/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 1 - BASIC SETUP *******/
/***************** ***************/
/*************************************************************************************************/
/************************** The type of multicopter ****************************/
//#define GIMBAL
//#define BI
//#define TRI
//#define QUADP
#define QUADX
//#define Y4
//#define Y6
//#define HEX6
//#define HEX6X
//#define OCTOX8
//#define OCTOFLATP
//#define OCTOFLATX
//#define FLYING_WING
//#define VTAIL4
//#define AIRPLANE
//#define SINGLECOPTER
//#define DUALCOPTER
//#define HELI_120_CCPM
//#define HELI_90_DEG
/**************************** Motor minthrottle *******************************/
/* Set the minimum throttle command sent to the ESC (Electronic Speed Controller)
This is the minimum value that allow motors to run at a idle speed */
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
//#define MINTHROTTLE 1064 // special ESC (simonk)
#define MINTHROTTLE 1300
/**************************** Motor maxthrottle *******************************/
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
#define MAXTHROTTLE 2000
/**************************** Mincommand *******************************/
/* this is the value for the ESCs when they are not armed
in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
#define MINCOMMAND 1000
/********************************** I2C speed ************************************/
#define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
//#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
/*************************** Internal i2c Pullups ********************************/
/* enable internal I2C pull ups (in most cases it is better to use external pullups) */
//#define INTERNAL_I2C_PULLUPS
/**************************************************************************************/
/***************** boards and sensor definitions ******************/
/**************************************************************************************/
/*************************** Combined IMU Boards ********************************/
/* if you use a specific sensor board:
please submit any correction to this list.
Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious */
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex
//#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
//#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1
//#define FREEIMUv035 // FreeIMU v0.3.5 no baro
//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex
//#define FREEIMUv043 // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
//#define NANOWII // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
//#define PIPO // 9DOF board from erazz
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition
//#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU
//#define AEROQUADSHIELDv2
//#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
//#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex
//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex
//#define CITRUSv2_1 // CITRUS from qcrc.ca
//#define CHERRY6DOFv1_0
//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
//#define DROTEK_6DOFv2 // Drotek 6DOF v2
//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
//#define DROTEK_10DOF_MPU//
//#define MON*****1_0 // mon***** 1.0 http://store.ckdevices.com/
//#define CRIUS_LITE // Crius MultiWii Lite
#define CRIUS_SE // Crius MultiWii SE
//#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
//#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
//#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro
//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
//#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
//#define PROTO_DIY // 10DOF mega board
//#define IOI_MINI_MULTIWII// http://www.bambucopter.com
//#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180
//#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
//#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
//#define FLYDUINO_MPU
//#define CRIUS_AIO_PRO_V1
/*************************** 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 LSM303DLx_ACC
/* I2C barometer */
//#define BMP085
//#define MS561101BA
/* I2C magnetometer */
//#define HMC5843
//#define HMC5883
//#define AK8975
//#define MAG3110
/* Sonar */ // for visualization purpose currently - no control code behind
//#define SRF02 // use the Devantech SRF i2c sensors
//#define SRF08
//#define SRF10
//#define SRF23
/* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
//#define ADCACC
/* individual sensor orientation */
//#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;}
//#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;}
//#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/
/***************** ***************/
/*************************************************************************************************/
/******************************** TRI *********************************/
#define YAW_DIRECTION 1
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
/* you can change the tricopter servo travel here */
#define TRI_YAW_CONSTRAINT_MIN 1020
#define TRI_YAW_CONSTRAINT_MAX 2000
#define TRI_YAW_MIDDLE 1500 // tail servo center pos. - use this for initial trim; later trim midpoint via LCD
/******************************** ARM/DISARM *********************************/
/* optionally disable stick combinations to arm/disarm the motors.
* In most cases one of the two options to arm/disarm via TX stick is sufficient */
#define ALLOW_ARM_DISARM_VIA_TX_YAW
#define ALLOW_ARM_DISARM_VIA_TX_ROLL
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