Polskie Forum FPV Poodznaczalem w kodzie Misia 2,17 co tylko myslalem ze dobrze robie mam plytke na 2560 V1 z hobbykinga tun Tego gps ublox eleresa podlaczylem na ppm-Summe zu 0 podlaczylem Bluetoothâ GPS podpiety uart do UART2 (serial2 chyba zu Samo) eleres standartowo trzyzylowy kabelek Ale arduino wyrzucilo mi ze sa bledy ktorých nie Umie zidentyfikowac KTOS moze spojrzy i podpowie Gdzie sa bledy Docelowo ma bys jeszcze OSD Misia na kopterze. ale zanim KUPIE musze te FC wpierw ulotnic diese Datei aus mehreren Abschnitten besteht eine funktionsfähige Kombination zu schaffen Müssen mindestens Ihre Auswahl in Abschnitt 1 treffen. 1 - BASIC SETUP - Sie müssen in jedem Block eine Option auswählen. Dass Sie 4 Kanäle mit Ihrem Board mit Standard-ESCs und Servos verbunden haben. 2 - COPTER TYPE SPEZIFISCHE OPTIONEN - Sie sollten wahrscheinlich nach Optionen für Ihren Hubschrauber Typ 3 überprüfen - RC SYSTEM SETUP 4 - ALTERNATE CPUs amp BOARDS - Wenn Sie 5 - ALTERNATE SETUP - wählen Sie alternativen RX (SBUS, PPM, etc.), (LCD, Telemetrie, Batteriewächter etc.) 7 - TUNING Verstärker DEVELOPER - wenn Sie wissen, was Sie tun, haben Sie gewarnt Der Typ des Multicopters define GIMBAL definieren BI definieren TRI definieren QUADP definieren QUADX Y4 definieren definieren Y6 definieren HEX6 definieren HEX6X definieren HEX6H definieren HEX6U definieren OCTOX8 definieren OCTOFLATP definieren OCTOFLATX definieren FlyingWing definieren VTAIL4 definieren FLUGZEUG definieren SINGLECOPTER definieren DUALCOPTER definieren HELI120CCPM HELI90DEG Motor definieren minthrottle die minimale Drosselklappen Befehl Set gesendet Dies ist auf die ESC (Electronic Speed Controller) ist der Minimalwert, die Motoren erlauben bei einer Leerlaufdrehzahl definieren MINTHROTTLE 1300 für Turnigy Plüsch WSR 10A definieren MINTHROTTLE 1120 für super Einfache WSR 10A definieren MINTHROTTLE 1064 Sonder ESC (simonk) definieren MINTHROTTLE 1100 Motor laufen zu lassen Maxthrottle Dies ist der Maximalwert für die ESCs bei voller Leistung, dieser Wert kann bis 2000 erhöht werden MAXTHROTTLE 1950 Mincommand Dies ist der Wert für die ESCs, wenn sie in einigen Fällen nicht scharf sind, muss dieser Wert auf 900 für gesenkt werden einige spezifische WSR, sonst konnten sie MINCOMMAND 1000 I2C Geschwindigkeit I2CSPEED 100000L 100kHz normalen Modus definieren, wobei dieser Wert definieren zu initiieren muss für eine echte WMP definieren I2CSPEED 400000L 400kHz Fast-Modus verwendet werden, es funktioniert nur mit einigen WMP Klone interne i2c Pullups internen I2C ermöglichen Pull-ups (in den meisten Fällen ist es besser, externe Pullups zu verwenden) definieren INTERNALI2CPULLUPS Kombinierte IMU-Boards, wenn Sie eine spezielle Sensorplatine verwenden: Bitte reichen Sie alle Korrekturen in diese Liste ein. Hinweis von Alex: Ich habe nur ein paar Bretter besitzen, für andere Boards, Ich bin nicht sicher, wurde die Info über rc Foren gesammelt, seien Sie vorsichtig definieren FFIMUv1 erste 9DOFbaro Board von Jussi, mit HMC5843 von Alex bestätigte LT - definieren FFIMUv2 zweite Version von 9DOFbaro Board mit HMC5883 von Jussi, LT - von Alex bestätigte FREEIMUv1 v0.1 amp v0.2 amp v0.3 Version von 9DOF Board von Fabio definieren definieren FREEIMUv03 FreeIMU v0.3 und v0.3.1 definieren FREEIMUv035 FreeIMU v0.3.5 keine baro definieren FREEIMUv035MS FreeIMU v0.3.5MS von Alex definieren bestätigt LT - FREEIMUv035BMP FreeIMU v0.3.5BMP FREEIMUv04 FreeIMU v0.4 mit MPU6050, HMC5883L, MS561101BA definieren LT - von Alex bestätigt definieren FREEIMUv043 gleiche wie FREEIMUv04 mit abschließender MPU6050 (mit der rechten ACC-Skala) definieren NANOWII die kleinste MultiWii FC basiert auf MPU6050 pro Mikro basierten proc LT - von Alex bestätigte PIPO 9DOF Board von erazz definieren Quadrino Voll FC Board 9DOFbaro Board von witespy definieren mit BMP085 baro von Alex definieren QUADRINOZOOM voll FC Board 9DOFbaro Board von witespy zweiten Auflage bestätigt LT - definieren QUADRINOZOOMMS Voll FC Board 9DOFbaro Board von witespy zweiten Auflage LT - von Alex bestätigt definieren ALLINONE volle FC Board oder Standalone 9DOFbaro Board von CSGEU definieren AEROQUADSHIELDv2 ATAVRSBIN1 Atmel 9DOF (Beitrag von EOSBandi) definieren. Erfordert 3.3V Energie. Navigator IMU define SIRIUS Sirius LT - von Alex bestätigt definieren SIRIUS600 Sirius Navigator IMU die WMP für den Kreisel definieren MINIWII Jussis MiniWii Flight-Controller mit LT - von Alex bestätigt definieren MICROWII MicroWii 10DOF mit ATmega32u4, MPU6050, HMC5883L, MS561101BA von flyduino. net definieren CITRUSv21 CITRUS von qcrc. ca definieren CHERRY6DOFv10 DROTEK10DOF Drotek 10DOF definieren mit ITG3200, BMA180, HMC5883, BMP085, w oder wo LLC definieren DROTEK10DOFMS Drotek 10DOF mit ITG3200, BMA180, HMC5883, MS5611, LLC DROTEK6DOFv2 Drotek 6DOF definieren v2 DROTEK6DOFMPU Drotek 6DOF mit MPU6050 definieren definieren DROTEK10DOFMPU define MONGOOSE10 Mungo 1.0 store. ckdevices CRIUSLITE Crius MultiWii Lite definieren definieren CRIUSSE Crius MultiWii SE OPENLRSv2MULTI OpenLRS v2 Multi RC-Empfänger Board einschließlich ITG3205 und ADXL345 definieren BOARDPROTO1 mit MPU6050 HMC5883L MS baro definieren BOARDPROTO2 mit MPU6050 Slave MAG3110 MS baro definieren GY80 Chinese 10 DOF definieren mit L3G4200D ADXL345 HMC5883L BMP085, LLC GY85 Chinese 9 DOF mit ITG3205 ADXL345 HMC5883L LLC definieren GY86 Chinese 10 DOF mit MPU6050 HMC5883L MS5611, LLC definieren GY521 Chinese 6 DOF mit MPU6050 definieren, definieren LLC INNOVWORKS10DOF mit ITG3200, BMA180, HMC5883, BMP085 verfügbar hier diymulticopter definieren INNOVWORKS6DOF mit ITG3200, BMA180 hier diymulticopter verfügbar PROTODIY 10DOF Mega Board definieren IOIMINIMULTIWII definieren bambucopter Bobs6DOFV1 BobsQuads 6DOF V1 mit ITG3200 amp BMA180 definieren Bobs9DOFV1 BobsQuads 9DOF V1 mit ITG3200, BMA180 amp HMC5883L definieren Bobs10DOFBMPV1 BobsQuads 10DOF V1 mit ITG3200, BMA180, HMC5883L amp BMP180 definieren - BMP180 ist Software-kompatibel mit BMP085 definieren FLYDUINOMPU definieren CRIUSAIOPROV1 definieren KUKI07M DESQUARED6DOFV2GO DEsquared V2 definieren mit ITG3200 nur DESQUARED6DOFV4 DEsquared V4 mit MPU6050 definieren MARIENK definieren MEGAWAPV2STD hier definieren: multircshop von Alex bestätigt LT - definieren MEGAWAPV2ADV HKMultiWiiSEV2 Hobbyking-Board mit MPU6050 HMC5883L BMP085 definieren definieren PROFLYERv31 finden Sie hier: proflyer. eu unabhängige Sensoren lassen es kommentiert, wenn Sie bereits eine bestimmte Karte über I2C Gyroskop geprüft define WMP definieren ITG3200 L3G4200D MPU6050 Combo ACC I2C Beschleunigungsmesser definieren NUNCHUCK definieren definieren, ob Sie die nunckuk zu einem WMP verbunden verwenden möchten definieren MMA7455 definieren ADXL345 definieren BMA020 definieren BMA180 NUNCHACK definieren, ob Sie die nunckuk als eigenständige I2C ACC ohne WMP verwenden möchten definieren LIS3LV02 LSM303DLxACC I2C Barometer definieren definieren BMP085 MS561101BA definieren I2C Magnetometer definieren HMC5843 HMC5883 AK8975 definieren derzeit zur Visualisierung Zweck MAG3110 Sonar definieren definieren - kein Steuercode hinter definieren SRF02 die i2c Sensoren Devantech SRF verwenden definieren für das fliegen in X-Modus SRF08 definieren SRF10 SRF23 ADC Beschleunigungsmesser für 5DOF von sparkfun definieren, verwendet analoge PIN A1A2A3 ADCACC Vorstands Orientierung Verschiebung definieren Wenn Sie Rahmen entworfen haben nur für den Modus und Sie können nicht FC phisycally drehen (Oder umgekehrt) können Sie eine dieser Optionen für virtuelle Sensoren drehen um 45 Deegres, dann setzen Sie Art des Multicopters nach Flugmodus. Sie können Motoren bestellen und Richtungen der Motoren Dreh nur mit neuen Front Punkt passende Uncomment eine Option definieren SENSORSTILT45DEGRIGHT Drehen Sie den vorderen 45 degres im Uhrzeigersinn SENSORSTILT45DEGLEFT definieren Drehen Sie den vorderen 45 degres gegen den Uhrzeigersinn definieren YAWDIRECTION 1 YAWDIRECTION definieren -1, wenn Sie die Gierkorrekturrichtung umkehren wollen TRI können Sie den Trikopter-Servoweg hier ändern TRIYAWCONSTRAINTMIN 1020 definieren TRIYAWCONSTRAINTMAX 2000 definieren TRIYAWMIDDLE 1500 tail servo center pos. - verwenden Sie diese für den anfänglichen Trimm später Trimmen Mittelpunkt über LCD ARMDISARM optional deaktivieren Stick Kombinationen Armdisarm die Motoren. In den meisten Fällen eine der beiden Optionen zu armdisarm über TX-Stick ist ausreichend definieren ALLOWARMDISARMVIATXYAW definieren ALLOWARMDISARMVIATXROLL Cam Stabilisierung Die folgenden Zeilen gelten nur für ein Pitchroll-Kippstabilisierung System. Kommentar - der ersten oder zweiten Zeile zu aktivieren SERVOTILT PITCH SERVO definieren TILTPITCHMIN 1020 Servoweg min definieren, nicht setzen Sie ihn unter 1020 definieren TILTPITCHMAX 2000 Servoweg max definieren max value2000 TILTPITCHMIDDLE AUX5 Servoneutralwert oder Kamera PITCH Steuerkanal. Kann sein 1000..2000 oder AUX1..AUX8 TILTPITCHPROP 10 Servo proportional (gebunden Winkel) definieren negativ sein kann, um Bewegung ROLL SERVO TILTROLLMIN 1020 definieren TILTROLLMAX 2000 definieren TILTROLLMIDDLE 1500 Servo Neutralwert oder Kamera ROLL Steuerkanal definieren invertieren. Kann 1000..2000 oder AUX1..AUX8 definieren TILTROLLPROP 10 Kamera-Trigger-Funktion. über Rc Optionen in der GUI aktiviert, Servo outputA2 auf ProMini definieren CAMTRIG definieren CAMSERVOLOW 1020 die Position des LOW-Zustand Servo definieren CAMTIMEHIGH 1000 die Dauer des HIGH-Zustand Servo ausgedrückt in ms definieren CAMTIMELOW AUX6 die Dauer der CAMSERVOHIGH 2000 die Position des HIGH-Zustand Servo definieren LOW-Status-Servo, ausgedrückt in ms oder Kanalname des Steuerkanals (AUX1..AUX8). Flying Wing können Sie die Servo - und Servo - Min - Max - Werte ändern, die hier gültig für alle Flugmodi sind, auch passThrough - Modus müssen Servo Richtungen einrichten hier keine Servos zwischen den Kanälen bei rx definieren PITCHDIRECTIONL 1 linke Servo - Pitch - Orientierung definieren PITCHDIRECTIONR -1 rechts Servo - Pitch Ausrichtung (mit umgekehrtem Vorzeichen PITCHDIRECTIONL, wenn Servos in gespiegelten Ausrichtung montiert sind) ROLLDIRECTIONL 1 links Servo definieren - Rollenorientierung definieren ROLLDIRECTIONR 1 rechts Servo - Rollenorientierung (gleiche Vorzeichen wie ROLLDIRECTIONL, wenn Servos in gespiegelten Ausrichtung montiert werden) definieren WINGLEFTMID 1500 linkes Servozentrum Pos. - verwenden Sie diese für den anfänglichen Trimm später Trimmen Mittelpunkt über LCD definieren WINGRIGHTMID 1500 rechts Servo Mitte Pos. - Verwenden Sie diese für die anfängliche Trimmung später Mittelpunkt über LCD trimmen WINGLEFTMIN 1020 Limit Servoweg Bereich definieren innerhalb 10.202.000 WINGLEFTMAX 2000 Fahrendschalter Servo definieren Bereich muss innerhalb 10.202.000 definieren WINGRIGHTMIN 1020 Limit Servoweg Bereich sein muss, innerhalb 10.202.000 WINGRIGHTMAX 2000 Limit Servoweg definieren müssen Bereich muss innerhalb 10202000 definieren FLAPPERONS AUX4 Mix Flaps mit Aileroins. Definieren FLAPPERONEP Endpooints für Klappen auf einem 2-Wege-Schalter sonst Satz und Programm im Radio. Definieren FLAPPERONEP oder Flapperons für CrowMix definieren FLAPPERONINVERT Richtung ändern om flapperons definieren FLAPS AUX4 Traditionelle Flaps auf A2 invertieren mit SERVODIRECTION servo2). Definieren FLAPEP Endpooints für Klappen auf einem 2-Wege-Schalter sonst Satz und Programm im Radio. Definieren FLAPSPEED 3 Machen Klappen langsam bewegen Höheren Wert ist höhere Geschwindigkeit. Gemeinsam für Heli amp Flugzeug definieren D12POWER Verwenden Sie D12 auf PROMINI für Leistungssensoren. Wird deaktivieren servo4 auf D12 definieren SERVOOFFSET Servo MID einstellen amp Versatzwinkel Swash Wählbare Kanäle: Roll-, Nick-, Drossel-, Gieren, AUX1, AUX2, AUX3, AUX4 Heli-Kanal zu steuern CollectivePitch COLLECTIVEPITCH THROTTLE Set Maximal verfügbare Bewegung für die Servos definieren. Abhängig vom Modell definieren Sie SERVOENDPOINTHIGH definieren SERVOENDPOINTLOW Begrenzen Sie den Bereich der Collective Pitch. 100 ist Full Range jeder Weg und Position für Zero Pitch definieren COLLECTIVERANGE. Define YAWCENTER 1500 Verwenden Sie servo5 SERVOENDPOINTHIGHOW für die Endpunkte. Definieren YAWMOTOR 0 Wenn ein Motor als YAW verwendet wird, wird der Wert auf 0 gesetzt. Servo-Mischen für Heli 120 Verwenden Sie 110 Fraktionen (ex.5 510 12) definieren SERVONICK definieren SERVOLEFT definieren SERVORIGHT Servo-Mischen für Heli definieren SERVODIRECTIONS -1 invertiert Servo Limit Maximum controll für Roll amp Nick in 0-100 definieren CONTROLLRANGE verwenden Servo-Code, um den Drosselausgang zu fahren. Sie wollen dies für analoge Servo-Antrieb der Drossel auf IC-Motoren. wenn inaktiv, wird Drosselausgang als Motorleistung behandelt werden, so kann es ein ESC definieren HELIUSESERVOFORTHROTTLE Einzel - und DualCopter Einstellungen ändern zu -1 umgekehrt servomovement pro Achse für Servosettings SingleCopter definieren SINGLECOPTRERYAW links, rechts, vorne, hinten definieren SINGLECOPTRERSERVO Pitchantrieb, Pitch, Roll, Roll Servosettings für DualCopter definieren DUALCOPTERSERVO Pitch, Roll SERVOOFFSET und SERVORATES im Heli-und Flugzeugbereich für Zentrierung und Endpunkte Hinweis: keine Notwendigkeit, etwas in diesem Abschnitt zu kommentieren, wenn Sie einen Standardempfänger verwenden PPM Summenempfänger Nur die folgenden Zeilen gelten Für bestimmten Empfänger mit nur einem PPM-Summensignal, auf digitaler PIN 2 Wählen Sie die richtige Leitung je nach Ihrer Funkmarke. Fühlen Sie sich frei die Bestellung in Ihrem PPM zu ändern, anders ist SERIALSUMPPM THROTTLE definieren, Roll-, Nick-, Gier-, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8 Für GraupnerSpektrum definieren SERIALSUMPPM Roll-, Nick-, Drossel-, Gieren, AUX1 , AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8 Für RobeHitecFutaba definieren SERIALSUMPPM Roll-, Nick-, Gier-, Drossel-, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8 Für Multiplex definieren SERIALSUMPPM PITCH, ROLL, Drossel - , AUX3, AUX4, AUX5, AUX6, AUX7, AUX8 Für einige HitecSanwa-Geräte Unkommentiert folgende Zeile erlauben, den PPMSUM-Receiver mit der Standard-THROTTLE PIN auf Mega-Boards zu verbinden. PPMONTHROTTLE eLeReS compatibile reciver auf RFM22B Modul definieren definieren ELERESRX uncomment für ermöglichen eLeReS definieren unterstützen BASEFREQ 435000 435.000MHz BINDSIGNATURE 0x52434650 Standard Bind Signatur definieren CHANNELSORDER Roll-, Nick-, Drossel-, Gieren, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7 definieren, AUX8 definieren TELEMETRYENABLE definieren TELEMETRYPOWER 7 01mW, 12mW, 23mW, 36mW, 413mW, 525mW, 650mW, 7100mW definieren TELEMETRYSENDDEBUG Debug-Variablen über eleres Telemetrie senden (für Entwickler) definieren LOCALIZERENABLE definieren LOCALIZERPOWER 7 01mW, 12mW, 23mW, 36mW, 413mW, 525mW, 650mW, 7100mW definieren LOCALIZERDELAY 120 Verzögerung von Signal verloren in Sekunden von Localizer zu starten definieren ELERESBIND es kommentieren Sie, wenn Sie über das GUI-Bindung wollen, anstatt Einstellung BINDSIGNATURE manuell Spektrum-Satelliten-Reciver Die folgenden Zeilen nur für Spektrum Satelliten Empfänger Spektrum Satelliten gelten sind 3V-Geräte. NICHT an 5V anschließen Bei MEGA-Platinen ist ein grauer Draht an RX1, Pin 19 zu befestigen. Sat orange Draht zu Mega-Boards 3.3V (oder jede andere 3V bis 3.3V Quelle). Für PROMINI fügen Sie grau an RX0 an. Setzen Sie Schwarz auf Masse. Definieren SPEKTRUM 1024 definieren SPEKTRUM 2048 definieren SPEKSERIALPORT 1 Forced to 0 auf Pro Mini und einzelnen seriellen Boards Wählen Sie 0, 1 oder 2 auf einer beliebigen Mega-basierten Karte (standardmäßig 1 auf Mega). SBUS RECIVER Die folgende Zeile gilt nur für Futaba S-Bus Receiver auf MEGA-Karten bei RX1 (Serial 1). Sie müssen das S-Bus-Seriell-Signal invertieren, z. B. Mit einem Hex-Inverter wie IC SN74 LS 04 definieren SBUS RC-Signal vom seriellen Port über Multiwii Serial Protocol definieren RCSERIAL Hexa Motor 5 amp 6 Pins PIN A0 und A1 anstelle von PIN D5 amp D6 für 6 Motoren config und promini config Diese mod allow Die Verwendung eines Standardempfängers auf einem Pro mini (keine Notwendigkeit, einen PPM-Summenempfänger zu verwenden) definieren A0A1PINHEX Aux 2 Pin-Möglichkeit, PIN8 oder PIN12 als AUX2 RC-Eingang zu verwenden (nur eine, nicht beide) deaktiviert in diesem Fall die POWER PIN (Pin 12) oder die BUZZER PIN (Pin 8) definieren RCAUXPIN8 definieren RCAUXPIN12 Pin Layout aktivieren diese für eine bessere Pinlayout, wenn alle Pins gt nicht möglich sind auf ProMicro definieren A32U4ALLPINS PWM Setup aktivieren alle 6 Hardware PWM Ausgänge Motor 5 D11 und 6 D13. Wenn nicht aktiviert: Motor 1-6 10-Bit Hardware PWM Motor 7-8 8-bit Software PWM Servos 8-bit Software PWM bei Deaktivierung: Motor 1-4 10-Bit-Hardware PWM-Motor 5-8 10-Bit-Software PWM-Servos 10-Bit-Software PWM definieren HWPWM6 aux2 Pin auf Pin D17 (RXLED) definieren RCAUX2PIND17 Summer Hier schaltet der Buzzer Pin von TXO auf D8 für ppm Summe oder Spektrum ges. RX (nicht erforderlich, wenn A32U4ALLPINS aktiv ist) D8BUZZER Promicro Version im Zusammenhang mit Inverted-Status für Promicro LED definieren ver 10 PROMICRO10 serielle COM-Geschwindigkeit Dies ist die Geschwindigkeit der seriellen Schnittstellen definieren SERIAL0COMSPEED 115200 definieren SERIAL1COMSPEED 115200 definieren SERIAL2COMSPEED 115200 definieren SERIAL3COMSPEED 115200 Verschachtelung Verzögerung in Mikro definieren Sekunden zwischen 2 Messungen WMPNK in einer WMPNK-Konfig, wenn die ACC-Kalibrierungszeit sehr lang (20 oder 30s) ist, versuchen Sie, diese Verzögerung bis zu 4000 zu erhöhen, es ist nur für ein conf mit NK definieren, das INTERLEAVINGDELAY 3000 definiert, wenn ein Fehler auf I2C auftritt Bus, wir neutralisieren die Werte in kurzer Zeit. Ausgedrückt in Mikrosekunden ist es nur für eine Konvertierung mit mindestens einem WMP definieren NEUTRALIZEDELAY 100000 Lowpass-Filter für einige Gyros ITG3200 amp ITG3205 Tiefpassfilter Einstellung. Wenn Sie nicht alle Vibrationen zum Gyro eliminieren können, können Sie versuchen, die LPF-Frequenz zu verringern, nur einen Schritt pro Versuch. Sobald Zucken gegangen, mit dieser Einstellung halten. Es wird nicht helfen, Feedback Wobbles, so ändern sich nur, wenn copter zufällig twiching und alle Dämpfungs-und Balancing-Optionen lief. Unkommentieren Sie nur eine Option WICHTIG Ändern Sie die Einstellung des Tiefpaßfilters ändert das PID-Verhalten, so dass Ihre PIDs nach dem Ändern von LPF angepasst werden. Diese definieren ITG3200LPF256HZ ist die Standardeinstellung, keine Notwendigkeit, die Kommentare entfernt werden, nur als Referenz definieren ITG3200LPF188HZ definieren ITG3200LPF98HZ definieren ITG3200LPF42HZ definieren ITG3200LPF20HZ ITG3200LPF10HZ dies nur in extremen Fällen verwenden definieren, sondern Motoren andor MPU6050 Einstellung Tiefpassfilter Requisiten ändern. Wenn Sie nicht alle Vibrationen zum Gyro eliminieren können, können Sie versuchen, die LPF-Frequenz zu verringern, nur einen Schritt pro Versuch. Sobald Zucken gegangen, mit dieser Einstellung halten. Es wird nicht helfen, Feedback Wobbles, so ändern sich nur, wenn copter zufällig twiching und alle Dämpfungs-und Balancing-Optionen lief. Unkommentieren Sie nur eine Option WICHTIG Ändern Sie die Einstellung des Tiefpaßfilters ändert das PID-Verhalten, so dass Ihre PIDs nach dem Ändern von LPF angepasst werden. MPU6050LPF256HZ definieren Dies ist die Standardeinstellung, keine Notwendigkeit, den Kommentar aufzuheben, für nur MPU6050LPF5HZ Verwenden Sie diese nur in extremen Fällen eher Motoren andor ändern Requisiten Gyro Glättung GYROSMOOTHING Referenz definieren MPU6050LPF188HZ definieren MPU6050LPF98HZ definieren MPU6050LPF42HZ definieren MPU6050LPF20HZ definieren MPU6050LPF10HZ definieren. Wenn Sie Vibrationen nicht reduzieren können und nachdem Sie die Tiefpassfilter-Optionen ausprobiert haben, können Sie diese Gyro-Glättung durch Mittelung versuchen. Nicht geeignet für Multikopter Gute Ergebnisse für Hubschrauber, Flugzeuge und fliegende Flügel (Schaumstoffe) mit vielen Vibrationen. GYROSMOOTHING getrennte Lungsbereiche für Rolle definieren, Nicken, Gieren Moving Average Gyros definieren MMGYRO Aktive Moving Average-Funktion für Gyros MMGYROVECTORLENGHT 10 Länge von Moving Average Vector Moving Average ServoGimbal Signalausgang MMSERVOGIMBAL Average Funktion Verschieben Aktiver Ausgang definieren definieren für Servos Gimbal definieren MMSERVOGIMBALVECTORLENGHT 32 Länge von Moving Average Vector Profilnummer für die Verwendung neuer Marbalons Fast Level Modus für stabilen Flug Verwenden Sie 0 für OFF oder 1..3 für Profile mit FAST LEVEL Modus oder 4 für immer FASTLEVEL Modus definieren FASTLEVEL 2 Failsave Einstellungen Failsafe überprüfen Impulse auf vier Die Hauptsteuerkanäle CH1-CH4. Wenn der Impuls fehlt oder unter 985us (auf einem dieser vier Kanäle) fehlt, wird das Failsafe-Verfahren eingeleitet. In zweiter Weise können Sie fehlersicher, indem Sie quotFAILSAFEquot Feld in GUI-Konfiguration und verwenden Sie alle AUX-Kanal für fehlersichere Triggering. Nach der FAILSAFEDELAY-Zeit aus der Failsafe-Erkennung ist der Pegelmodus aktiviert (wenn ACC oder nunchuk verfügbar ist), PITCH, ROLL und YAW zentriert und THROTTLE auf den Wert FAILSAFETHR0TTLE gesetzt. Sie müssen diesen Wert auf etwa 1ms oder so einstellen, um die besten Ergebnisse zu erzielen. Dieser Wert hängt von Ihrer Konfiguration, AUW und einigen anderen Params ab. Als nächstes wird im FAILSAFEOFFDELAY der Copter unscharf geschaltet und die Motoren werden gestoppt. Wenn RC-Impuls zurückkommt, bevor die FAILSAFEOFFDELAY-Zeit erreicht ist, wird nach der kleinen Quardzeit die RC-Steuerung auf normal zurückgesetzt. Definieren FAILSAFE uncomment zur Aktivierung der Failsafe-Funktion define FAILSAFEDELAY 5 Wartezeit für Failsafe-Aktivierung nach Signalverlust. 1 Schritt 0.1sec - 0.5sec in Beispiel definieren FAILSAFEOFFDELAY 200 Zeit für die Landung, bevor die Motoren in 0.1sec stoppen. 1 Schritt 0,1 s - in Beispiel 20sec - nicht in RETURNTOHOME Modus definieren FAILSAFETHROTTLE (MINTHROTTLE 200) Gas Ebene für die Landung verwendet - kann MINTHROTTLE relativ sein - wie in diesem Fall - ignoriert in RETURNTOHOME Modus Inteligent ausfallsicher mit RTH Einstellungen definieren FAILSAFERETURNTOHOME aktivieren quotInteligent RTH und Landing failsafequot Feature definieren RETURNALTITUDE 20 Rückkehr zur Heimathöhe in METERS. POSHOLDONLANDING uncomment definieren, um die GPS-Position HOLD während letzten Landungssteg verwenden LED-FLASHER definieren LEDFLASHER definieren LEDFLASHERDDR DDRC definieren LEDFLASHERPORT PORTC definieren LEDFLASHERBIT PORTC4 LEDFLASHERSEQUENCE 0b00000000 definieren, während entwaffnete LEDFLASHERSEQUENCEFIX 0b00000001 definieren, während GPSFIX OK definieren LEDFLASHERSEQUENCEARMED 0b11111111 während bewaffnete LEDFLASHERSEQUENCEMAX 0b11111111 voller Beleuchtung Landescheinwerfer Landescheinwerfer definieren Verwenden Sie einen Ausgangsstift, um Landungsleuchten zu steuern. Sie können automatisch umgeschaltet werden, wenn sie in Verbindung mit Höhendaten von einer Sonareinheit verwendet werden. definieren LANDINGLIGHTSDDR DDRC definieren LANDINGLIGHTSPORT PORTC LANDINGLIGHTSBIT PORTC0 Höhe über Grund (in cm) definieren, wie durch Sonar berichtet LANDINGLIGHTSAUTOALTITUDE 50 INFLIGHT ACC Kalibrierung definieren Dies aktiviert die ACC-Inflight-Kalibrierung, wenn nicht markiert INFLIGHTACCCALIBRATION Disable WMP Power Pin deaktivieren Verwendung der POWER-PIN definieren (allready Wenn die Option RCAUXPIN12 gewählt ist) definieren DISABLEPOWERPIN stellen Sie eine Totzone um das Stick-Center ein Muss größer als Null sein, Kommentar, wenn Sie keine Totzone auf Rolle, Tonhöhe und Gier definieren wollen DEADBAND 4 definiert die neutrale Zone des Gasknüppels während der Höhenhaltung, Die Standardeinstellung ist -20 uncommend und ändern Sie den Wert unten, wenn Sie ihn ändern möchten. Definieren ALTHOLDTHROTTLENEUTRALZONE 30 GPS über einen SERIAL-Port nur auf MEGA-Karten verfügbar (dies kann auf zukünftigen 328-Karten möglich sein), wenn aktiviert, hier die Arduino Serial Portnummer und die UART-Geschwindigkeit angeben: nur die RX PIN wird verwendet GPS ist nicht durch Multiwii konfiguriert. Das GPS muss so konfiguriert sein, dass es für die meisten GPS-Geräte GGA - und RMC-NMEA-Sätze mit einer Aktualisierungsrate von mindestens 5 Hz ausgibt. Unkommentieren Sie die erste Zeile, um die GPS serielle Schnittstelle des Arduino definieren GPSSERIAL 2 sollte 2 für flyduino v2. Es ist die Nummer des seriellen Anschlusses auf Arduino MEGA definieren GPSBAUD 38400 19200,38400,57600 sein sollte oder 115200 definieren uBlox es kommentieren Sie, wenn Sie uBlox GPS verwenden im Binär-Modus (zB RC-Timer GPS) definieren INITMTKGPS initialisieren MTK GPS für ausgewählte Geschwindigkeit mit, 5 Hz Update Rate und GGA amp RMC Satz definieren GPSPROMINISERIAL 57600 Will Autosense, wenn GPS angeschlossen ist, wenn ardu Stiefel I2C GPS-Gerät mit einem unabhängigen arduino GPS-Gerät mit einigen Navigationsfunktionen Beitrag von EOSBandi code. googlepi2c-gps-nav Sie müssen mindestens I2CGpsNav verwenden Code r33 definieren I2CGPS I2C GPS Gerät mit einem ATTiny24313 GPS Gerät und optional Sonar Gerät gemacht. GPS-Daten von Tiny-GPS definieren TINYGPSSONAR GPS-Daten von MIS-OSD gelesen - GPS-Modul angeschlossen an Misio-OSD und MultiWii lesen GPS-Daten aus OSD definieren GPSFROMOSD zeigen ein gültiges GPS Fix mit mindestens 5 Satelliten durch Blinken der LED - Geändert von MIS - Mit stabile LED (GELB auf CRIUS AIO) LED-Arbeit als Sat-Nummernanzeige - Kein GPS FIX - gt LED blinkt bei der Geschwindigkeit der eingehenden GPS-Bilder - Fix und Sat-Nr. Bellow 5 - gt LED ON - Fix und Sat-Nr. Gt 5 - gt LED blinkt, blinkt für 5 sat, 2 blinkt für 6 sat, drei für 7. define GPSLEDINDICATOR define USEMSPWP Aktiviert den MSPWP-Befehl, der von WinGUI zur Anzeige und Protokollierung von Home - und Poshold-Positionen verwendet wird Uncomment it if you are Planung WinGUI zu verwenden - wird 208 Bytes von Flash definieren HOME-Position DONTRESETHOMEATARM kosten an jedem Arm zurückgestellt wird, Kommentar - es zu verbieten GPS-Navigation die Überschrift steuern definieren NAVCONTROLSHEADING wahr copter weist zum Navigationspunkt (Sie Ausgangsposition mit GyroCalibration einstellen) , Maghold muss aktiviert sein, damit es definieren NAVTAILFIRST false true - copter kommt in mit tail first define NAVSETTAKEOFFHEADING true true - wenn der Hubschrauber zur Ausgangsposition gelangt, dreht er seinen Kopf in die Startrichtung Erhalten Sie Ihre magnetische Abnahme von hier. Magnetische Deklamation Umwandlung der degreeminutes in dezimalen Grad durch gt degreeminutes (160) Beachten Sie das Zeichen auf Deklination könnte es negativ oder positiv (WEST oder EAST) definieren MAGDECLINIATION 3.96f Für Budapest Ungarn. definieren MAGDECLINIATION 4.23f definieren GPSFILTERING fügen Sie ein 5-Element Gleitmittelungsfilters zu GPS-Koordinaten, hilft GPS-Rauschen zu eliminieren, aber eine zusätzliche Latenzzeit zu deaktivieren kommentieren, um GPSLOWSPEEDDFILTER unter .5ms Geschwindigkeit definieren ignorieren D Begriff für POSHOLDRATE, dies theoretisch auch Begriff induziertem Rauschen commnent out entfernt D Deaktivieren Sie definieren GPSWPRADIUS 200, wenn wir innerhalb dieser Distanz zu einem Wegpunkt sind, dann betrachten wir es erreicht (Entfernung ist in cm) definieren NAVSLEWRATE 30 Fügt einen Rate-Steuerelement zu nav Ausgang, wird glätten aus nav angle spikes uncomment dieser Zeile, wenn Sie planen zu verwenden Ein LCD oder OLED definieren LCDCONF, um das Setzen der Aux-Schalter für AUX1 - gt AUX4 über LCD zu überprüfen (aktivieren Sie jetzt 16 Bit lang) definieren LCDCONFAUX, wenn das Programm zu groß wird (gt32k), müssen einige Funktionalität uncomment ausschließen, um einige unerwünschte zu unterdrücken Aux3 aux4 Elemente im Konfigurationsmenü (nur sinnvoll, wenn LCDCONFAUX aktiviert ist) define SUPPRESSLCDCONFAUX34 Die Art der LCD-Wahl des LCD-Displays für Konfiguration und Telemetrie, siehe Hinweise unten definieren LCDSERIAL3W Alex Initialvariante mit 3 Drähten, mit RX-Pin für Übertragung 9600 Baud fixiert Definieren LCDTEXTSTAR SERIAL LCD: Katzen Whisker LCDTEXTSTAR Modul CW-LCD-02 (mit 4 Eingabetasten zur Auswahl von Menüs) Definition LCDVT100 SERIAL LCD: vt100 kompatible Terminal Emulation (blueterm, putty, etc.) definieren LCDETPP I2C LCD: Eagle Tree Power Panel LCD, die LCDLCD03 I2C LCD definieren i2c (nicht seriell) ist: LCD03, die i2c ist OLEDI2C128x64 I2C LCD definieren: - autodetected über LCD-Einstellung Speicher definieren OLEDI2C128x64LOGOPERMANENT Stil der Anzeige zu speichern OLED multiwiiforumviewtopic. phpf7ampt1350 Logo Einstellungen SUPPRESSOLEDI2C128x64LOGO Display von OLED-Logo unterdrücken definieren - nur aktivieren, Standardwerte zu überschreiben definieren DISPLAY2LINES definieren DISPLAYMULTILINE MULTILINEPRE 2 mehrzeilige configMenu pref Linien definieren MULTILINEPOST 6 mehrzeilige configMenu Post Linien Navigationstasten definieren das LCD-Menü (Preset-Taste-depress Codes zu LCDTEXTSTAR) zu navigieren definieren LCDMENUPREV a definieren LCDMENUNEXT c LCDVALUEUP definieren d definieren LCDVALUEDOWN b Definition LCDMENUSAVEEXIT s Definition LCDMENUABORT x Zur Verwendung eines LCD03 zur Konfiguration: robot-electronics. co. ukhtmLcd03tech. htm Entfernen Sie den Jumper auf der Rückseite, um die i2c-Steuerung einzustellen. VCC bis 5V VCC (Pin1 von oben) SDA - Pin A4 Mini Pro - Pin 20 Mega (Pin2 von oben) SCL - Pin A5 Mini Pro - Pin 21 Mega (Pin3 von oben) GND zu Ground (Pin4 von oben) Eagle Tree Power Panel LCD für Konfiguration: Weißes Kabel an Masse Roter Draht an 5V VCC (oder an den WMP Power Pin, wenn Sie es vorziehen, alles auf den Bus zurückzusetzen, wenn WMP zurückgesetzt wird) Gelbes Kabel zu SDA - Pin A4 Mini Pro - Pin 20 Mega Brown Draht zu SCL - Pin A5 Mini Pro - Pin 21 Mega Katzen Whisker LCDTEXTSTAR LCD Bitte beachten Sie, dass dieses Display eine 4-adrige Verbindung zu (5V, Gnd, RXD, TXD) benötigt. Konfigurieren Sie die Anzeige wie folgt: 115K Baud und TTL-Pegel für RXD und TXD, Terminal-Modus NO rx tx Linie Rekonfiguration, verwenden Sie natürliche Pins. Die vier Schaltflächen, die A, B, C, D senden, werden für die Konfigurationsnavigation und die Anforderung der Telemetrie-Seiten 1-4 zur Überwachung der Systemwerte (Batteriestand, Schleifenzeit usw. mit LCD-Anzeige) unterstützt Verschiedene Seiten anwählen Schaltflächen umschalten Anforderung für Seite onoff Die aktive Seite auf dem LCD wird automatisch aktualisiert Automatische Benutzung mit Terminalapplikation oder Anzeige wie LCD - falls vorhanden die 4 vorkonfigurierten Tasten zum Senden von A, B, C, D Aktivierung definieren LCDTELEMETRY an Aktivieren Sie automatische Hopping zwischen einer Auswahl von Telemetrie-Seiten uncomment dies. Dies kann nützlich sein, wenn Ihr LCD hat keine Tasten oder das Senden ist gebrochen Hopping wird aktiviert und deaktiviert im unbewaffneten Modus mit throttlelow amp Rollleft amp pitchforward setzen Sie es auf die Sequenz der Telemetrie-Seiten Sie wollen 2 Zeile zeigt Support-Seiten zu 1-9 mehrzeiligen Displays Support-Seiten 1-5 LCDTELEMETRYAUTO quot123452679quot Seiten 1 bis 7 aufsteigend definieren LCDTELEMETRYAUTO quot212232425262729quot starke Betonung auf Seite 2 gleiche wie oben, aber manuelle Schrittfolge erfordert Eingabe-Stick (throttlelow amp definieren Rollright amp pitchforward), um durch jede definierte Telemetrie-Seite zu gehen definieren LCDTELEMETRYSTEP quot0123456789quot muss mit 0 auf Telemetrie Seite B beginnen (2) es gibt ein Balkendiagramm, das zeigt, wie viel Spannung Batterie verlassen hat. Bereich von 0 bis 12 Volt ist nicht sehr informativ, so dass wir versuchen, definieren einen sinnvollen Bereich. Für eine 3S-Batterie definieren wir voll12,6V und berechnen, wie viel sie über der ersten Warnstufe liegt. Beispiel: 12.6V - VBATLEVEL13S (für mich 126 - 102 24) definieren VBATREF 24, wenn das Programm zu groß wird (gt32k), müssen einige Funktionen ausschließen Kommentar - einige unerwünschte Telemetrie-Seiten (nur sinnvoll, wenn Telemetrie aktiviert ist) zu unterdrücken definieren SUPPRESSTELEMETRYPAGE1 definieren SUPPRESSTELEMETRYPAGE2 definieren SUPPRESSTELEMETRYPAGE3 definieren SUPPRESSTELEMETRYPAGE4 definieren SUPPRESSTELEMETRYPAGE5 definieren SUPPRESSTELEMETRYPAGE6 definieren SUPPRESSTELEMETRYPAGE7 definieren SUPPRESSTELEMETRYPAGE8 definieren diese SUPPRESSTELEMETRYPAGE9 Summer definieren SUMMER RCOPTIONSBEEP uncomment definieren, wenn Sie wollen, dass der Summer jeder rcOptions zu piepen Wechsel auf Kanal Aux1 bis Aux4 definieren ARMEDTIMEWARNING 330 Trigger einen Alarm nach einer gewissen Zeit bewaffneten s, um Sie Lipo (wenn Ihr TX hat keinen Countdown) Batteriespannungsüberwachung für V BAT-Überwachung nach dem Widerstand Divisor sollten wir 0V5V - Gt01023 auf analogem VBATPIN mit R133k und R251k (dieser Teiler ist nicht auf 4S verwendbar) für universelle 3-4S Verwendung R133k, R2100k und VBATSCALE Wert sollte etwa 86 vbat 0102316VBATSCALE muss mit definieren BUZZER zugeordnet werden. Definieren VBAT uncomment dieser Zeile zu aktivieren VBAT-Code definieren VBATSCALE 86 ändern diesen Wert, wenn gelesen Batteriespannung unterscheidet sich von realen Spannung Alarmpegel in Voltcell oder genau Volt definieren VBATWARNING 35 3.5Vcell - Warnlevel definieren VBATCRITICAL 34 3.4Vcell - kritische Ebene ermöglichen Überwachung Der Energieverbrauch von der Batterie (denken Sie an mAh) lässt Alarmwert in GUI oder über LCD einstellen Zwei Wahlen: 1 - stark: - (benutzt Hardware-Sensor, nach Konfiguration gibt sehr gute Resultate) 2 - weich: - (gute Resultate - 5 für Plüsch und Geheimnis ESCs 2S und 3S, nicht gut mit SuperSimple ESC) definieren POWERMETERSOFT definieren POWERMETERHARD die Summe aller Powermeter reicht von 0: 60000 e4 theoretisch. the alarm level from eeprom is out of 0:255, so we multipy alarm level with PLEVELSCALE and with 1e4 before comparing PLEVELSCALE is the step size you can use to set alarm define PLEVELSCALE 50 if you change this value for other granularity, you must search for comments in code to change accordingly larger PLEVELDIV will get you smaller value for power (mAh equivalent) define PLEVELDIV 5000 default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter define PLEVELDIVSOFT PLEVELDIV for soft always equal to PLEVELDIV for hard set to 5000 define PLEVELDIV 1361L to convert the sum into mAh divide by this value amploc 25A sensor has 37mVA arduino analog resolution is 4.9mV per unit units from 0..1023 sampling rate 20ms, approx 19977 micro seconds PLEVELDIV 37 4.9 10e6 18000 3600 1000 1361L set to analogRead() value for zero current define PSENSORNULL 510 for I0A my sensor gives 12 Vss that is approx 2.49Volt define PINT2mA 13 for telemtry display: one integer step on arduino analog translates to mA (example 4.9 37 100 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 SERVORFR50HZ up to 160Hz servo refreshrate. works with the most analog servos define SERVORFR160HZ 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 SERVORFR300HZ HW PWM Servos HW PWM Servo outputs for Arduino Mega. moves: Pitch pin 44 Roll pin 45 CamTrig pin 46 SERVO4 pin 11 (assigned to PPM or SPECTRUM CH9 on copter configuration) SERVO5 pin 12 (assigned to PPM or SPECTRUM CH10 on copter configuration) this option disable other software PWMs for servos - only five hardware controlled servos avaliable define MEGAHWPWMSERVOS Set the Low Pass Filter factor for ACC Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time Comment this out if you want to set a specific coeff (non default) define ACCLPFFACTOR 100 Set the Low Pass Filter factor for Magnetometer Increasing this value would reduce Magnetometer noise (not visible in GUI), but would increase Magnetometer lag time Comment this out if you want to set a specific coeff (non default) define MGLPFFACTOR 4 Set the Gyro Weight for GyroAcc complementary filter Increasing this value would reduce and delay Acc influence on the output of the filter Comment this out if you want to set a specific coeff (non default) define GYRCMPFFACTOR 400.0f Set the Gyro Weight for GyroMagnetometer complementary filter Increasing this value would reduce and delay Magnetometer influence on the output of the filter Comment this out if you want to set a specific coeff (non default) define GYRCMPFMFACTOR 200.0f to log values like max loop time and others to come logging values are visible via LCD config set to 2, if you want powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER ltgt PMSOFT) define LOGVALUES 1 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 Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated define LCDCONFDEBUG Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated define LCDTELEMETRYDEBUG This form rolls between all screens, LCDTELEMETRYAUTO must also be defined. define LCDTELEMETRYDEBUG 6 This form stays on the screen specified. to calibrate all ESCs connected to MWii at the same time (useful to avoid unpluggingre-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 code. googlepmultiwiiwikiESCsCalibration define ESCCALIBLOW MINCOMMAND define ESCCALIBHIGH 1950 define ESCCALIBWAITTIME 4000 define ESCCALIBCANNOTFLY 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 63ms18ms value must be 1 65535 define LCDTELEMETRYFREQ 23 to send telemetry data over serial 23 ltgt 60ms ltgt 16Hz (only sending interlaced, so 8Hz update rate) define LCDTELEMETRYAUTOFREQ 667 to step to next telemetry page 667 ltgt 2s define PSENSORFREQ 6 to read hardware powermeter sensor 6 ltgt 18ms define VBATFREQ PSENSORFREQ to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing define FIXEDCYCLETIME 0 minimum cycle time 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 Ostatnio zmieniony niedziela 27 sty 2013, 22:44 przez Adasko. cznie zmieniany 1 razMultiWii SE v2.1 Setup Help Needed :) Hello First time poster - long time reader Still not able to get this set right. I have been thru this and few other posts forums out there. With this board listed below with ALL the current equipment I am using I now have the green light, the red light and now the blue light continues to flash. I had it at one time working with the transmitter very well - no gyro or acc baro - but the motors were responding correctly Then found the Newbies guide - thought I had it all made Had the ability to arm dis arm - was able to get all motors to run correct AND the gyro quotseemedquot to be working - note that this is all tested with NO props - what ever side tilted - I could hear that motor spin faster - Good Then connected up to MultiWiiconf21 - saw that motors 1 amp 2 were showing to be running almost full and 3 about right. Motors 4 amp 6 were about 14 of what 1 amp 2 showed and 5 was just quotjumping from zero to full eracticly. Again all this showing in MultiWiiconf21. Also quotPitch and Rollquot as well as diagram of my HeXa moving randomly all over the place. The graph - again, bouncing all over - So, I tried the Online configurator - panoramaic. seconfigurator2.1 and now i have nothing. Green light on steady, Red light on steady, Blue Light Blinking non stop. unable to even arm. Damit. I come to you, the users and much more experienced people with this - HELP LOL Does anyone have this setup or close with a good quotworkingquot Firmware amp valid configH files that they would post or send me to use I would like ALL to work as listed in parts below - but would be very happy at this point just to gett motors and gyrobaroacc to work correctly. And worry about the GPS and IC2 and LCD can work on as we go. I have followed many threads - links - even youtube vids and this is as far as I can get on my own. Crius MWC MultiWii Standard V2.0 SE Flight Controller Board Firmware V2.1 - Small size,35x35mm mounting holes - 6 input channels for standard receiver and PPM SUM receiver - Up to 8-axis motor output - 2 servos output for PITCH and ROLL gimbal system - A servos output to trigger a camera button - A FTDIUART TTL socket for debug, upload firmware or LCD display - A I2C socket for extend sensor, I2C LCDOLED display or CRIUS I2c-GPS NAV board - Separate 3.3V and 5V LDO voltage regulator - ATMega 328P Microcontroller - ITG3205 3-axis MEMS gyro - MPU6050 6 axis gyroaccel with Motion Processing Unit - HMC5883L 3-axis digital magnetometer - BMP085 digital pressure sensor - On board logic level converter SUNNYSKY V2216-11 900KV brushless motors X 6 with APC style 12x3.8quot props Hobbywing skywalker 40A ESC Xx ATG 650-X6-16 16mm arm Hex rotor Hexa fordling frame hex in quotXquot style I2C-GPS NAV Module: - All GPS data available via the I2C bus to connect to 328P Multiwii FC - A LED on board show GPS 3D Fix status - ATMega 328P Microcontroller - 2 Molex 1.25mm 4Pin socket for GPS receiver and FC - 2 port for ISP and FTDI Other - Dimension: 20mmX30mm - Height: 5mm - Weight:2.4g5g(include cable) - Hole diameter: 3mm - Standalone GPS receiver - U-blox NEO-6M GPS module - Build in 18X18mm active GPS antenna - UART TTL socket - Rechargeable battery for Backup Other - Dimension: 22mmX30mm - Height: 13mm - Weight:12g14.4g(include cable) - Hole diameter: 3mm CRIUS CO-16 OLED Display Module - High brightness, self-emission, high contrast ratio - monochrome 12864 dot - 5V I2C interface - Used for telemetry and debug MultiWii FC. - Dimension: 27mmX27mm - Height: 6.5mm - Weight:3.7g4.9g(include cable) More links for info: Have the MWC multiwii standard SE ( none I2c pin version) 2.0 i myself tried 2.1 gui, it failed to work at all. in the end i had to download MW-WINGUI 1.4. i never upgraded firmware and being newbie to FC boards not much clue. the multiwii 1.4 works fine, BUT i found out multiwii 2.1 does not work with vista machines. multiwii 1.4 does it all have baro, accels, mag, gyros all sending and recieving data, just no map function. my board came preloaded, no instructions no firmware hints, nada and i am to wary of flashing new firmware if board already works as intended. added a couple images for you. my board and it running in wingui 1.4, will also leave the sensor info from my board to. ATMEGA328P microcontroller ITG3205 three-axis digital gyroscope BMA180 triaxial accelerometer BMP085 pressure sensor HMC5883L three-axis mag MWC multiwii SE standard edition 2.0. here it runs on wingui 1.4 ( 2.0dev when loads chose the option) got this board, said it was a Crius se, was a little let down when this ZMR turned up Originally Posted by Test Pilot Mafia yes i think we can get your system working. Ill need to know what youve changed so far though. Have downloaded the 2.1 zip file -- are you able to start and use the 2.1 configurator -- did you send the 2.1 code to the board -- are you able to see teh icon of your vehical type appear in the lower right of the congiurator -- what Aruino version asre you using Though it jumps all over the place Tried 1.01, then 1.03 - currently using 1.52. My ConfigH file in use is: 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 amp 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 amp DEVELOPER - if you know what you are doing you have been warned Notes: 1. parameters marked with () in the comment are stored in eeprom and can be tweaked via serial monitor or LCD. Changing those values in config. h and upload will require a Reset from the GUI to take effect 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 FLYINGWING define VTAIL4 define AIRPLANE define SINGLECOPTER define DUALCOPTER define HELI120CCPM define HELI90DEG 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 I2CSPEED 100000L 100kHz normal mode, this value must be used for a genuine WMP define I2CSPEED 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 INTERNALI2CPULLUPS 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, Im not sure, the info was gathered via rc forums, be cautious define FFIMUv1 first 9DOFbaro board from Jussi, with HMC5843 lt - confirmed by Alex define FFIMUv2 second version of 9DOFbaro board from Jussi, with HMC5883 lt - confirmed by Alex define FREEIMUv1 v0.1 amp v0.2 amp 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 FREEIMUv035MS FreeIMU v0.3.5MS lt - confirmed by Alex define FREEIMUv035BMP FreeIMU v0.3.5BMP define FREEIMUv04 FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA lt - 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 lt - confirmed by Alex define PIPO 9DOF board from erazz define QUADRINO full FC board 9DOFbaro board from witespy with BMP085 baro lt - confirmed by Alex define QUADRINOZOOM full FC board 9DOFbaro board from witespy second edition define QUADRINOZOOMMS full FC board 9DOFbaro board from witespy second edition lt - confirmed by Alex define ALLINONE full FC board or standalone 9DOFbaro board from CSGEU define AEROQUADSHIELDv2 define ATAVRSBIN1 Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power. define SIRIUS Sirius Navigator IMU lt - confirmed by Alex define SIRIUSGPS Sirius Navigator IMU using external MAG on GPS board lt - confirmed by Alex define SIRIUS600 Sirius Navigator IMU using the WMP for the gyro define MINIWII Jussis MiniWii Flight Controller lt - confirmed by Alex define MICROWII MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from flyduino. net define CITRUSv21 CITRUS from qcrc. ca define CHERRY6DOFv10 define DROTEK10DOF Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or wo LLC define DROTEK10DOFMS Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC define DROTEK6DOFv2 Drotek 6DOF v2 define DROTEK6DOFMPU Drotek 6DOF with MPU6050 define DROTEK10DOFMPU define MONGOOSE10 mongoose 1.0 store. ckdevices define CRIUSLITE Crius MultiWii Lite define CRIUSSE Crius MultiWii SE define OPENLRSv2MULTI OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345 define BOARDPROTO1 with MPU6050 HMC5883L MS baro define BOARDPROTO2 with MPU6050 slave MAG3110 MS baro define GY80 Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC define GY85 Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC define GY86 Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC define GY521 Chinese 6 DOF with MPU6050, LLC define INNOVWORKS10DOF with ITG3200, BMA180, HMC5883, BMP085 available here diymulticopter define INNOVWORKS6DOF with ITG3200, BMA180 available here diymulticopter define MultiWiiMega MEGA MPU6050HMC5883LMS5611 available here diymulticopter define PROTODIY 10DOF mega board define IOIMINIMULTIWII bambucopter define Bobs6DOFV1 BobsQuads 6DOF V1 with ITG3200 amp BMA180 define Bobs9DOFV1 BobsQuads 9DOF V1 with ITG3200, BMA180 amp HMC5883L define Bobs10DOFBMPV1 BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L amp BMP180 - BMP180 is software compatible with BMP085 define FLYDUINOMPU define CRIUSAIOPROV1 define DESQUARED6DOFV2GO DEsquared V2 with ITG3200 only define DESQUARED6DOFV4 DEsquared V4 with MPU6050 define LADYBIRD define MEGAWAPV2STD available here: multircshop lt - confirmed by Alex define MEGAWAPV2ADV define HKMultiWiiSEV2 Hobbyking board with MPU6050 HMC5883L BMP085 define HKMultiWii328P Also labeled quotHobbybroquot on the back. ITG3205 BMA180 BMP085 NMC5583L DSM2 Connector (Spektrum Satellite) define RCNetFC RCNet FC with MPU6050 and MS561101BA rcnet define FLYDUULTRA MEGA10DOFMT3339 FC independent sensors leave it commented if you already checked a specific board above I2C gyroscope define WMP define ITG3200 define L3G4200D define MPU6050 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 NUNCHACK if you want to use the nunckuk as a standalone I2C ACC without WMP define LIS3LV02 define LSM303DLxACC 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 A1A2A3 define ADCACC 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 SENSORSTILT45DEGRIGHT rotate the FRONT 45 degres clockwise define SENSORSTILT45DEGLEFT rotate the FRONT 45 degres counterclockwise TRI define YAWDIRECTION 1 define YAWDIRECTION -1 if you want to reverse the yaw correction direction you can change the tricopter servo travel here define TRIYAWCONSTRAINTMIN 1020 define TRIYAWCONSTRAINTMAX 2000 define TRIYAWMIDDLE 1500 () tail servo center pos. - use this for initial trim later trim midpoint via LCD BI you can change the bicopter servo travel direction here define BIPITCHDIRECTION 1 define BIPITCHDIRECTION -1 ARMDISARM optionally disable stick combinations to armdisarm the motors. In most cases one of the two options to armdisarm via TX stick is sufficient define ALLOWARMDISARMVIATXYAW define ALLOWARMDISARMVIATXROLL Cam Stabilisation The following lines apply only for a pitchroll tilt stabilization system. Uncomment the first or second line to activate it define SERVOMIXTILT define SERVOTILT define TILTPITCHMIN 1020 servo travel min, dont set it below 1020 define TILTPITCHMAX 2000 servo travel max, max value2000 define TILTPITCHMIDDLE 1500 servo neutral value define TILTPITCHPROP 10 servo proportional (tied to angle) can be negative to invert movement define TILTPITCHAUXCH AUX3 AUX channel to overwrite CAM pitch (AUX1-AUX4), comment to disable manual input and free the AUX channel define TILTROLLMIN 1020 define TILTROLLMAX 2000 define TILTROLLMIDDLE 1500 define TILTROLLPROP 10 define TILTROLLAUXCH AUX4 AUX channel to overwrite CAM Roll (AUX1-AUX4), comment to disable manual input and free the AUX channel camera trigger function. activated via Rc Options in the GUI, servo outputA2 on promini define CAMTRIG define CAMSERVOHIGH 2000 the position of HIGH state servo define CAMSERVOLOW 1020 the position of LOW state servo define CAMTIMEHIGH 1000 the duration of HIGH state servo expressed in ms define CAMTIMELOW 1000 the duration of LOW state servo expressed in ms Flying Wing you can change change servo orientation and servo minmax values here valid for all flight modes, even passThrough mode need to setup servo directions here no need to swap servos amongst channels at rx define PITCHDIRECTIONL 1 left servo - pitch orientation define PITCHDIRECTIONR -1 right servo - pitch orientation (opposite sign to PITCHDIRECTIONL, if servos are mounted in mirrored orientation) define ROLLDIRECTIONL 1 left servo - roll orientation define ROLLDIRECTIONR 1 right servo - roll orientation (same sign as ROLLDIRECTIONL, if servos are mounted in mirrored orientation) define WINGLEFTMID 1500 () left servo center pos. - use this for initial trim later trim midpoint via LCD define WINGRIGHTMID 1500 () right servo center pos. - use this for initial trim later trim midpoint via LCD define WINGLEFTMIN 1020 limit servo travel range must be inside 10202000 define WINGLEFTMAX 2000 limit servo travel range must be inside 10202000 define WINGRIGHTMIN 1020 limit servo travel range must be inside 10202000 define WINGRIGHTMAX 2000 limit servo travel range must be inside 10202000 Airplane define USETHROTTLESERVO For use of standard 50Hz servo on throttle. define SERVORATES Rates in 0-100 define SERVODIRECTION Invert servos by setting -1 define FLAPPERONS AUX4 Mix Flaps with Aileroins. define FLAPPERONEP Endpooints for flaps on a 2 way switch else set and program in radio. define FLAPPERONEP Or Flapperons up for CrowMix define FLAPPERONINVERT Change direction om flapperons define FLAPS AUX4 Traditional Flaps on A2 invert with SERVODIRECTION servo2). define FLAPEP Endpooints for flaps on a 2 way switch else set and program in radio. define FLAPSPEED 3 Make flaps move slowm Higher value is Higher Speed. Common for Heli amp Airplane define D12POWER Use D12 on PROMINI to power sensors. Will disable servo4 on D12 define SERVOOFFSET () Adjust Servo MID Offset amp Swash angles Selectable channels: ROLL, PITCH, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4 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 GOVERNORP 7 () proportional factor. Higher value - gt higher throttle increase. Must be gt1 0 turn off define GOVERNORD 4 () decay timing. Higher value - gt takes longer to return throttle to normal. Must be gt1 define GOVERNORR 10 () voltage impact correction scale in 0.1 units. Higher value - gt more compensation for voltage drops. normal is value 10 ltgt 1.0 0 is off Heli Channel to control CollectivePitch define COLLECTIVEPITCH THROTTLE Set Maximum available movement for the servos. Depending on model define SERVOENDPOINTHIGH define SERVOENDPOINTLOW Limit the range of Collective Pitch. 100 is Full Range each way and position for Zero Pitch define COLLECTIVERANGE . define YAWCENTER 1500 Use servo5 SERVOENDPOINTHIGHLOW for the endpoits. define YAWMOTOR 0 If a motor is used as YAW Set to 1 else set to 0. Servo mixing for heli 120 Use 110 fractions (ex.5 510 12) define SERVONICK define SERVOLEFT define SERVORIGHT Servo mixing for heli 90 define SERVODIRECTIONS -1 will invert servo Limit Maximum controll for Roll amp Nick in 0-100 define CONTROLRANGE 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 HELIUSESERVOFORTHROTTLE Single and DualCopter Settings Change to -1 to reverse servomovement per axis Servosettings for SingleCopter define SINGLECOPTRERYAW Left, Right, Front, Rear define SINGLECOPTRERSERVO Pitch, Pitch, Roll, Roll Servosettings for DualCopter define DUALCOPTERSERVO Pitch, Roll Use SERVOOFFSET and SERVORATES in Heli and Airplane section for centering and endpoints note: no need to uncomment something in this section if you use a standard receiver 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 SERIALSUMPPM PITCH, YAW, THROTTLE, ROLL, AUX1,AUX2,AUX3,AUX4,8,9,10 ,11 For GraupnerSpektrum define SERIALSUMPPM ROLL, PITCH, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10 ,11 For RobeHitecFutaba define SERIALSUMPPM ROLL, PITCH, YAW, THROTTLE, AUX1,AUX2,AUX3,AUX4,8,9,10 ,11 For Multiplex define SERIALSUMPPM PITCH, ROLL, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10 ,11 For some HitecSanwaOthers Uncommenting following line allow to connect PPMSUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO) define PPMONTHROTTLE 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 boards 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 SPEKSERIALPORT 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 quotBindquot 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 Ground4, Power5, Signal6. 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 wont 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 SPEKBIND Un-Comment for Spektrum Satellie Bind Support. Code is 420 bytes smaller without it. define SPEKBINDGROUND 4 define SPEKBINDPOWER 5 define SPEKBINDDATA 6 SBUS RECIVER The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1). You have to invert the S-Bus-Serial Signal e. g. with a Hex-Inverter like IC SN74 LS 04 define SBUS RC signal from the serial port via Multiwii Serial Protocol define RCSERIAL Hexa Motor 5 amp 6 Pins PIN A0 and A1 instead of PIN D5 amp 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 A0A1PINHEX 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 pin Layout activate this for a better pinlayout if all pins can be used gt 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 amp 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 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 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 OVERRIDEVBATPIN A0 instead of A3 Analog PIN 3 define OVERRIDELEDPINPINMODE pinMode (A1, OUTPUT) use A1 instead of d13 define OVERRIDELEDPINTOGGLE PINC 1ltlt1 PINB 1ltlt5 switch LEDPIN state (digital PIN 13) define OVERRIDELEDPINOFF PORTC amp (1ltlt1) PORTB amp (1ltlt5) define OVERRIDELEDPINON PORTC 1ltlt1 was PORTB (1ltlt5) define OVERRIDEBUZZERPINPINMODE pinMode (A2, OUTPUT) use A2 instead of d8 define OVERRIDEBUZZERPINON PORTC 1ltlt2 PORTB 1 define OVERRIDEBUZZERPINOFF PORTC amp (1ltlt2) PORTB amp Serial com speed This is the speed of the serial interfaces define SERIAL0COMSPEED 115200 define SERIAL1COMSPEED 115200 define SERIAL2COMSPEED 115200 define SERIAL3COMSPEED 115200 interleaving delay in micro seconds between 2 readings WMPNK in a WMPNK 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 INTERLEAVINGDELAY 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 NEUTRALIZEDELAY 100000 Lowpass filter for some gyros ITG3200 amp 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 PIDs after changing LPF. define ITG3200LPF256HZ This is the default setting, no need to uncomment, just for reference define ITG3200LPF188HZ define ITG3200LPF98HZ define ITG3200LPF42HZ define ITG3200LPF20HZ define ITG3200LPF10HZ Use this only in extreme cases, rather change motors andor 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 PIDs after changing LPF. define MPU6050LPF256HZ This is the default setting, no need to uncomment, just for reference define MPU6050LPF188HZ define MPU6050LPF98HZ define MPU6050LPF42HZ define MPU6050LPF20HZ define MPU6050LPF10HZ define MPU6050LPF5HZ Use this only in extreme cases, rather change motors andor props Gyro smoothing GYROSMOOTHING. 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 GYROSMOOTHING () 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 continuous gyro calibration Gyrocalibration will be repeated if copter is moving during calibration. define GYROCALIBRATIONFAILSAFE AP FlightMode Temporarily Disables GPSHOLDMODE to be able to make it possible to adjust the Hold-position when moving the sticks. define APMODE 40 Create a deadspan for GPS. Assisted AcroTrainer Train Acro with auto recovery. Value set the point where ANGLEMODE takes over. Remember to activate ANGLEMODE first. A Value on 200 will give a very distinct transfer define ACROTRAINERMODE 200 multiwiiforumviewto. ampt1944p17437 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 FAILSAFEDELAY 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 FAILSAFETHR0TTLE value. You must set this value to descending about 1ms or so for best results. This value is depended from your configuration, AUW and some other params. Next, afrer FAILSAFEOFFDELAY the copter is disarmed, and motors is stopped. If RC pulse coming back before reached FAILSAFEOFFDELAY time, after the small quard time the RC control is returned to normal. define FAILSAFE uncomment to activate the failsafe function define FAILSAFEDELAY 10 Guard time for failsafe activation after signal lost. 1 step 0.1sec - 1sec in example define FAILSAFEOFFDELAY 200 Time for Landing before motors stop in 0.1sec. 1 step 0.1sec - 20sec in example define FAILSAFETHROTTLE (MINTHROTTLE 200) () Throttle level used for landing - may be relative to MINTHROTTLE - as in this case LED FLASHER define LEDFLASHER define LEDFLASHERDDR DDRB define LEDFLASHERPORT PORTB define LEDFLASHERBIT PORTB4 define LEDFLASHERINVERT define LEDFLASHERSEQUENCE 0b00000000 leds OFF define LEDFLASHERSEQUENCEARMED 0b00000101 create double flashes define LEDFLASHERSEQUENCEMAX 0b11111111 full illumination define LEDFLASHERSEQUENCELOW 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 LANDINGLIGHTSDDR DDRC define LANDINGLIGHTSPORT PORTC define LANDINGLIGHTSBIT PORTC0 define LANDINGLIGHTSINVERT altitude above ground (in cm) as reported by sonar define LANDINGLIGHTSAUTOALTITUDE 50 adopt the flasher pattern for landing light LEDs define LANDINGLIGHTSADOPTLEDFLASHERPATTERN INFLIGHT ACC Calibration This will activate the ACC-Inflight calibration if unchecked define INFLIGHTACCCALIBRATION Disable WMP power pin disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) define DISABLEPOWERPIN 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 defines the neutral zone of throttle stick during altitude hold, default setting is -40 uncommend and change the value below if you want to change it. define ALTHOLDTHROTTLENEUTRALZONE 40 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 GPSSERIAL 2 should be 2 for flyduino v2. Its the serial port number on arduino MEGA define GPSBAUD 57600 define GPSBAUD 115200 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 MTKBINARY16 and MTKBINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9) With UBLOX and MTKBINARY you dont have to use GPSFILTERING in multiwii code. define NMEA define UBLOX define MTKBINARY16 define MTKBINARY19 define INITMTKGPS initialize MTK GPS for using selected speed, 5Hz update rate and GGA amp RMC sentence or binary settings define GPSPROMINISERIAL 57600 Will Autosense if GPS is connected when ardu boots I2C GPS device made with an independant arduino GPS device including some navigation functions contribution from EOSBandi code. googlepi2c-gps-nav You have to use at least I2CGpsNav code r33 define I2CGPS I2C GPS device made with an indeedent ATTiny24313 GPS device and optional sonar device. githubwertarbytetiny-gps get GPS data from Tiny-GPS define TINYGPS get sonar data from Tiny-GPS define TINYGPSSONAR GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK. define GPSFROMOSD 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 - gt LED blink at speed of incoming GPS frames - Fix and sat no. bellow 5 - gt LED off - Fix and sat no. gt 5 - gt LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7. define GPSLEDINDICATOR define USEMSPWP Enables the MSPWP command, which is used by WinGUI to display and log Home and Poshold positions define DONTRESETHOMEATARM 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 NAVCONTROLSHEADING true copter faces toward the navigation point, maghold must be enabled for it define NAVTAILFIRST false true - copter comes in with tail first define NAVSETTAKEOFFHEADING true true - when copter arrives to home position it rotates its head to takeoff direction Get your magnetic decliniation from here. magnetic-declination Convert the degreeminutes into decimal degree by gt degreeminutes(160) Note the sign on declination it could be negative or positive (WEST or EAST) define MAGDECLINIATION 3.96f For Budapest Hungary. define MAGDECLINIATION 0.0f define GPSLEADFILTER Adds a forward predictive filterig to compensate gps lag. Code based on Jason Shorts lead filter implementation define GPSFILTERING add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable define GPSWPRADIUS 200 if we are within this distance to a waypoint then we consider it reached (distance is in cm) define NAVSLEWRATE 30 Adds a rate control to nav output, will smoothen out nav angle spikes uncomment this line if you plan to use a LCD or OLED define LCDCONF to include setting the aux switches for AUX1 - gt AUX4 via LCD define LCDCONFAUX if program gets too large (gt32k), need to exclude some functionality uncomment to suppress some unwanted aux3 aux4 items in config menu (only useful if LCDCONFAUX is enabled) define SUPPRESSLCDCONFAUX34 The type of LCD choice of LCD attached for configuration and telemetry, see notes below define LCDDUMMY No Physical LCD attached. With this amp LCDCONF defined, TX sticks still work to set gains, by watching LED blink. define LCDSERIAL3W Alex initial variant with 3 wires, using rx-pin for transmission 9600 baud fixed define LCDTEXTSTAR SERIAL LCD: Cats Whisker LCDTEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus) define LCDVT100 SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.) define LCDTTY SERIAL LCD: useful to tweak parameters over cable with arduino IDE serial monitor define LCDETPP I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial) define LCDLCD03 I2C LCD: LCD03, which is i2c define OLEDI2C128x64 I2C LCD: OLED multiwiiforumviewtopic. phpf7ampt1350 Logo settings define SUPPRESSOLEDI2C128x64LOGO 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 - amp. 8 - . 9 - ( You must add both to your lcd. telemetry. sequences define DISPLAYFONTDSIZE currently only aplicable for OLEDI2C128x64 style of display - AUTODETECTED via LCD setting - only activate to override defaults define DISPLAY2LINES define DISPLAYMULTILINE define MULTILINEPRE 2 multiline configMenu pref lines define MULTILINEPOST 6 multiline configMenu post lines Navigation keys to navigate the LCD menu define LCDMENUPREV p define LCDMENUNEXT n define LCDVALUEUP u define LCDVALUEDOWN d define LCDMENUSAVEEXIT s define LCDMENUABORT x To use an LCD03 for configuration: robot-electronics. co. ukhtmLcd03tech. htm Remove the jumper on its back to set i2c control. VCC to 5V VCC (pin1 from top) SDA - Pin A4 Mini Pro - Pin 20 Mega (pin2 from top) SCL - Pin A5 Mini Pro - Pin 21 Mega (pin3 from top) GND to Ground (pin4 from top) To use an Eagle Tree Power Panel LCD for configuration: White wire to Ground Red wire to 5V VCC (or to the WMP power pin, if you prefer to reset everything on the bus when WMP resets) Yellow wire to SDA - Pin A4 Mini Pro - Pin 20 Mega Brown wire to SCL - Pin A5 Mini Pro - Pin 21 Mega Cats whisker LCDTEXTSTAR LCD Pleae note this display needs a full 4 wire connection to (5V, Gnd, RXD, TXD ) Configure display as follows: 115K baud, and TTL levels for RXD and TXD, terminal mode NO rx tx line reconfiguration, use natural pins. The four buttons sending A, B, C, D are supported for configuration navigation and request of telemetry pages 1-4 to monitor system values (battery level, loop time etc. with LCD enable this note: for now you must send single characters to request different pages Buttons toggle request for page onoff The active page on the LCD does get updated automatically Easy to use with Terminal application or display like LCD - if available uses the 4 preconfigured buttons to send A, B, C, D Activation define LCDTELEMETRY to enable automatic hopping between a choice of telemetry pages uncomment this. This may be useful if your LCD has no buttons or the sending is broken hopping is activated and deactivated in unarmed mode with throttlelow amp rollleft amp pitchforward set it to the sequence of telemetry pages you want to see 2 line displays support pages 1-9 multiline displays support pages 1-5 define LCDTELEMETRYAUTO quot123452679quot pages 1 to 9 in ascending order define LCDTELEMETRYAUTO quot212232425262729quot strong emphasis on page 2 same as above, but manual stepping sequence requires stick input (throttlelow amp rollright amp pitchforward) to step through each defined telemetry page First page of the sequence gets loaded at startup to allow non-interactive display define LCDTELEMETRYSTEP quot0123456789quot should contain a 0 to allow switching off. First page of sequence gets loaded upon startup if program gets too large (gt32k), need to exclude some functionality uncomment to suppress some unwanted telemetry pages (only useful if telemetry is enabled) define SUPPRESSTELEMETRYPAGE1 define SUPPRESSTELEMETRYPAGE2 define SUPPRESSTELEMETRYPAGE3 define SUPPRESSTELEMETRYPAGE4 define SUPPRESSTELEMETRYPAGE5 define SUPPRESSTELEMETRYPAGE6 define SUPPRESSTELEMETRYPAGE7 define SUPPRESSTELEMETRYPAGE8 define SUPPRESSTELEMETRYPAGE9 define RXRSSI define RXRSSIPIN 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 0V5V-gt01023 on analog VBATPIN with R133k and R251k vbat 0102316VBATSCALE 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 VBATLEVELWARN1 107 () 10,7V define VBATLEVELWARN2 99 () 9.9V define VBATLEVELCRIT 93 () 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered define NOVBAT 16 () Avoid beeping without any battery 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 multiwiiwikiindex. phptitlePowermeter 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 POWERMETERSOFT define POWERMETERHARD PLEVELSCALE is the step size you can use to set alarm define PLEVELSCALE 50 if you change this value for other granularity, you must search for comments in code to change accordingly larger PLEVELDIV will get you smaller value for power (mAh equivalent) define PLEVELDIV 5000 () default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter define PLEVELDIVSOFT PLEVELDIV for soft always equal to PLEVELDIV for hard set to 5000 define PSENSORNULL 510 () set to analogRead() value for zero current for I0A my sensor gives 12 Vss that is approx 2.49Volt define PINT2mA 13 () for telemtry display: one integer step on arduino analog translates to mA (example 4.9 37 100 uncomment to disable the altitude hold feature. This is useful if all of the following apply you have a baro want altitude readout do not use altitude hold feature want to save memory space define SUPPRESSBAROALTHOLD Natural alt change for rapid pilots. Its temporary switch OFF the althold when throttle stick is out of deadband defined with ALTHOLDTHROTTLENEUTRALZONE but if its commented: Smooth alt change routine is activated, for slow auto and aerophoto modes (in general solution from alexmos). Its slowly increasedecrease altitude proportional to stick movement (-100 throttle gives about -50 cm in 1 second with cycle time about 3-4ms) define ALTHOLDFASTTHROTTLECHANGE enable to get audio feedback upon risingfalling copterplane. 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 amp 2 1 method 1 2 method 2 define SUPPRESSVARIOMETERUP if no signaling for up movement is desired define SUPPRESSVARIOMETERDOWN if no signaling for down movement is desired define VARIOMETERSINGLETONE use only one tone (BEL) neccessary for non-patched vt100 terminals 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 LCDTTY and use arduino IDEs 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 BOARDNAME quotMultiWii V2.10quot 123456789.123456 Support multiple configuration profiles in EEPROM define MULTIPLECONFIGURATIONPROFILES Experimental: force a stable, fixated (high) cycle time when activated, the displayed cycle time in GUI will not be correct. Tunable via LCD config menu. value of 0 turns the feature off. define CYCLETIMEFIXATED 9000 () Part II as forum limits length of Posts 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 SERVORFR50HZ up to 160Hz servo refreshrate. works with the most analog servos define SERVORFR160HZ 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 SERVORFR300HZ HW PWM Servos HW PWM Servo outputs for Arduino Mega. moves: Pitch pin 44 Roll pin 45 CamTrig pin 46 SERVO4 pin 11 (assigned to PPM or SPECTRUM CH9 on copter configuration) SERVO5 pin 12 (assigned to PPM or SPECTRUM CH10 on copter configuration) this option disable other software PWMs for servos - only five hardware controlled servos avaliable define MEGAHWPWMSERVOS to reduce memory footprint, it is possible to 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 LCDCONF) to tune the parameters or live with the defaults. If you run a LCDOLED via i2c or serialBluetooth, this is safe to use define SUPPRESSALLSERIALMSP 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 SUPPRESSOTHERSERIALCOMMANDS saves approx 0 to 100 bytes, depending on features enabled 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 minmax cycleTimes set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER ltgt PMSOFT) define LOGVALUES 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, powercycleresetinitialize events, arm events, disarm events, last armedTime, failsafedisarm, i2cerrsdisarm To activate set to size of eeprom for your mcu: promini 328p: 1023 2560: 4095. Enable one or more options to show the log define LOGPERMANENT 1023 define LOGPERMANENTSHOWATSTARTUP enable to display log at startup define LOGPERMANENTSHOWATL enable to display log when receiving L define LOGPERMANENTSHOWAFTERCONFIG enable to display log after exiting LCD config menu define LOGPERMANENTSERVICELIFETIME 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 Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated define LCDCONFDEBUG Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated define LCDTELEMETRYDEBUG This form rolls between all screens, LCDTELEMETRYAUTO must also be defined. define LCDTELEMETRYDEBUG 6 This form stays on the screen specified. Enable string transmissions from copter to GUI define DEBUGMSG to calibrate all ESCs connected to MWii at the same time (useful to avoid unpluggingre-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 code. googlepmultiwiiwikiESCsCalibration define ESCCALIBLOW MINCOMMAND define ESCCALIBHIGH 2000 define ESCCALIBCANNOTFLY 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 63ms18ms value must be 1 65535 define LCDTELEMETRYFREQ 23 to send telemetry data over serial 23 ltgt 60ms ltgt 16Hz (only sending interlaced, so 8Hz update rate) define LCDTELEMETRYAUTOFREQ 967 to step to next telemetry page 967 ltgt 3s define PSENSORFREQ 6 to read hardware powermeter sensor 6 ltgt 18ms define VBATFREQ PSENSORFREQ to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing 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 Uncomment this line, and make sure to comment out the HK board. define CRIUSSE Crius MultiWii SE Just so you know, the ZMR board Crius SE Ive owned both boards and they are identical, just the name on them is different. Different place of manufacture I presume yes thats what mine is defined under. also i thought it was 2.1, worked out its 2.0 so i had to use multiwii 1.4 configwingui. have flashed my board to 2.1 and can say it works with the above defined in wingui 2.1,MultiWii 2.3 b5 config. h 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 amp 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 amp DEVELOPER - if you know what you are doing you have been warned - (ESCs calibration, Dynamic MotorProp Balancing, Diagnostics, Memory savings. ) 8 - DEPRECATED - these features will be removed in some future release 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 please submit any correction to this list. Note from Alex: I only own some boards, for other boards, Im not sure, the info was gathered via rc forums, be cautious define FFIMUv1 first 9DOFbaro board from Jussi, with HMC5843 lt - confirmed by Alex define FFIMUv2 second version of 9DOFbaro board from Jussi, with HMC5883 lt - confirmed by Alex define FREEIMUv1 v0.1 amp v0.2 amp 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 FREEIMUv035MS FreeIMU v0.3.5MS lt - confirmed by Alex define FREEIMUv035BMP FreeIMU v0.3.5BMP define FREEIMUv04 FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA lt - 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 lt - confirmed by Alex define PIPO 9DOF board from erazz define QUADRINO full FC board 9DOFbaro board from witespy with BMP085 baro lt - confirmed by Alex define QUADRINOZOOM full FC board 9DOFbaro board from witespy second edition define QUADRINOZOOMMS full FC board 9DOFbaro board from witespy second edition lt - confirmed by Alex define ALLINONE full FC board or standalone 9DOFbaro board from CSGEU define ATAVRSBIN1 Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power. define SIRIUS Sirius Navigator IMU lt - confirmed by Alex define SIRIUSGPS Sirius Navigator IMU using external MAG on GPS board lt - confirmed by Alex define SIRIUS600 Sirius Navigator IMU using the WMP for the gyro define SIRIUSAIR Sirius Navigator IMU 6050 32U4 from MultiWiiCopter lt - confirmed by Alex define SIRIUSAIRGPS Sirius Navigator IMU 6050 32U4 from MultiWiiCopter with GPSMAG remote located define SIRIUSMEGAv5OSD ParisSirius ITG3050,BMA280,MS5611,HMC5883,uBlox Multiwiicopter lt - confirmed by Alex define MINIWII Jussis MiniWii Flight Controller lt - confirmed by Alex define MICROWII MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from flyduino. net define CITRUSv21 CITRUS from qcrc. ca define DROTEK10DOF Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or wo LLC define DROTEK10DOFMS Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC define DROTEK6DOFv2 Drotek 6DOF v2 define DROTEK6DOFMPU Drotek 6DOF with MPU6050 define MONGOOSE10 mongoose 1.0 store. ckdevices define CRIUSLITE Crius MultiWii Lite define CRIUSSE Crius MultiWii SE define CRIUSSEv20 Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085 define OPENLRSv2MULTI OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345 define BOARDPROTO1 with MPU6050 HMC5883L MS baro define BOARDPROTO2 with MPU6050 slave MAG3110 MS baro define GY80 Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC define GY85 Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC define GY86 Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC define GY521 Chinese 6 DOF with MPU6050, LLC define INNOVWORKS10DOF with ITG3200, BMA180, HMC5883, BMP085 available here diymulticopter define INNOVWORKS6DOF with ITG3200, BMA180 available here diymulticopter define MultiWiiMega MEGA MPU6050HMC5883LMS5611 available here diymulticopter define PROTODIY 10DOF mega board define IOIMINIMULTIWII bambucopter define Bobs6DOFV1 BobsQuads 6DOF V1 with ITG3200 amp BMA180 define Bobs9DOFV1 BobsQuads 9DOF V1 with ITG3200, BMA180 amp HMC5883L define Bobs10DOFBMPV1 BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L amp BMP180 - BMP180 is software compatible with BMP085 define FLYDUINOMPU MPU6050 Break Out onboard 3.3V reg define DESQUARED6DOFV2GO DEsquared V2 with ITG3200 only define DESQUARED6DOFV4 DEsquared V4 with MPU6050 define MEGAWAPV2STD available here: multircshop lt - confirmed by Alex define HKMultiWiiSEV2 Hobbyking board with MPU6050 HMC5883L BMP085 define HKMultiWii328P Also labeled quotHobbybroquot on the back. ITG3205 BMA180 BMP085 NMC5583L DSM2 Connector (Spektrum Satellite) define RCNetFC RCNet FC with MPU6050 and MS561101BA rcnet define RCNetFCGPS RCNet FC with MPU6050 MS561101BA HMC5883L UBLOX GPS rcnet define FLYDUULTRA MEGA10DOFMT3339 FC define DIYFLYINGMAGEV1 diyflying 10DOF mega board with MPU6050 HMC5883L BMP085 indoor-flying. hk define MultiWii32U4SE Hextronik MultiWii32U4SE define MultiWii32U4SEnobaro Hextronik MultiWii32U4SE without the MS561101BA for more free flash-memory define Flyduino9DOF Flyduino 9DOF IMU MPU6050HMC5883l define NanoPlane Multiwii Plane version with tail-front LSM330 sensor radiosait. ruenpage5324.html leave it commented if you already checked a specific board above 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 SERIALSUMPPM PITCH, YAW, THROTTLE, ROLL, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For GraupnerSpektrum define SERIALSUMPPM ROLL, PITCH, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For RobeHitecFutaba define SERIALSUMPPM ROLL, PITCH, YAW, THROTTLE, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For Multiplex define SERIALSUMPPM PITCH, ROLL, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For some HitecSanwaOthers Uncommenting following line allow to connect PPMSUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO) 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 boards 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 SPEKSERIALPORT 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 quotBindquot 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 Ground4, Power5, Signal6. 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 wont 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 SPEKBIND Un-Comment for Spektrum Satellie Bind Support. Code is 420 bytes smaller without it. define SPEKBINDGROUND 4 define SPEKBINDPOWER 5 define SPEKBINDDATA 6 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 SBUSSERIALPORT 1 define SBUSMIDOFFSET 988 SBUS Mid-Point at 1500 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 GPSSERIAL 2 should be 2 for flyduino v2. Its the serial port number on arduino MEGA define GPSPROMINISERIAL 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 GPSBAUD 115200 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 MTKBINARY16 and MTKBINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9) With UBLOX and MTKBINARY you dont have to use GPSFILTERING in multiwii code. choice of LCD attached for configuration and telemetry, see notes below define LCDDUMMY No Physical LCD attached. With this amp LCDCONF defined, TX sticks still work to set gains, by watching LED blink. define LCDSERIAL3W Alex initial variant with 3 wires, using rx-pin for transmission 9600 baud fixed define LCDTEXTSTAR SERIAL LCD: Cats Whisker LCDTEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus) define LCDVT100 SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.) define LCDTTY SERIAL LCD: useful to tweak parameters over cable with arduino IDE serial monitor define LCDETPP I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial) define LCDLCD03 I2C LCD: LCD03, which is i2c define OLEDI2C128x64 I2C LCD: OLED multiwiiforumviewtopic. phpf7ampt1350 define OLEDDIGOLE I2C OLED from digoleindex. phpproductID550 define LCDSERIALPORT 0 must be 0 on Pro Mini and single serial boards Set to your choice on any Mega based board define SUPPRESSOLEDI2C128x64LOGO 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 - amp. 8 - . 9 - ( You must add both to your lcd. telemetry. sequences define DISPLAYFONTDSIZE currently only aplicable for OLEDI2C128x64 and OLEDDIGOLE style of display - AUTODETECTED via LCD setting - only activate to override defaults define MULTILINEPRE 2 multiline configMenu pref lines define MULTILINEPOST 6 multiline configMenu post lines define DISPLAYCOLUMNS 16 keys to navigate the LCD menu define LCDMENUPREV p
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