration profiles in EEPROM     ************/
    //#define MULTIPLE_CONFIGURATION_PROFILES

  /*************      do no reset constants when change of flashed program is detected ***********/
    #define NO_FLASH_CHECK

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  7 - TUNING & DEVELOPER                                  **************/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /**************************************************************************************/
  /********   special ESC with extended range [0-2000] microseconds  ********************/
  /**************************************************************************************/
    //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega

  /**************************************************************************************/
  /***********************     motor, servo and other presets     ***********************/
  /**************************************************************************************/
    /* motors will not spin when the throttle command is in low position
       this is an alternative method to stop immediately the motors */
    //#define MOTOR_STOP

    /* some radios have not a neutral point centered on 1500. can be changed here */
    #define MIDRC 1500

  /***********************         Servo Refreshrates            ***********************/
    /* Default 50Hz Servo refresh rate*/
    #define SERVO_RFR_50HZ

    /* up to 160Hz servo refreshrate .. works with the most analog servos*/
    //#define SERVO_RFR_160HZ

    /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
       for use with digital servos
       dont use it with analog servos! thay may get damage. (some will work but be careful) */
    //#define SERVO_RFR_300HZ
    
  /***********************             HW PWM Servos             ***********************/ 
    /* HW PWM Servo outputs for Arduino Mega.. moves:
      Pitch   = pin 44
      Roll    = pin 45
      CamTrig = pin 46
      SERVO4  = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
      SERVO5  = pin 12 (aileron right for fixed wing)
      SERVO6  = pin 6   (rudder for fixed wing)
      SERVO7  = pin 7   (elevator for fixed wing)
      SERVO8  = pin 8   (motor for fixed wing)       */ 

    #define MEGA_HW_PWM_SERVOS
 
    /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
     * one of the 3 fixed servo.refresh.rates *
     * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
     * motor[0] = motor       = pin  6
     * servo[3] = nick  servo = pin 11
     * servo[4] = left  servo = pin 10
     * servo[5] = yaw   servo = pin  5
     * servo[6]  = right servo= pin  9
     */
    //#define A32U4_4_HW_PWM_SERVOS

    #define SERVO_RFR_RATE  50    // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
    //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
                                          // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4


  /********************************************************************/
  /****           Memory savings                                   ****/
  /********************************************************************/

    /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */

    /**** suppress handling of serial commands.***
     * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
     * Enable either one or both of the following options  */

      /* Remove handling of all commands of the New MultiWii Serial Protocol.
       * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
       * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
       * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
      //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes

      /* Remove handling of other serial commands.
       * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
       * Navigating via stick inputs on tx is not affected and will work the same.  */
      //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled

    /**** suppress keeping the defaults for initial setup and reset in the code.
     * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
     * reset in GUI will not work on PIDs
     */
    //#define SUPPRESS_DEFAULTS_FROM_GUI
    
    //#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini

  /********************************************************************/
  /****           diagnostics                                      ****/
  /********************************************************************/

    /* to log values like max loop time and others to come
       logging values are visible via LCD config
       set to 1, enable 'R' option to reset values, max current, max altitude
       set to 2, adds min/max cycleTimes
       set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
    //#define LOG_VALUES 1

    /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
     * used to track number of flights etc. over lifetime of controller board.
     * Writes to end of eeprom - should not conflict with stored parameters yet.
     * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
     *                #failsafe@disarm, #i2c_errs@disarm
     * Enable one or more options to show the log
     */
    //#define LOG_PERMANENT
    //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
    //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
    //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
    //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time

    /* to add debugging code
       not needed and not recommended for normal operation
       will add extra code that may slow down the main loop or make copter non-flyable */
    //#define DEBUG
    //#define DEBUG_FREE // will add 'F' command to show free memory

    /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_CONF_DEBUG

    /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
    //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.

    /* Enable string transmissions from copter to GUI */
    //#define DEBUGMSG


  /********************************************************************/
  /****           ESCs calibration                                 ****/
  /********************************************************************/

    /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
       Warning: this creates a special version of MultiWii Code
       You cannot fly with this special version. It is only to be used for calibrating ESCs
       Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
    #define ESC_CALIB_LOW  MINCOMMAND
    #define ESC_CALIB_HIGH 2000
    //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate

  /****           internal frequencies                             ****/
    /* frequenies for rare cyclic actions in the main loop, depend on cycle time
       time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
       example: with cycle time of approx 3ms, do action every 6*3ms=18ms
       value must be [1; 65535] */
    #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
    #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
    #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
    #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
    #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable

  /********************************************************************/
  /****           Dynamic Motor/Prop Balancing                     ****/
  /********************************************************************/
  /*                   !!! No Fly Mode !!!                            */ 
		
    //#define DYNBALANCE   // (**) Dynamic balancing controlled from Gui

  /********************************************************************/
  /****           Regression testing                               ****/
  /********************************************************************/

    /* for development only:
       to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
       together. This is meant to help detecting compile time errors for various features in a coordinated way.
       It is not meant to produce your flying firmware
       To use:
       - do not set any options in config.h,
       - enable with #define COPTERTEST 1, then compile
       - if possible, check for the size
       - repeat with other values of 2, 3, 4 etc.
        */
    //#define COPTERTEST 1

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  8 - DEPRECATED                                                 *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /* these features will be removed in the unforseeable future. Do not build new products or
   * functionality based on such features. The default for all such features is OFF.
   */

  /**************************    WMP power pin     *******************************/
  //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  #define DISABLE_POWER_PIN


/*************************************************************************************************/
/****           END OF CONFIGURABLE PARAMETERS                                                ****/
/*************************************************************************************************/

#endif /* CONFIG_H_ */

[code]

I hope this is what you need.
Don

[DRose]

I didn’t get the code right. Try again.

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

  /************************        Angele throttle correction         ********************/
  /* Automatically increase throttle based on the angle of the copter
     Original idea by Kraut Rob, first implementation HAdrian							*/

  //#define THROTTLE_ANGLE_CORRECTION 40
  
 /*************************        Advanced Headfree Mode             ********************/
 /* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then 
    the  bearing between home and copter position will become the control direction 
	IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the 
	bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
	first implementation by HAdrian, mods by EOSBandi
 */

   //#define ADVANCED_HEADFREE									//Advanced headfree mode is enabled when this is uncommented
   //#define ADV_HEADFREE_RANGE 15								//Range where advanced headfree mode activated


  /************************        continuous gyro calibration        ********************/
  /* Gyrocalibration will be repeated if copter is moving during calibration. */
    //#define GYROCALIBRATIONFAILSAFE

  /************************        AP FlightMode        **********************************/
    /* 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


  /********                          Failsafe settings                 ********************/
    /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels) 
       the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
       PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
       for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed, 
       and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
    //#define FAILSAFE                                // uncomment  to activate the failsafe function
    #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
    #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  985


  /*****************                DFRobot LED RING    *********************************/
    /* I2C DFRobot LED RING communication */
    //#define LED_RING

  /********************************    LED FLASHER    ***********************************/
    //#define LED_FLASHER
    //#define LED_FLASHER_DDR DDRB
    //#define LED_FLASHER_PORT PORTB
    //#define LED_FLASHER_BIT PORTB4
    //#define LED_FLASHER_INVERT
    //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
    //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
    //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
    //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination


  /*******************************    Landing lights    *********************************/
  /* Landing lights
     Use an output pin to control landing lights.
     They can be switched automatically when used in conjunction
     with altitude data from a sonar unit. */
    //#define LANDING_LIGHTS_DDR DDRC
    //#define LANDING_LIGHTS_PORT PORTC
    //#define LANDING_LIGHTS_BIT PORTC0
    //#define LANDING_LIGHTS_INVERT

    /* altitude above ground (in cm) as reported by sonar */
    //#define LANDING_LIGHTS_AUTO_ALTITUDE 50

    /* adopt the flasher pattern for landing light LEDs */
    //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN

  /*************************    INFLIGHT ACC Calibration    *****************************/
    /* This will activate the ACC-Inflight calibration if unchecked */
    //#define INFLIGHT_ACC_CALIBRATION

  /*******************************    OSD Switch    *************************************/
    // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
  //#define OSD_SWITCH

  /**************************************************************************************/
  /***********************                  TX-related         **************************/
  /**************************************************************************************/

    /* introduce a deadband around the stick center
       Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw */
    //#define DEADBAND 6

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

    /* GPS using a SERIAL port
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
       in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
       at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
       
    //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
    //#define GPS_PROMINI_SERIAL   // Will Autosense if GPS is connected when ardu boots.

    // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
    #define GPS_BAUD   57600

   /* 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 */
    //#define I2C_GPS
    // If your I2C GPS board has Sonar support enabled
    //#define I2C_GPS_SONAR

    /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
    //#define GPS_FROM_OSD

    /* 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

    //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions

    //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)

    /* GPS navigation can control the heading */
    
    #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
    #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first 
    #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
    
    
    /* 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) */
    //#define MAG_DECLINATION  3.96f              //For Budapest Hungary.
    #define MAG_DECLINATION  0.0f   //(**)

    #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
    
    //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
    #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes


  /**************************************************************************************/
  /***********************        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 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
    //#define SUPPRESS_TELEMETRY_PAGE_3
    //#define SUPPRESS_TELEMETRY_PAGE_4
    //#define SUPPRESS_TELEMETRY_PAGE_5
    //#define SUPPRESS_TELEMETRY_PAGE_6
    //#define SUPPRESS_TELEMETRY_PAGE_7
    //#define SUPPRESS_TELEMETRY_PAGE_8
    //#define SUPPRESS_TELEMETRY_PAGE_9
    //#define SUPPRESS_TELEMETRY_PAGE_R

  /********************************************************************/
  /****                             RSSI                           ****/
  /********************************************************************/
    //#define RX_RSSI
    //#define RX_RSSI_PIN A3

  /********************************************************************/
  /****                             Buzzer                         ****/
  /********************************************************************/
    //#define BUZZER
    //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
    //#define ARMEDTIMEWARNING 330  // (*) Trigger an alarm after a certain time of being armed [s] to save you lipo (if your TX does not have a countdown)
    //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp

  /********************************************************************/
  /****           battery voltage monitoring                       ****/
  /********************************************************************/
    /* for V BAT monitoring
       after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
       with R1=33k and R2=51k
       vbat = [0;1023]*16/VBATSCALE
       must be associated with #define BUZZER ! */
    //#define VBAT              // uncomment this line to activate the vbat code
    #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
    #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
    #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
    #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
    #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
    #define NO_VBAT          16 // Avoid beeping without any battery


  /********************************************************************/
  /****           powermeter (battery capacity monitoring)         ****/
  /********************************************************************/

    /* enable monitoring of the power consumption from battery (think of mAh)
       allows to set alarm value in GUI or via LCD
      Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
       Two options:
       1 - hard: - (uses hardware sensor, after configuration gives very good results)
       2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
    //#define POWERMETER_SOFT
    //#define POWERMETER_HARD
    #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
                                   gives 1/2 Vss; that is approx 2.49Volt; */
    #define PINT2mA 132     /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
                                   soft: use fictional value, start with 100.
                                   for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */

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

    /* defines the neutral zone of throttle stick during altitude hold, default setting is
       +/-50 uncommend and change the value below if you want to change it. */
    #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    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

  /********************************************************************/
  /****           baord naming                                     ****/
  /********************************************************************/

    /*
     * this name is displayed together with the MultiWii version number
     * upon powerup on the LCD.
     * If you are without a DISPLAYD then You may enable LCD_TTY and
     * use arduino IDE's serial monitor to view the info.
     *
     * You must preserve the format of this string!
     * It must be 16 characters total,
     * The last 4 characters will be overwritten with the version number.
     */
    #define BOARD_NAME "MultiWii   V-.--"
    //                  123456789.123456

  /*************      Support multiple configuration profiles in EEPROM     ************/
    //#define MULTIPLE_CONFIGURATION_PROFILES

  /*************      do no reset constants when change of flashed program is detected ***********/
    #define NO_FLASH_CHECK

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  7 - TUNING & DEVELOPER                                  **************/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /**************************************************************************************/
  /********   special ESC with extended range [0-2000] microseconds  ********************/
  /**************************************************************************************/
    //#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega

  /**************************************************************************************/
  /***********************     motor, servo and other presets     ***********************/
  /**************************************************************************************/
    /* motors will not spin when the throttle command is in low position
       this is an alternative method to stop immediately the motors */
    //#define MOTOR_STOP

    /* some radios have not a neutral point centered on 1500. can be changed here */
    #define MIDRC 1500

  /***********************         Servo Refreshrates            ***********************/
    /* Default 50Hz Servo refresh rate*/
    #define SERVO_RFR_50HZ

    /* up to 160Hz servo refreshrate .. works with the most analog servos*/
    //#define SERVO_RFR_160HZ

    /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
       for use with digital servos
       dont use it with analog servos! thay may get damage. (some will work but be careful) */
    //#define SERVO_RFR_300HZ
    
  /***********************             HW PWM Servos             ***********************/ 
    /* HW PWM Servo outputs for Arduino Mega.. moves:
      Pitch   = pin 44
      Roll    = pin 45
      CamTrig = pin 46
      SERVO4  = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
      SERVO5  = pin 12 (aileron right for fixed wing)
      SERVO6  = pin 6   (rudder for fixed wing)
      SERVO7  = pin 7   (elevator for fixed wing)
      SERVO8  = pin 8   (motor for fixed wing)       */ 

    #define MEGA_HW_PWM_SERVOS
 
    /* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
     * one of the 3 fixed servo.refresh.rates *
     * Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
     * motor[0] = motor       = pin  6
     * servo[3] = nick  servo = pin 11
     * servo[4] = left  servo = pin 10
     * servo[5] = yaw   servo = pin  5
     * servo[6]  = right servo= pin  9
     */
    //#define A32U4_4_HW_PWM_SERVOS

    #define SERVO_RFR_RATE  50    // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
    //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
                                          // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4


  /********************************************************************/
  /****           Memory savings                                   ****/
  /********************************************************************/

    /* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */

    /**** suppress handling of serial commands.***
     * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
     * Enable either one or both of the following options  */

      /* Remove handling of all commands of the New MultiWii Serial Protocol.
       * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
       * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
       * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
      //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes

      /* Remove handling of other serial commands.
       * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
       * Navigating via stick inputs on tx is not affected and will work the same.  */
      //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled

    /**** suppress keeping the defaults for initial setup and reset in the code.
     * This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
     * reset in GUI will not work on PIDs
     */
    //#define SUPPRESS_DEFAULTS_FROM_GUI
    
    //#define DISABLE_SETTINGS_TAB  // Saves ~400bytes on ProMini

  /********************************************************************/
  /****           diagnostics                                      ****/
  /********************************************************************/

    /* to log values like max loop time and others to come
       logging values are visible via LCD config
       set to 1, enable 'R' option to reset values, max current, max altitude
       set to 2, adds min/max cycleTimes
       set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
    //#define LOG_VALUES 1

    /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
     * used to track number of flights etc. over lifetime of controller board.
     * Writes to end of eeprom - should not conflict with stored parameters yet.
     * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
     *                #failsafe@disarm, #i2c_errs@disarm
     * Enable one or more options to show the log
     */
    //#define LOG_PERMANENT
    //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
    //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
    //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
    //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time

    /* to add debugging code
       not needed and not recommended for normal operation
       will add extra code that may slow down the main loop or make copter non-flyable */
    //#define DEBUG
    //#define DEBUG_FREE // will add 'F' command to show free memory

    /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_CONF_DEBUG

    /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
    //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
    //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.

    /* Enable string transmissions from copter to GUI */
    //#define DEBUGMSG


  /********************************************************************/
  /****           ESCs calibration                                 ****/
  /********************************************************************/

    /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
       Warning: this creates a special version of MultiWii Code
       You cannot fly with this special version. It is only to be used for calibrating ESCs
       Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
    #define ESC_CALIB_LOW  MINCOMMAND
    #define ESC_CALIB_HIGH 2000
    //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate

  /****           internal frequencies                             ****/
    /* frequenies for rare cyclic actions in the main loop, depend on cycle time
       time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
       example: with cycle time of approx 3ms, do action every 6*3ms=18ms
       value must be [1; 65535] */
    #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
    #define LCD_TELEMETRY_AUTO_FREQ  967// to step to next telemetry page 967 <=> 3s
    #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
    #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
    #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable

  /********************************************************************/
  /****           Dynamic Motor/Prop Balancing                     ****/
  /********************************************************************/
  /*                   !!! No Fly Mode !!!                            */ 
		
    //#define DYNBALANCE   // (**) Dynamic balancing controlled from Gui

  /********************************************************************/
  /****           Regression testing                               ****/
  /********************************************************************/

    /* for development only:
       to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
       together. This is meant to help detecting compile time errors for various features in a coordinated way.
       It is not meant to produce your flying firmware
       To use:
       - do not set any options in config.h,
       - enable with #define COPTERTEST 1, then compile
       - if possible, check for the size
       - repeat with other values of 2, 3, 4 etc.
        */
    //#define COPTERTEST 1

/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  8 - DEPRECATED                                                 *******/
/*****************                                                                 ***************/
/*************************************************************************************************/

  /* these features will be removed in the unforseeable future. Do not build new products or
   * functionality based on such features. The default for all such features is OFF.
   */

  /**************************    WMP power pin     *******************************/
  //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
  /* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
  #define DISABLE_POWER_PIN


/*************************************************************************************************/
/****           END OF CONFIGURABLE PARAMETERS                                                ****/
/*************************************************************************************************/

#endif /* CONFIG_H_ */

[DRose]

Mee_n_Macand

I’ll be out of town most of today, part of Sunday and part of Monday, but I’ll be on this computer when I’m home.Thank you again for all your help.

Don

[DRose]

Codlinks & Mee_n_Mac

I,m back again. I’ve been going round and round trying to create a sketch using MultiWii V2.3 and Arduino 1.0.5-r2. I was trying to compile a sketch for sections 1 thru 8 of config_h_ of MW V2.3 by defining the setup and loop in the main.cpp tag of Arduino 1.0.5-r2 and I keep getting the error from the “;” after the “setup” in the main.cpp tag. What am I doing wrong?

Here is the main tag as I have changed it, and also the error that I get trying to compile the tag.

#include <Arduino.h>

int main(void)
{
	init();

#if defined(USBCON)
USBDevice.attach();
#endif;

setup();

 1	for (config_h_ ) {
  8  loop();  
if (serialEventRun) serialEventRun();	}

return 0;
}













C:\Documents and Settings\HP_Administrator\Desktop\arduino-1.0.5-r2\hardware\arduino\cores\arduino\main.cpp: In function 'int main()':
C:\Documents and Settings\HP_Administrator\Desktop\arduino-1.0.5-r2\hardware\arduino\cores\arduino\main.cpp:13: error: expected `;' before 'for'
[code]