Drone pas du tout stable

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Seb312
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Enregistré le : dim. 31 janv. 2016 19:05
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Drone pas du tout stable

Message non lu par Seb312 » dim. 31 janv. 2016 19:19

Bonjour,

Je suis en train de me monter un drone (Arduino nano + MPU6050 + BMP085 + GPS Ublox 6M) mais malheureusement, il n'est pas très stable, il bouge dans tous les sens. Impossible de le garder en l'air, il retombe aussi vite qu'il est monté. J'aurais aimé avoir vos retours sur ma configuration PID (j'ai pour le moment pris les réglages par défaut) et surtout comprendre pourquoi les valeurs entre les moteurs ne sont pas les mêmes alors que le drone est bien à plat sur ma table. J'ai toujours un décalage quelque soit le réglage sans angle, sans horizon ou avec angle et sans horizon... Le calibration des moteurs ont été fait un par un via la télécommande.

J'ai configuré le fichier "Multiwii.h", car j'ai minimum 1200 et 1850 sur ma télécommande (Hobby King 2.4Ghz 6Ch Tx & Rx V2) et je n'ai pas le câble pour régler les endpoints :
#define MINCHECK 1200
#define MAXCHECK 1800
config.h
#define MINTHROTTLE 1050
#define MAXTHROTTLE 2000
#define MINCOMMAND 1000

Pour information, j'avais testé le projet : http://www.brokking.net/ymfc-3d_v2_main.html" onclick="window.open(this.href);return false; (mon drone était stable).
J'ai voulu basculer sur Multiwii pour avoir l'opportunité d'utiliser un baromètre ainsi que le GPS.

Image

Merci d'avance pour votre retour.

++
Séb
Modifié en dernier par Seb312 le dim. 31 janv. 2016 19:55, modifié 1 fois.



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Dehas
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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 31 janv. 2016 19:54

A contrôler, sens de rotation des moteurs selon leurs emplacement, sens des hélices.
La différence dans MultiWiiGui est ssns hélices je suppose ?
Mets e aussi en angle, il sera plus stable.



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 31 janv. 2016 21:08

Oui j'ai vérifié le sens de rotation, le sens des hélices.
Les valeurs sont bien sans les hélices.
Je vais tester demain soir après le boulot avec le mode angle également.
Je suis quand même surpris que niveau soft, il y est une telle différence.



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 09:33

Bonjour,

Petit message pour vous parler de mes différents tests d'hier après-midi.
Après avoir vérifié l'ensemble des points que vous m'avez indiqué :
- sens des hélices (front-left => CW / front-right => CCW / rear-left => CCW / rear-right => CW)
- prendre des hélices neuves
- activer le mode angle

Mon drone est toujours très instable, il s'est même retourné plusieurs fois avec les PID par défauts.
Pourtant quand je regarde l'application MultiWiiConf, les valeurs du gyroscope MPU6050 , du baromètre BMP085 et du GPS sont correctes.

J'aurai aimé avoir votre avis sur mes moteurs : http://www.hobbyking.com/hobbyking/stor ... ouse_.html" onclick="window.open(this.href);return false;
Sont-ils ok pour faire un quadricopter ?

Autre point, je ne peux pas régler mes "endPoints" de 1000 à 2000, j'ai été obligé de mettre la valeur "1200" (MINCOMMAND) dans le fichier MultiWii.h.
En effet, ma télécommande Hobby King 2.4Ghz 6Ch Tx & Rx V2 (Mode 2) me retourne une valeur min de 1190 et une valeur max de 1900 pour les gazs.
J'ai commandé le câble USB pour pouvoir ajuster cela. Mais je ne pense pas que ça soit cela qui provoque cette instabilité. J'ai + l'impression que les moteurs ne tournent pas à la même vitesse d'où ma question sur les moteurs.

Merci d'avance pour votre retour.

Cordialement,
Sébastien



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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 09:52

As tu bien calibrer tes esc ??



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 10:10

Oui , j'ai testé dans un premier temps , via la procédure manuel , les gazs à fond puis une fois qu'il bip, les gazs au minimum, puis bip de validation => toujours NOK
Et j'ai aussi testé, via : define ESC_CALIB_CANNOT_FLY => toujours NOK

Aujourd'hui mon config.h :
#define QUADX
#define MINTHROTTLE 1050 // (*) (**)
#define MAXTHROTTLE 2000
#define MINCOMMAND 1000
#define I2C_SPEED 400000L
#define LOOP_TIME 2800
#define MPU6050
#define BMP085
#define GPS_BAUD 115200
#define UBLOX
#define I2C_GPS

Multiwii.h:
#define MINCHECK 1200
#define MAXCHECK 1800

J'ai laissé les autres éléments par défaut.
J'ai vu sur internet, qu'il y a des gens qui dé-commente les lignes suivantes :
#define FORCE_ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define FORCE_GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define FORCE_MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
#define MPU6050_EN_I2C_BYPASS

Je ne sais pas si c'est utile dans mon cas, j'ai positionné le MPU6050 (petit composant jaune : http://1.bp.blogspot.com/-VD4tnn3Towo/U ... u-6050.jpg" onclick="window.open(this.href);return false;) vers le FRONT.



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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 10:56

Mets nous ton config.h en entier entre les balises "code" car là, on ne sait pas ce que tu as décommenté.



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 11:01

config.h

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#ifndef CONFIG_H_
#define CONFIG_H_

/*************************************************************************************************/
/****           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 1050 // (*) (**)

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

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

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

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

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

    /***************************    Combined IMU Boards    ********************************/
      /* if you use a specific sensor board:
         please submit any correction to this list.
           Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
      //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
      //#define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
      //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
      //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
      //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
      //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
      //#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
      //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
      //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
      //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
      //#define PIPO            // 9DOF board from erazz
      //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
      //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
      //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
      //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
      //#define AEROQUADSHIELDv2
      //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
      //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
      //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
      //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
      //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com           <- confirmed by Alex
      //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
      //#define SIRIUS_MEGAv5_OSD //  Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox  http://www.Multiwiicopter.com <- confirmed by Alex
      //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
      //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
      //#define CITRUSv2_1      // CITRUS from qcrc.ca
      //#define CHERRY6DOFv1_0
      //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
      //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
      //#define DROTEK_6DOFv2   // Drotek 6DOF v2
      //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
      //#define DROTEK_10DOF_MPU//
      //#define MONGOOSE1_0     // mongoose 1.0    http://store.ckdevices.com/
      //#define CRIUS_LITE      // Crius MultiWii Lite
      //#define CRIUS_SE        // Crius MultiWii SE
      //#define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
      //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
      //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
      //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
      //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
      //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
      //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
      //#define GY_88 // Chinese 10 DOF with MPU6050 HMC5883L BMP085, LLC
      //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
      //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
      //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
      //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
      //#define PROTO_DIY       // 10DOF mega board
      //#define IOI_MINI_MULTIWII// www.bambucopter.com
      //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
      //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
      //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
      //#define FLYDUINO_MPU       // MPU6050 Break Out onboard 3.3V reg
      //#define CRIUS_AIO_PRO
      //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
      //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
      //#define LADYBIRD
      //#define MEGAWAP_V2_STD     // available here: http://www.multircshop.com                    <- confirmed by Alex
      //#define MEGAWAP_V2_ADV
      //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
      //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)  
      //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA  http://www.rcnet.com
      //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
      //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
      //#define DIYFLYING_MAGE_V1  // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
      //#define MultiWii_32U4_SE         // Hextronik MultiWii_32U4_SE
      //#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA to free flash-memory for other functions
      //#define Flyduino9DOF       // Flyduino 9DOF IMU MPU6050+HMC5883l
      //#define Nano_Plane         // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
      
    /***************************    independent sensors    ********************************/
      /* leave it commented if you already checked a specific board above */
      /* I2C gyroscope */
      //#define WMP
      //#define ITG3050
      //#define ITG3200
      //#define MPU3050
      //#define L3G4200D
      #define MPU6050       //combo + ACC
      //#define LSM330        //combo + ACC
      
      /* I2C accelerometer */
      //#define MMA7455
      //#define ADXL345
      //#define BMA020
      //#define BMA180
      //#define BMA280
      //#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
     */

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


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

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

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

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

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

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

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

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

    //#define VOLTAGEDROP_COMPENSATION // voltage impact correction

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

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

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

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

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

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

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

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

//#define EXTENDED_AUX_STATES


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

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

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

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

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

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

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

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

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

    /*********************    Lowpass filter for some gyros    ****************************/
      /* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
         to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
         It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
         balancing options ran out. Uncomment only one option!
         IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.
         available for ITG3050, ITG3200, MPU3050, MPU6050*/
      //#define GYRO_LPF_256HZ     // This is the default setting, no need to uncomment, just for reference
      //#define GYRO_LPF_188HZ
      //#define GYRO_LPF_98HZ
      //#define GYRO_LPF_42HZ
      //#define GYRO_LPF_20HZ
      //#define GYRO_LPF_10HZ
      //#define GYRO_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props -- setting not available on ITG3200
      //#define GYRO_LPF_188HZ

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

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

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

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

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

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

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

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


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

  /************************        AP FlightMode        **********************************/
  /*** FUNCTIONALITY TEMPORARY REMOVED ***/
    /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
    //#define AP_MODE 40  // Create a deadspan for GPS.
        
  /************************   Assisted AcroTrainer    ************************************/
    /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
       Remember to activate ANGLE_MODE first!...
       A Value on 200 will give a very distinct transfer */
    //#define ACROTRAINER_MODE 200   // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437


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

    /* ENable this for using GPS simulator (NMEA only)*/
    //#define GPS_SIMULATOR

    /* GPS using a SERIAL port
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
       in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
       at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
       
    //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
                                   // must be 0 for PRO_MINI (ex GPS_PRO_MINI)
                                   // note: Now a GPS can share MSP on the same port. The only constrain is to not use it simultaneously, and use the same port speed.

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

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

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


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

    #define I2C_GPS

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

    /* indicate a valid GPS fix with at least 5 satellites by flashing the LED  - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator 
      - No GPS FIX -> LED blink at speed of incoming GPS frames
      - Fix and sat no. bellow 5 -> LED off
      - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
    #define GPS_LED_INDICATOR

   //Enables the MSP_WP command set , which is used by WinGUI for displaying an setting up navigation
   //#define USE_MSP_WP

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

/* GPS navigation can control the heading */

// copter faces toward the navigation point, maghold must be enabled for it
#define NAV_CONTROLS_HEADING       1    //(**)
// true - copter comes in with tail first
#define NAV_TAIL_FIRST             0    //(**)
// true - when copter arrives to home position it rotates it's head to takeoff direction
#define NAV_SET_TAKEOFF_HEADING    1    //(**)

/* Get your magnetic declination from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST)
Also note, that maqgnetic declination changes with time, so recheck your value every 3-6 months */
#define MAG_DECLINATION  4.02f   //(**)

// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
#define GPS_LEAD_FILTER               //(**)

// add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
// use it with NMEA gps only 
//#define GPS_FILTERING                 //(**)

// if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define GPS_WP_RADIUS              100      //(**)

// Safe WP distance, do not start mission if the first wp distance is larger than this number (in meters)
// Also aborts mission if the next waypoint distance is more than this number
#define SAFE_WP_DISTANCE           500      //(**)

//Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
#define MAX_NAV_ALTITUDE           100     //(**)

// minimum speed when approach waypoint
#define NAV_SPEED_MIN              100    // cm/sec //(**)
// maximum speed to reach between waypoints
#define NAV_SPEED_MAX              400    // cm/sec //(**)
// Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
#define NAV_SLOW_NAV               0      //(**)
// Weight factor of the crosstrack error in navigation calculations (do not touch)
#define CROSSTRACK_GAIN            .4     //(**)
// Maximum allowable banking than navigation outputs
#define NAV_BANK_MAX 3000                 //(**)

//Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
#define RTH_ALTITUDE               15        //(**)
//Wait to reach RTH alt before start moving to home (0-no, 1-yes)
#define WAIT_FOR_RTH_ALT           1         //(**)

//Navigation engine will takeover BARO mode control
#define NAV_TAKEOVER_BARO          1         //(**)

//Throttle stick input will be ignored  (only in BARO)
#define IGNORE_THROTTLE            1         //(**)

//If FENCE DISTANCE is larger than 0 then copter will switch to RTH when it farther from home
//than the defined number in meters
#define FENCE_DISTANCE      600

//This governs the descent speed during landing. 100 is equals approc 50cm/sec
#define LAND_SPEED          100


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  /********************************************************************/
  /****           battery voltage monitoring                       ****/
  /********************************************************************/
    /* for V BAT monitoring
       after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
       with R1=33k and R2=51k
       vbat = [0;1023]*16/VBATSCALE
       must be associated with #define BUZZER ! */
    //#define VBAT              // uncomment this line to activate the vbat code
    #define VBATSCALE       131 // (*) (**) change this value if readed Battery voltage is different than real voltage
    #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
    #define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
    #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
    #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
    #define NO_VBAT          16 // Avoid beeping without any battery
    #define VBAT_OFFSET       0 // offset in 0.1Volts, gets added to voltage value  - useful for zener diodes

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

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

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

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

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


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

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

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

  /********************************************************************/
  /****           board naming                                     ****/
  /********************************************************************/

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

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

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

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

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

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

  /**************************************************************************************/
  /********  brushed ESC ****************************************************************/
  /**************************************************************************************/
    // for 328p proc
    //#define EXT_MOTOR_32KHZ
    //#define EXT_MOTOR_4KHZ
    //#define EXT_MOTOR_1KHZ
  
    // for 32u4 proc
    //#define EXT_MOTOR_64KHZ
    //#define EXT_MOTOR_32KHZ
    //#define EXT_MOTOR_16KHZ
    //#define EXT_MOTOR_8KHZ

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

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

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

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

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

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

    #define SERVO_RFR_RATE  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_ */
Multiwii.h

Code : Tout sélectionner

#ifndef MULTIWII_H_
#define MULTIWII_H_

#define  VERSION        230
#define  NAVI_VERSION   7     //This allow sync with GUI
#include "types.h"
#include "Alarms.h"

#define MINCHECK 1200
#define MAXCHECK 1800

extern volatile unsigned long timer0_overflow_count;

extern const char pidnames[];
extern const char boxnames[];
extern const uint8_t boxids[];

extern uint32_t currentTime;
extern uint16_t previousTime;
extern uint16_t cycleTime;
extern uint16_t calibratingA;
extern uint16_t calibratingB;
extern uint16_t calibratingG;
extern int16_t  magHold,headFreeModeHold;
extern uint8_t  vbatMin;
extern uint8_t  rcOptions[CHECKBOXITEMS];
extern int32_t  AltHold;
extern int16_t  sonarAlt;
extern int16_t  BaroPID;
extern int16_t  errorAltitudeI;

extern int16_t  i2c_errors_count;
extern uint8_t alarmArray[ALRM_FAC_SIZE];
extern global_conf_t global_conf;

extern imu_t imu;
extern analog_t analog;
extern alt_t alt;
extern att_t att;
#ifdef LOG_PERMANENT
extern plog_t plog;
#endif

extern int16_t debug[4];

extern conf_t conf;
extern int16_t  annex650_overrun_count;
extern flags_struct_t f;
extern uint16_t intPowerTrigger1;

extern int16_t gyroZero[3];
extern int16_t angle[2];


#if BARO
  extern int32_t baroPressure;
  extern int16_t baroTemperature; // temp in 0.01 deg
  extern int32_t baroPressureSum;
#endif

extern int16_t axisPID[3];
extern int16_t motor[8];
extern int16_t servo[8];

extern int16_t failsafeEvents;
extern volatile int16_t failsafeCnt;

extern int16_t rcData[RC_CHANS];
extern int16_t rcSerial[8];
extern int16_t rcCommand[4];
extern uint8_t rcSerialCount;
extern int16_t lookupPitchRollRC[5];
extern uint16_t lookupThrottleRC[11];

#if defined(POWERMETER) || ( defined(LOG_VALUES) && (LOG_VALUES >= 3) )
  #define PMOTOR_SUM 8                     // index into pMeter[] for sum
  extern uint32_t pMeter[PMOTOR_SUM + 1];  // we use [0:7] for eight motors,one extra for sum
  extern uint8_t pMeterV;                  // dummy to satisfy the paramStruct logic in ConfigurationLoop()
  extern uint32_t pAlarm;                  // we scale the eeprom value from [0:255] to this value we can directly compare to the sum in pMeter[6]
  extern uint16_t powerValue;              // last known current
#endif

#if defined(LCD_TELEMETRY)
  extern uint8_t telemetry;
  extern uint8_t telemetry_auto;
#endif
#ifdef LCD_TELEMETRY_STEP
  extern char telemetryStepSequence[];
  extern uint8_t telemetryStepIndex;
#endif

#if defined(LOG_VALUES) || defined(LCD_TELEMETRY)
  extern uint16_t cycleTimeMax;       // highest ever cycle timen
  extern uint16_t cycleTimeMin;       // lowest ever cycle timen
  extern int32_t  BAROaltMax;         // maximum value
  extern uint16_t GPS_speedMax;       // maximum speed from gps
  extern uint16_t powerValueMaxMAH;
  extern uint16_t wattsMax;
#endif
#if defined(LOG_VALUES) || defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT)
  extern uint32_t armedTime;
#endif

#if GPS
// *************************************** begin GPS common variables and defines ******************************************************************

extern gps_conf_struct GPS_conf;

extern int16_t  GPS_angle[2];           // the angles that must be applied for GPS correction
extern int32_t  GPS_coord[2];
extern int32_t  GPS_home[2];
extern int32_t  GPS_hold[2];
extern int32_t  GPS_prev[2];
extern int32_t  GPS_poi[2];             // Coordinates of the current poi
extern int32_t  GPS_directionToPoi;     // direction to the actual poi (used to set heading to poi)
extern uint8_t  GPS_numSat;
extern uint16_t GPS_distanceToHome;     // distance to home  - unit: meter
extern int16_t  GPS_directionToHome;    // direction to home - unit: degree
extern uint16_t GPS_altitude;           // GPS altitude      - unit: meter
extern uint16_t GPS_speed;              // GPS speed         - unit: cm/s
extern uint8_t  GPS_update;             // a binary toogle to distinct a GPS position update
extern uint16_t GPS_ground_course;      //                   - unit: degree*10
extern uint32_t GPS_time;

extern uint8_t  GPS_mode;               // contains the current selected gps flight mode

extern uint8_t NAV_error;                 //Last error situation of the nav engine
extern uint8_t NAV_state;                 //State of the nav engine
extern uint8_t GPS_saved_mission_state;   //The mission state saved when poshold invoked during mission
extern uint8_t prv_gps_modes;             //GPS_checkbox items packed into 1 byte for checking GPS mode changes
extern uint32_t nav_timer_stop;           //common timer used in navigation (contains the desired stop time in millis()
extern uint16_t nav_hold_time;            //time in seconds to hold position
extern uint8_t NAV_paused_at;             //This contains the mission step where poshold paused the runing mission.
extern uint8_t next_step;                 //The mission step which is upcoming it equals with the mission_step stored in EEPROM

//Altitude control state
#define ASCENDING           1
#define DESCENDING          -1
#define REACHED_ALT         0

// The orginal altitude used as base our new altitude during nav
extern int32_t original_altitude;
//This is the target what we want to reach 
extern int32_t target_altitude;
//This is the interim value which is feeded into the althold controller
extern int32_t alt_to_hold;

extern uint32_t alt_change_timer;
extern int8_t   alt_change_flag;
extern uint32_t alt_change;
extern int16_t  jump_times;             //How many loops do we have to do (alt/100 from mission step) -10 means not used jet, -1 unlimited
extern uint8_t  land_detect;            //land detector variable


// ************************
// mission step structure
// ************************
extern mission_step_struct mission_step;

//possible action codes for a mission step 
#define MISSION_WAYPOINT      1   //Set waypoint
#define MISSION_HOLD_UNLIM    2   //Poshold unlimited
#define MISSION_HOLD_TIME     3   //Hold for a predetermined time
#define MISSION_RTH           4   //Return to HOME
#define MISSION_SET_POI       5   //Set POINT of interest
#define MISSION_JUMP          6   //Jump to the given step (#times)
#define MISSION_SET_HEADING   7   //Set heading to a given orientation (parameter 1 is the waym 0-359 degree
#define MISSION_LAND          8   //Land at the given position


#define MISSION_FLAG_END         0xA5   //Flags that this is the last step
#define MISSION_FLAG_CRC_ERROR   0xFE   //Returned WP had an EEPROM CRC error
#define MISSION_FLAG_HOME        0x01   //Returned WP is the home position
#define MISSION_FLAG_HOLD        0x02   //Returned WP is the hold position
#define MISSION_FLAG_DO_LAND     0x20   //Land when reached desired point (used in RTH)
#define MISSION_FLAG_NAV_IN_PROG 0xff   //Navigation is in progress, returned wp is home

#define LAT  0
#define LON  1

extern int16_t  nav[2];


#endif 

// default POSHOLD control gains
#define POSHOLD_P              .15
#define POSHOLD_I              0.0
#define POSHOLD_IMAX           20        // degrees

#define POSHOLD_RATE_P         3.4
#define POSHOLD_RATE_I         0.14      // Wind control
#define POSHOLD_RATE_D         0.053     // try 2 or 3 for POSHOLD_RATE 1
#define POSHOLD_RATE_IMAX      20        // degrees

// default Navigation PID gains
#define NAV_P                  2.5
#define NAV_I                  0.33      // Wind control
#define NAV_D                  0.083      //
#define NAV_IMAX               20        // degrees


// *************************************** end GPS common variables and defines ******************************************************************

extern volatile uint8_t  spekFrameFlags;
extern volatile uint32_t spekTimeLast;
extern uint8_t  spekFrameDone;

#if defined(OPENLRSv2MULTI)
extern uint8_t pot_P,pot_I; // OpenLRS onboard potentiometers for P and I trim or other usages
#endif

// **********************
//Automatic ACC Offset Calibration
// **********************
#if defined(INFLIGHT_ACC_CALIBRATION)
extern uint16_t InflightcalibratingA;
extern int16_t AccInflightCalibrationArmed;
extern uint16_t AccInflightCalibrationMeasurementDone;
extern uint16_t AccInflightCalibrationSavetoEEProm;
extern uint16_t AccInflightCalibrationActive;
#endif

#if defined(ARMEDTIMEWARNING)
  extern uint32_t  ArmedTimeWarningMicroSeconds;
#endif

#if defined(THROTTLE_ANGLE_CORRECTION)
  extern int16_t throttleAngleCorrection;
  extern int8_t  cosZ;
#endif

void annexCode();
void go_disarm();
#endif /* MULTIWII_H_ */



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Dehas
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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 11:24

Comment ça se fait que sur ton MultiWiiConf, ton mag soit a 0 partout ??
L'as tu calibré?
Essaye de descendre de version, 2.2.



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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 11:30

Quand tu bouge ton multi, bouge t'il correctement et dans le bon sens dans MWC ??



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 11:35

Oui, quand je penche le drone vers la droite, j'ai bien la flèche roll (de gauche) qui penche vers la droite et inversement pour la gauche.
Pareil pour le pitch , quand je monte le devant du châssis, j'ai la flèche (de droite) qui monte.
Par contre, j'ai le le cadre de l'horizon avec les degrés (je ne connais pas le nom exact) qui fait l'inverse pour le roll.



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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 11:40

Donc le soucis vient du roll.
Il faut regarder les ligne ci dessous dans config.h

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          /* 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;}
Tu décommente la première, tu réinjecte le firmware et tu teste a la main.



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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 11:49

ok, donc si j'ai bien compris, il faut que la ligne de l'horizon soit exactement la même chose que l'orientation physique du drone.
Et la flèche roll en dessous de l'horizon doit être opposée au comportement réel du drone ?
Désolé pour toutes ces questions débiles :p et merci beaucoup pour ton aide.

J'ai trouvé une vidéo sur youtube (j'ai exactement le même soucis pour le roll) :
https://www.youtube.com/watch?v=7z0ZP1C5ifI" onclick="window.open(this.href);return false;



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Re: Drone pas du tout stable

Message non lu par Dehas » dim. 7 févr. 2016 11:57

Ta ligne d''horizon monte quand tu penche en avant et elle penche a gauche quand tu penche la carte a droite, si tu préfère c'est inversé par rapport a la carte.
Pour bien comprendre, penche la tête comme la carte et tu verra ton horizon faire l'inverse.



Seb312
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Re: Drone pas du tout stable

Message non lu par Seb312 » dim. 7 févr. 2016 12:09

ok, j'ai donc un soucis au niveau du pitch puisque aujourd'hui le seul inversé entre la flèche et l'horizon est le roll.
Je vais faire les tests cet après-midi et je vous tiens au courant.



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