#ifndef CONFIG_H_
#define CONFIG_H_
/**************************************************************************/
/**** CONFIGURABLE PARAMETERS ****/
/**** 可配置参量 ****/
/**** ****/
/**** 2013.10.28最新MWC程序注释翻译 ****/
/**** Translater：Dexter ****/
/**** 本程序注释由Dexter翻译，引用请注明出处 ****/
/**************************************************************************/
/* this file consists of several sections
此文件包含有几个章节
* to create a working combination you must at least make your choices in section 1.
* 为了创建一个真正能够工作的软件体系，您必须至少完成第一章的设置
* 1 - BASIC SETUP - you must select an option in every block.
* 1 - 基本设置-您必须在每一个小节中都选择一个选项
* this assumes you have 4 channels connected to your board with standard ESCs and servos.
* 在设定这些选项的时候都假定您的遥控有四个通道链接到飞控版，并且飞控版带有标准电调和伺服器
* 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
* 2 - 飞行器类型具体选项-您可能想要在这里确认您的飞行器类型
* 3 - RC SYSTEM SETUP
* 3 - 遥控系统设置
* 4 - ALTERNATE CPUs & BOARDS - if you have
* 4 - 交替的多个处理器和飞控板（或者其他模块板）- 如果有的话，没有的话不用管
* 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
* 5 - 交替性设置-在这里可以选择一个交替的方案（静态Bash单位时间-，脉冲调制，其他），交替的电调范围和其他
* -Bash：bash 是一个为GNU计划编写的Unix shell。它的名字是一系列缩写：Bourne-Again SHell — 这是关于Bourne shell（sh）的一个双关语（Bourne边界 again / born again重生）。Bourne shell是一个早期的重要shell，由史蒂夫·伯恩在1978年前后编写，并同Version 7 Unix一起发布。bash则在1987年由布莱恩·福克斯创造。在1990年，Chet Ramey成为了主要的维护者。
* 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
* 6 - 非必选特性功能 - 在这里可以启用特色功能（飞行模式，液晶屏，测距仪，电池监控器等）
* 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
* 7 - 调谐与开发者- 请先确认自己知道自己操作的是什么，否则是很危险的
* - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)
* -（标准转换字符校准，动态马达/支架平衡，诊断项目，记忆保存等等）
* 8 - DEPRECATED - these features will be removed in some future release
* 8 - 不建议使用的项目- 这些功能在未来的简化过程中将被删除
*/
/* Notes:
* 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.
* 1.下面这些代码批注中（删除代码批注前的//来启用该功能）带有 (*)的参数兼备储存在EEPROM中，并且可以通过外接的监视器或者液晶屏更改。
* 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI
* 2. 面这些代码批注中带有 (**)的参数兼备储存在EEPROM中，并且可以通过MultiWiiConf软件来进行修改
*/
/**************************************************************/
/**************** SECTION 1 - BASIC SETUP **************/
/***************** 第一章 - 基本设置 ***************/
/***************************************************************/
/************************** The type of multicopter ****************************/
/************************** MultiWii 飞行器类型 ****************************/
//#define GIMBAL //独立的云台稳定器（非飞控用途）
//#define BI //阿凡达双马达双舵机飞行模式
//#define TRI //Y型三轴
//#define QUADP //四轴+模式
//#define QUADX //四轴X模式
//#define Y4 //Y型四轴
//#define Y6 //Y型六轴
//#define HEX6 //六轴*模式
//#define HEX6X //六轴X模式
//#define HEX6H // New Model //六轴H模式
//#define OCTOX8 //八轴X4模式
//#define OCTOFLATP //八轴水平+模式
//#define OCTOFLATX //八轴水平X模式
//#define FLYING_WING //飞翼模式
//#define VTAIL4 //V型尾翼四轴（与×模式一样，类似固定翼，转向灵活）
//#define AIRPLANE //固定翼
//#define SINGLECOPTER //单轴模式
//#define DUALCOPTER //共轴双桨
//#define HELI_120_CCPM //直升机120°倾斜盘
//#define HELI_90_DEG //直升机90°倾斜盘
/************* Motor minthrottle 油门最小值设定 **************/
/* 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 */
/*设置最小的油门指令发送到电子调速器（电调），遥控器上的油门达到所设置的最小值时马达开始怠速运行*/
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A 最小油门1300，适用于TURNIGY电调10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A 最小油门1120，适用于微型电调10A
//#define MINTHROTTLE 1064 // special ESC (simonk) 最小油门1064，适用于SimonK无刷电调
//#define MINTHROTTLE 1050 // for brushed ESCs like ladybird 最小油门1050，适用于有刷电调，如瓢虫电调
#define MINTHROTTLE 1150 // (*) (**) 默认最小油门1150，适用于普通电调
/************* Motor maxthrottle 油门最大值设定 *************/
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
/* 设置电调输出对大速度时所对应的遥控油门最大值，这个值可以增加到2000*/
#define MAXTHROTTLE 1850
/************ Mincommand 电调初始最低值命令 *******************/
/* this is the value for the ESCs when they are not armed. In some cases,
该值应用于电调还没有就绪时（即初始化设置）的情况，有时，具体到某些特殊的电调这个值必须低于900，否则电调则不能被初始化
this value must be lowered down to 900 for some s pecific ESCs, otherwise they failed to initiate */
#define MINCOMMAND 1000
/********** I2C speed I2C总线频率（这个要根据传感器选择） *********/
#define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
//100kHz 属于一般模式，这个值必须用于真实的WMP
//#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
//400kHz 属于快速模式，质量好一些的板子都是可以直接选择400的速度的，如果有问题再切换回100
/*************** Internal i2c Pullups 内部I2C上拉 ******************/
/* enable internal I2C pull ups (in most cases it is better to use external pullups)
允许内部I2C总线上拉（在大多数情况下，使用外部上拉会更好）*/
//#define INTERNAL_I2C_PULLUPS
/*******************************************************************/
/***************** boards and sensor definitions ***************/
/***************** 飞控版类型与传感器定义 ***************/
/*******************************************************************/
/************** Combined IMU Boards 一体型惯性测量单元飞控板 *******************/
/* if you use a specific sensor board:如果你使用的是某一个具体的传感器飞控板
please submit any correction to this list.请向此列表提交校正
Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious
来自四周创始人Alex（法）的批注：我只有其中的一些板子，对于其他飞控板我并不确认他能用，这些信息都是通过远程遥控控制器收集来的信息，请小心使用 */
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex 已由Alex测试成功
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex 已由Alex测试成功
//#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 已由Alex测试成功
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex 已由Alex测试成功
//#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 已由Alex测试成功
//#define PIPO // 9DOF board from erazz
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex 已由Alex测试成功
//#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 已由Alex测试成功
//#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 已由Alex测试成功
//#define SIRIUSGPS // Sirius Navigator IMU using external MAG on GPS board <- confirmed by Alex 已由Alex测试成功
//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
//#define SIRIUS_AIR // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com <- confirmed by Alex 已由Alex测试成功
//#define SIRIUS_AIR_GPS // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
//#define SIRIUS_MEGAv5_OSD // Paris_Sirius™ ITG3050,BMA280,MS5611,HMC5883,uBlox http://www.Multiwiicopter.com <- confirmed by Alex
//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex 已由Alex测试成功
//#define MICROWII // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from http://flyduino.net/
//#define CITRUSv2_1 // CITRUS from qcrc.ca
//#define CHERRY6DOFv1_0
//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
//#define DROTEK_6DOFv2 // Drotek 6DOF v2
//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
//#define DROTEK_10DOF_MPU//
//#define MONGOOSE1_0 // mongoose 1.0 http://store.ckdevices.com/
//#define CRIUS_LITE // Crius MultiWii Lite
//#define CRIUS_SE // Crius MultiWii SE
//#define CRIUS_SE_v2_0 // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085
//#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
//#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
//#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro
//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
//#define GY_521 // Chinese 6 DOF with MPU6050, LLC
//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
//#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
//#define MultiWiiMega // MEGA + MPU6050+HMC5883L+MS5611 available here http://www.diymulticopter.com
//#define PROTO_DIY // 10DOF mega board
//#define IOI_MINI_MULTIWII// www.bambucopter.com
//#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180
//#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
//#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
//#define FLYDUINO_MPU // MPU6050 Break Out onboard 3.3V reg
//#define CRIUS_AIO_PRO_V1
//#define DESQUARED6DOFV2GO // DEsquared V2 with ITG3200 only
//#define DESQUARED6DOFV4 // DEsquared V4 with MPU6050
//#define LADYBIRD
//#define MEGAWAP_V2_STD // available here: http://www.multircshop.com <- confirmed by Alex 已由Alex测试成功
//#define MEGAWAP_V2_ADV
//#define HK_MultiWii_SE_V2 // Hobbyking board with MPU6050 + HMC5883L + BMP085 <- confirmed by Dexter 已由本翻译者Dexter测试成功 可用于市面上黄绿针脚，两排I2C总线接口的MWC SE 2.5飞控版
//#define HK_MultiWii_328P // Also labeled "Hobbybro" on the back. ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite)
//#define RCNet_FC // RCNet FC with MPU6050 and MS561101BA http://www.rcnet.com
//#define RCNet_FC_GPS // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS http://www.rcnet.com
//#define FLYDU_ULTRA // MEGA+10DOF+MT3339 FC
//#define DIYFLYING_MAGE_V1 // diyflying 10DOF mega board with MPU6050 + HMC5883L + BMP085 http://www.indoor-flying.hk
//#define MultiWii_32U4_SE // Hextronik MultiWii_32U4_SE
//#define MultiWii_32U4_SE_no_baro // Hextronik MultiWii_32U4_SE without the MS561101BA for more free flash-memory
//#define Flyduino9DOF // Flyduino 9DOF IMU MPU6050+HMC5883l
//#define Nano_Plane // Multiwii Plane version with tail-front LSM330 sensor http://www.radiosait.ru/en/page_5324.html
/************** independent sensors 独立传感器选择 *********************/
/* leave it commented if you already checked a specific board above */
/* 如果你在上面已经选好自己的板子了，并且也没有安装附加的传感器请不要再单独启用下列传感器 */
/* I2C gyroscope I2C总线连接的陀螺仪*/
//#define WMP
//#define ITG3200
//#define MPU3050
//#define L3G4200D
//#define MPU6050 //combo + ACC
//#define LSM330 //combo + ACC
/* I2C accelerometer I2C总线连接的加速度计*/
//#define NUNCHUCK // if you want to use the nunckuk connected to a WMP
//如果你想使用连接到WMP的nunckuk
//#define MMA7455
//#define ADXL345
//#define BMA020
//#define BMA180
//#define BMA280
//#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
//如果你想使用不接WMP的nunckuk，并将其作为独立的I2C累加器
//#define LIS3LV02
//#define LSM303DLx_ACC
//#define MMA8451Q
/* I2C barometer I2C总线连接的气压计*/
//#define BMP085
//#define MS561101BA
/* I2C magnetometer I2C总线连接的电子罗盘*/
//#define HMC5843
//#define HMC5883
//#define AK8975
//#define MAG3110
/* Sonar 声纳传感器（用于经确定稿）*/ // for visualization purpose currently - no control code behind
// 用于当前视距，后台没有控制代码
//#define SRF02 // use the Devantech SRF i2c sensors 使用Devantech SRF出品的I2C传感器
//#define SRF08
//#define SRF10
//#define SRF23
/* ADC accelerometer ADC加速度传感器 */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
// 用于sparkfun出品的5DOF，使用模拟接口，就是飞控板上的A1,A2,A3
//#define ADCACC
/* enforce your individual sensor orientation - even overrides board specific defaults */
/* 强制定义独立传感器的方向-这甚至会重写板子上的默认值 */
//#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;}
//强制定义加速度计的三轴方向数值
//#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = Z;}
//强制定义陀螺仪的三轴方向数值
//#define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
//强制定义电子罗盘的三轴方向数值
/* Board orientation shift 飞控板方向转换*/
/* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
如果你的机架式+模式的，而且对于X模式或者不能在机械结构上转为强制关闭（反之亦然）
* you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode.
如果你启用下列选项使传感器虚拟地转了45°角，然后要根据飞行模式来设置飞行器种类
* Check motors order and directions of motors rotation for matching with new front point! Uncomment only one option!
检查马达命令和转向以符合新设置的前向，下面两个选项只能选一个。
*/
//#define SENSORS_TILT_45DEG_RIGHT // rotate the FRONT 45 degres clockwise 右斜45°---机头方向顺时针转45°
//#define SENSORS_TILT_45DEG_LEFT // rotate the FRONT 45 degres counterclockwise 左斜45°---机头方向逆时针转45°
/**************************************************************/
/***************** ***************/
/**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/
/**************** 第二章 - 飞行器类型具体设置 *******/
/***************** ***************/
/***************************************************************/
/************ PID Controller PID控制器设置 ***************/
/* choose one of the alternate PID control algorithms 选择一个PID控制算法，下列选项二选一，即通过更改#define PID_CONTROLLER 1中的1来选择，默认选择旧式算法
* 1 = evolved oldschool algorithm (similar to v2.2) 旧式算法，类似于2.2版本中的算法
* 2 = new experimental algorithm from Alex Khoroshko 来自代码原创者法国人Alex新的实验性算法 - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
* */
#define PID_CONTROLLER 1
/* NEW: not used anymore for servo coptertypes <== NEEDS FIXING - MOVE TO WIKI */
/* 新式算法不再适用于伺服类型的飞行器 <== 这一点需要修正-转移到WIKI */
#define YAW_DIRECTION 1
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction 把自稳方向设为反向
#define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted 只有飞行器处于水平姿态才能解锁，防止飞行器在倾斜时解锁
/**************** ARM/DISARM 上锁/解锁 ******************/
/* optionally disable stick combinations to arm/disarm the motors.
可选性地使“用摇杆组合来解锁或者上锁马达”这个功能不可用
* In most cases one of the two options to arm/disarm via TX stick is sufficient
某些情况下，使用下列两个选项中的一个选项来通过TX摇杆来上锁或者解锁就足够了
第一个表示用YAW摇杆，第二个表示用ROLL摇杆，
*/
#define ALLOW_ARM_DISARM_VIA_TX_YAW
//#define ALLOW_ARM_DISARM_VIA_TX_ROLL
/***************** SERVOS 伺服 *******************/
/* info on which servos connect where and how to setup can be found here
关于伺服的连接，安装的信息可以在下列网址找到
* http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
*/
/* if you want to preset min/middle/max values for servos right after flashing, because of limited physical
如果想要事先设置好伺服烧写程序后的的最小，中间，最大值可以在此设置，因为伺服的运行物理空间有限，所以接下来必须同时设置好下列三个选项
* room for servo travel, then you must enable and set all three following options */
//#define SERVO_MIN {1020, 1020, 1020, 1020, 1020, 1020, 1020, 1020}
//#define SERVO_MAX {2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000}
//#define SERVO_MID {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500} // (*)
//#define FORCE_SERVO_RATES {30,30,100,100,100,100,100,100} // 0 = normal, 1= reverse 强制伺服频率 0表示正常，1表示反向
/************ Cam Stabilisation 相机云台稳定 **************/
/* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it
下面的几行选项只适用于二轴云台系统，开启第一或者第二行来启用对应的功能 */
//#define SERVO_MIX_TILT //混合型
//#define SERVO_TILT //普通型
/* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini
相机触发功能，即快门：通过实时监控程序中的遥控选项来开启，将伺服输出定义为Promini（即飞控板）上的A2接口
*/
// trigger interval can be changed via (*GUI*) or via AUX channel 触发间距（即快门按下的深度）可以通过实时监控程序来修改，或者通过AUX频道来修改。
//#define CAMTRIG
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms 高速模式的伺服以毫秒单位计时运行
/*********************** Airplane 适用于固定翼飞机的功能 ***********************/
//#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.如果你控制油门用的是50Hz的标准伺服请开启此项
//#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.通过副翼配置飞行方式
#define FLAPPERON_EP { 1500, 1700 } // Endpoints for flaps on a 2 way switch else set {1020,2000} and program in radio.
//设置一个范围，信号值在这两个端点的时候会切换至相应的飞行方式。
#define FLAPPERON_INVERT { -1, 1 } // Change direction on flapperons { Wing1, Wing2 }设置的上下方向
//#define FLAPS // Traditional Flaps on SERVO3.在03伺服上的传统副翼
//#define FLAPSPEED 3 // Make flaps move slow, Higher value is Higher Speed.
//减缓副翼速度。值越大，速度越快
/*********************** Common for Heli & Airplane 对于直升机和固定翼的通用设置 ***********************/
/* 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.
* 调节器：试图通过改变俯仰以及电压来稳定RPM（电机每分钟转数）
* 超前处理：提取输入信号以及电压值来猜测出恰当地修正。
* 油门曲线必须给调节器留下一些空间，比如0-50-75-80-80就可以，但 0-50-95-100-100 就不可以。
* 可以通过辅助设备口AUX口来转换以及锁定。
*/
//#define GOVERNOR_P 7 // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
//比例因数。 值越大，油门上升越快。这个值必须大于等于1，为零则为关闭。
//#define GOVERNOR_D 4 // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
//延迟时间。值越大，油门恢复值正常值的时间就越长。这个值必须大于等于1
//#define VOLTAGEDROP_COMPENSATION // voltage impact correction
//修正电压冲击影响
/*********************** Heli 直升机选项设置 ***********************/
/* Channel to control CollectivePitch 控制总距的通道*/
#define COLLECTIVE_PITCH THROTTLE
/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
/* 限制总距范围， */
#define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%最小值, ZeroPitch offset from 1500以1500为基准的俯仰补偿, Max%最大值}.
#define YAWMOTOR 0 // If a motor is used as YAW Set to 1 else set to 0.
//如果有一个控制横向摆动的马达就把这个值设置为1
/* Servo mixing for heli 120
{Coll,Nick,Roll} */
#define SERVO_NICK { +10, -10, 0 }
#define SERVO_LEFT { +10, +5, +10 }
#define SERVO_RIGHT { +10, +5, -10 }
/* Limit Maximum controll for Roll & Nick in 0-100% */
#define CONTROL_RANGE { 100, 100 } // { ROLL,PITCH }
/* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
//#define HELI_USE_SERVO_FOR_THROTTLE
/*********************** your individual mixing ***********************/
/* if you want to override an existing entry in the mixing table, you may want to avoid editing the
* mixTable() function for every version again and again.
* howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
*/
//#define MY_PRIVATE_MIXING "filename.h"
/*********************** your individual defaults ***********************/
/* if you want to replace the hardcoded default values with your own (e.g. from a previous save to an .mwi file),
* you may want to avoid editing the LoadDefaults() function for every version again and again.
* http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_defaults
*/
//#define MY_PRIVATE_DEFAULTS "filename.h"
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 3 - RC SYSTEM SETUP 遥控系统设置 *******/
/***************** ***************/
/*************************************************************************************************/
/* note: no need to uncomment something in this section if you use a standard receiver */
/* 提示：如果你使用的是标准接收机，就不需要更改下列选项*/
/**************************************************************************************/
/******** special receiver types 特殊接收机类型 ************/
/**************************************************************************************/
/**************************** PPM Sum Reciver ***********************************/
/* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
//#define SERIAL_SUM_PPM PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
//#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
//#define SERIAL_SUM_PPM ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
//#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
// Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
//#define PPM_ON_THROTTLE
/********************** Spektrum Satellite Reciver *******************************/
/* The following lines apply only for Spektrum Satellite Receiver
Spektrum Satellites are 3V devices. DO NOT connect to 5V!
For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
For PROMINI, attach sat grey to RX0. Attach sat black to ground. */
//#define SPEKTRUM 1024
//#define SPEKTRUM 2048
//#define SPEK_SERIAL_PORT 1 // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
//**************************
// Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
// Bind mode will be same as declared above, if your TX is capable.
// Ground, Power, and Signal must come from three adjacent pins.
// By default, these are Ground=4, Power=5, Signal=6. These pins are in a row on most MultiWii shield boards. Pins can be overriden below.
// Normally use 3.3V regulator is needed on the power pin!! If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
//**************************
// For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
//#define SPEK_BIND //Un-Comment for Spektrum Satellie Bind Support. Code is ~420 bytes smaller without it.
//#define SPEK_BIND_GROUND 4
//#define SPEK_BIND_POWER 5
//#define SPEK_BIND_DATA 6
/******************************* SBUS RECIVER ************************************/
/* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
//#define SBUS
//#define SBUS_SERIAL_PORT 1
#define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 4 - ALTERNATE CPUs & BOARDS 可选处理器和外设板 *******/
/***************** ***************/
/*************************************************************************************************/
/**************************************************************************************/
/******** Promini Specifig Settings Promini的具体设置 ********************/
/**************************************************************************************/
/*************** Hexa Motor 5 & 6 Pins 六轴飞行器的马达5和马达6设置******************/
/* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config A0，A1接口将会代替D5，D6接口来控制马达5和马达6
This mod allow the use of a standard receiver on a pro mini 该模式下允许Pro mini飞空板使用标准接收机
(no need to use a PPM sum receiver不需要使用PPM sum接收机) */
//#define A0_A1_PIN_HEX
/********************* Aux 2 Pin AUX2接口设置 *************************/
/* possibility to use PIN8 or PIN12 as the AUX2 RC input 使PIN8或者P12来作为接收机的输入接口 (only one, not both只能二选一，不能同时选择)
it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) 由于接口数量有限，选择相应的选项将会屏蔽掉PIN12或者PIN8原来分别对应的的电量监控和蜂鸣器功能*/
//#define RCAUXPIN8
//#define RCAUXPIN12
/**************************************************************************************/
/***************** Teensy 2.0 Support 对Teensy2.0的支持 ******************/
/**************************************************************************************/
/* uncomment this if you use a teensy 2.0 with teensyduino 如果你使用的是基于Teensyduino系统板的Teensy2.0 可以启用下面的功能
it needs to run at 16MHz 这使得Teensyduino需要以16MHz的速度运行*/
//#define TEENSY20
/**************************************************************************************/
/******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/
/******** Atmega32u4系统板的设置，如ProMicro，Leonardo等等 ***********/
/**************************************************************************************/
/********************************* pin Layout 接口输出 **********************************/
/* activate this for a better pinlayout if all pins can be used => not possible on ProMicro
使得输出变得更好，但这个选项不能用于ProMicro系统板*/
//#define A32U4ALLPINS
/********************************** PWM Setup PWM设置 **********************************/
/* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13. 开启六轴模式，使得6个硬件PWM输出对应于D11接口（接马达5）和D13接口（接马达6）
note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there) 提示：在Sparkfun Promicro上不适用，但是P11和P13接口并没有损坏
if activated: 如果开启这个功能，对应的马达PWM如下
Motor 1-6 = 10-bit hardware PWM
Motor 7-8 = 8-bit Software PWM
Servos = 8-bit Software PWM
if deactivated:
Motor 1-4 = 10-bit hardware PWM
Motor 5-8 = 10-bit Software PWM
Servos = 10-bit Software PWM */
//#define HWPWM6
/********************************** Aux 2 Pin 设置AUX 2接口 **********************************/
/* AUX2 pin on pin RXO 使AUX2 对应 RXO 接口*/
//#define RCAUX2PINRXO
/* aux2 pin on pin D17 (RXLED) 使AUX2 对应接口D17（ 即RXO） */
//#define RCAUX2PIND17
/********************************** Buzzer Pin 蜂鸣器接口 **********************************/
/* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
/* 这个选项将蜂鸣器接口从TXO转换到了D8，用来配合ppm sum 或者spectrum sat来使用。（另外，如果A32U4ALLPINS已经被开启就不需要再使用此功能）*/
//#define D8BUZZER
/*********************** Promicro version related Promicro 版本相关设置 ****************************/
/* Inverted status LED for Promicro ver 10 将版本为10的Promicro上的LED等开关状态置反 */
//#define PROMICRO10
/**************************************************************************************/
/******** override default pin assignments 重写默认的接口分配表 ********************/
/**************************************************************************************/
/* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
/*只需要启用你需要的默认分派接口就好了，比如在你没有某个具体的接口的时候，将其分配到其他接口 */
/* you may need to change PINx and PORTx plus #shift according to the desired pin! */
/*你可能需要改变某个PIN接口，并且根据需求将某个PORT接口加上#shift，*/
//#define OVERRIDE_V_BATPIN A0 // instead of A3 用A0代替A3 // Analog PIN 3 即模拟A3接口
//#define OVERRIDE_PSENSORPIN A1 // instead of A2 用A1代替A2 // Analog PIN 2 即模拟A3接口
//#define OVERRIDE_LEDPIN_PINMODE pinMode (A1, OUTPUT); // use A1 instead of d13 用A1代替D13接口
//#define OVERRIDE_LEDPIN_TOGGLE PINC |= 1<<1; // PINB |= 1<<5; //switch LEDPIN state (digital PIN 13) 改变LED灯的接口状态（数字端口13）
//#define OVERRIDE_LEDPIN_OFF PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
//#define OVERRIDE_LEDPIN_ON PORTC |= 1<<1; // was PORTB |= (1<<5);
//#define OVERRIDE_BUZZERPIN_PINMODE pinMode (A2, OUTPUT); // use A2 instead of d8 用A2替代d8端口
//#define OVERRIDE_BUZZERPIN_ON PORTC |= 1<<2 //PORTB |= 1;
//#define OVERRIDE_BUZZERPIN_OFF PORTC &= ~(1<<2); //PORTB &= ~1;
/*************************************************************************************************/
/***************** ***************/
/************ SECTION 5 - ALTERNATE SETUP 多个处理单元与传感器板块之间互交的设置 *******/
/***************** ***************/
/*************************************************************************************************/
/****** Serial com speed 串口速度 ******/
/* This is the speed of the serial interfaces 在此设置串口速度 */
#define SERIAL0_COM_SPEED 115200
#define SERIAL1_COM_SPEED 115200
#define SERIAL2_COM_SPEED 115200
#define SERIAL3_COM_SPEED 115200
/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
it is relevent only for a conf with NK */
/* 在一个WMP与NK共同的配置中，且介于两个WMP或者NK读取时，设置一个以为秒为单位的交叉存取延时
如果加速计的校准时间很长，比如20或者30秒，这是就需要你增加延时的值到4000，这只与NK的配置相关*/
#define INTERLEAVING_DELAY 3000
/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
it is relevent only for a conf with at least a WMP */
/* 当I2C端口总线上没有错误的时候，我们将会在短时间内把这个值给中和掉。这个值以毫秒单位表达，
它仅仅和一个至少包含有一个WMP的配置表相关 */
#define NEUTRALIZE_DELAY 100000
/**************************************************************************************/
/******** Gyro filters 陀螺仪滤波器 ********************/
/**************************************************************************************/
/******** Lowpass filter for some gyros 适合某些陀螺仪的低通滤波器 **********/
/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
/*ITG3200 和 ITG3205 低通滤波器的相关设置。 为了防止你不能消除陀螺仪的所有震动， 你可以尝试减少低通滤波器的频率。
每次试验的时候只要降低或者升高一个级别就好。如果飞行器不再抽风，就别再改了。改动这些选项对反馈摆动是没有任何帮助的
所以，只有在飞行器乱摆或者毫无目的的运动的时候再更改下面的设置。下面的设置只能开启一项。
重要提示：更改过低通滤波器后将会更改PID的行为。所以，更改过低通滤波后还要再对PID进行设置 */
//#define ITG3200_LPF_256HZ // This is the default setting,这是默认值 no need to uncomment, 不用管就是这个值just for reference仅供参考而已
//#define ITG3200_LPF_188HZ
//#define ITG3200_LPF_98HZ
//#define ITG3200_LPF_42HZ
//#define ITG3200_LPF_20HZ
//#define ITG3200_LPF_10HZ // Use this only in extreme cases, 在很特殊地情况下才有可能调用这个值rather change motors and/or props
/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
/*MPU6050 低通滤波器的相关设置。 为了防止你不能消除陀螺仪的所有震动， 你可以尝试减少低通滤波器的频率。
每次试验的时候只要降低或者升高一个级别就好。如果飞行器不再抽风，就别再改了。改动这些选项对反馈摆动是没有任何帮助的
所以，只有在飞行器乱摆或者毫无目的的运动的时候再更改下面的设置。下面的设置只能开启一项。
重要提示：更改过低通滤波器后将会更改PID的行为。所以，更改过低通滤波后还要再对PID进行设置 */
//#define MPU6050_LPF_256HZ // 这是默认值 no need to uncomment, 不用管就是这个值just for reference仅供参考而已
//#define MPU6050_LPF_188HZ
//#define MPU6050_LPF_98HZ
//#define MPU6050_LPF_42HZ
//#define MPU6050_LPF_20HZ
//#define MPU6050_LPF_10HZ
//#define MPU6050_LPF_5HZ // Use this only in extreme cases, 在很特殊地情况下才有可能调用这个值rather change motors and/or props
/****** Gyro smoothing 陀螺仪平滑滤波 **********/
/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
may try this gyro smoothing via averaging. Not suitable for multicopters!
Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
/* 如果你使用平滑滤波不能减少震动，你可以调用这个功能试一试，主要方法是均衡。 但这个方法不适用于旋翼飞行器。
这对于直升机，固定翼，还有泡沫飞翼效果很好*/
//#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw
//将横滚，俯仰，平移的均值分别定义
/************* Moving Average Gyros 陀螺仪移动平均数 *************/
//#define MMGYRO 10 // (*) Active Moving Average Function for Gyros 对陀螺仪激活移动平均数功能
//#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
//移动平均数矢量长度（要设置为对于可变陀螺仪的最大值）
/* Moving Average ServoGimbal Signal Output 移动平均数伺服平衡环信号输出*/
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal对伺服平衡环激活输出移动平均数的功能
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector移动平均数的矢量长
/************************ Analog Reads 模拟读 **********************************/
/* if you want faster analog Reads, enable this. It may result in less accurate results, especially for more than one analog channel */
/* 如果你想要加速模拟读的速度的话，可以开启此功能。这将导致结果精度降低，特别是在多余一个频道的情况下 */
//#define FASTER_ANALOG_READS
/*************************************************************************/
/***************** ***************/
/**************** SECTION 6 - OPTIONAL FEATURES 可选功能 *******/
/***************** ***************/
/*************************************************************************/
/************************ Angele throttle correction 自稳油门修正 ********************/
/* Automatically increase throttle based on the angle of the copter 根据飞行器偏角自动修正角度
Original idea by Kraut Rob, first implementation HAdrian 这个点子是由Kraut Rob想出来的，但是首次实现的是HAdrian*/
//#define THROTTLE_ANGLE_CORRECTION 40
/************************* Advanced Headfree Mode 高级无头模式 ********************/
/* In Advanced Headfree mode when the copter is farther than ADV_HEADFREE_RANGE meters then
the bearing between home and copter position will become the control direction
IF copter come closer than ADV_HEADFREE_RANGE meters, then the control direction freezed to the
bearing between home and copter at the point where it crosses the ADV_HEADFREE_RANGE meter distance
first implementation by HAdrian, mods by EOSBandi
在高级无头模式中，当飞行器比than ADV_HEADFREE_RANGE后面跟的数字的距离还远的时候，
原始home和飞行器两点一线组成的方向将会成为控制方向，反之飞行器还是原来的模式。
首次实现本功能的是HAdrian，之后由EOSBandi修正
*/
//#define ADVANCED_HEADFREE //开启高级无头模式Advanced headfree mode is enabled when this is uncommented
//#define ADV_HEADFREE_RANGE 15 //设置距离Range where advanced headfree mode activated
/************************ continuous gyro calibration 连续陀螺仪校准 ********************/
/* Gyrocalibration will be repeated if copter is moving during calibration.
如果飞行器在校准期间移动了，则陀螺仪重新校准*/
//#define GYROCALIBRATIONFAILSAFE
/************************ AP FlightMode AP接入点模式 *****************************/
/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.
暂时性的将GPS_HOLD_MODE功能失效。这使得在移动操纵杆时来保持位置成为可能*/
#define AP_MODE 40 // Create a deadspan for GPS 为GPS创建一个范围.
/************************ Assisted AcroTrainer 辅助训练 ************************************/
/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
Remember to activate ANGLE_MODE first!...
带有自稳的训练，这个值确定了当飞行器倾斜到什么角度的时候，自稳模块来接管飞行器的姿态控制
A Value on 200 will give a very distinct transfer 200是这个值的临界点*/
//#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
/******** Failsafe settings 失效保护设置 ********************/
/* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
for best results. This value is depended from your configuration, AUW and some other params. Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
/* 失效保护主要检测的是四个主要控制频道（即CH1-CH4）的脉冲信号，如果在这四个频道中的任何一个频道上没有检测到脉冲信号或者脉冲信号小雨985us
失效保护过程就会初始化。 如果有一个频道出了问题，且超过了 FAILSAFE_DELAY 对应的判断延时后，层模式将会启动（前提是nunchuk是可用的）
俯仰，横滚，方向三个频道会被置中，油门将会被设置为FAILSAFE_THROTTLE后对应的数值，设定这个值后如果能是飞行器在失效保护模式下以每秒一米的速度
下落就会得到比较理想的效果。这个值和飞行器的配置、结构、外形、总重量、参数都有关系。接下来，在FAILSAFE_OFF_DELAY之后，飞行器是脱控的，
并且马达会停转。如果遥控信号在到达FAILSAFE_OFF_DELAY时间之前恢复，并且达到正常值，很短的时间内遥控器对飞行器的控制将会重新生效 */
//#define FAILSAFE // uncomment to activate the failsafe function
//启动失效保护功能
#define FAILSAFE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
//失去信号后多久进入失效保护状态，一个单位值代表0.1秒，默认一秒，设置为10
#define FAILSAFE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
//多久后飞行器马达停转停止工作
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
//当处于失效保护模式时油门的值
#define FAILSAFE_DETECT_TRESHOLD 985
/***************** DFRobot LED RING DFRobot（Drive the Future）灯与响铃 *********************************/
/* I2C DFRobot LED RING communication 用I2C借口做 DFRobot灯与响铃通信 */
//#define LED_RING
/******************************** LED FLASHER LED闪灯 ***********************************/
//#define LED_FLASHER
//#define LED_FLASHER_DDR DDRB
//#define LED_FLASHER_PORT PORTB
//#define LED_FLASHER_BIT PORTB4
//#define LED_FLASHER_INVERT
//#define LED_FLASHER_SEQUENCE 0b00000000 // leds OFF LED灯关
//#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes 创建双闪灯
//#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination 全流水灯
//#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination 无流水灯
/******************************* Landing lights 着陆灯 *********************************/
/* Landing lights 着陆灯
Use an output pin to control landing lights. 使用一个输出端来控制着陆灯
They can be switched automatically when used in conjunction 着陆灯会根据声呐单元传来的高度信息自动连续变化
with altitude data from a sonar unit. */
//#define LANDING_LIGHTS_DDR DDRC
//#define LANDING_LIGHTS_PORT PORTC
//#define LANDING_LIGHTS_BIT PORTC0
//#define LANDING_LIGHTS_INVERT
/* altitude above ground (in cm) as reported by sonar 声呐数据到达距地面多高时开始自动开启着陆灯*/
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50
/* adopt the flasher pattern for landing light LEDs 采用LED着陆灯闪烁模式*/
//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
/************************* INFLIGHT ACC Calibration 飞行中加速度计校准 *****************************/
/* This will activate the ACC-Inflight calibration if unchecked 开启飞行中加速度计校准 */
//#define INFLIGHT_ACC_CALIBRATION
/******************************* OSD Switch 光学扫描器开关 *************************************/
// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
//这增加了一个能够被处于激活状态的光学扫描仪器解读的盒子（以开关叠加来作为例子）
//#define OSD_SWITCH
/**************************************************************************************/
/*********************** TX-related 发射机关联 **************************/
/**************************************************************************************/
/* introduce a deadband around the stick center 将置中的遥控器杆周围设置为死区，并以此作为开头
Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw 这个值必须大于，如果不希望横滚，俯仰，方向有死区，就可以不开启这个功能*/
//#define DEADBAND 6
/**************************************************************************************/
/*********************** GPS **************************/
/**************************************************************************************/
/* GPS using a SERIAL port
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
#define GPS_BAUD 57600
/* GPS protocol
NMEA - Standard NMEA protocol GGA, GSA and RMC sentences are needed
UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
//#define NMEA
//#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS
// If your I2C GPS board has Sonar support enabled
//#define I2C_GPS_SONAR
/* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
//#define GPS_FROM_OSD
/* indicate a valid GPS fix with at least 5 satellites by flashing the LED - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
- No GPS FIX -> LED blink at speed of incoming GPS frames
- Fix and sat no. bellow 5 -> LED off
- Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR
//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for it
#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction
/* Get your magnetic declination from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINATION 3.96f //For Budapest Hungary.
#define MAG_DECLINATION 0.0f //(**)
#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes
/************************************************************************************************/
/*********************** LCD/OLED - display settings 显示屏显示设置 *********************/
/************************************************************************************************/
/* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
/***************************** The type of LCD LCD种类 **********************************/
/* choice of LCD attached for configuration and telemetry, see notes below */
//#define LCD_DUMMY // No Physical LCD attached. With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink.
//#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
//#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
//#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
//#define LCD_TTY // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
//#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
//#define LCD_LCD03 // I2C LCD: LCD03, which is i2c
//#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350
//#define OLED_DIGOLE // I2C OLED from http://www.digole.com/index.php?productID=550
/****************************** Display settings 显示设置 ***********************************/
#define LCD_SERIAL_PORT 0 // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
//在Pro Mini和其他一些单独的板子上，这个数必须设置为0.如果你用的是Mega板子，则需要再进行具体设置
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
//阻止OLED的logo来节约空间
/* double font height for better readability. Reduces visible #lines by half.
* The lower part of each page is accessible under the name of shifted keyboard letter :
* 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
* You must add both to your lcd.telemetry.* sequences
*/
//#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64 and OLED_DIGOLE
/* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
//#define DISPLAY_2LINES
//#define DISPLAY_MULTILINE
//#define MULTILINE_PRE 2 // multiline configMenu # pref lines
//#define MULTILINE_POST 6 // multiline configMenu # post lines
//#define DISPLAY_COLUMNS 16
/******************************** Navigation ***********************************/
/* keys to navigate the LCD menu */
#define LCD_MENU_PREV 'p'
#define LCD_MENU_NEXT 'n'
#define LCD_VALUE_UP 'u'
#define LCD_VALUE_DOWN 'd'
#define LCD_MENU_SAVE_EXIT 's'
#define LCD_MENU_ABORT 'x'
/**************************************************************************************/
/*********************** LCD configuration menu **************************/
/**************************************************************************************/
/* uncomment this line if you plan to use a LCD or OLED for tweaking parameters
* http://www.multiwii.com/wiki/index.php?title=Extra_features#Configuration_Menu */
//#define LCD_CONF
/* to include setting the aux switches for AUX1 -> AUX4 via LCD */
//#define LCD_CONF_AUX
/* optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options */
//#define SUPPRESS_LCD_CONF_AUX2
//#define SUPPRESS_LCD_CONF_AUX34
/**************************************************************************************/
/*********************** LCD telemetry **************************/
/**************************************************************************************/
/* to monitor system values (battery level, loop time etc. with LCD
* http://www.multiwii.com/wiki/index.php?title=LCD_Telemetry */
/******************************** Activation ***********************************/
//#define LCD_TELEMETRY
/* to enable automatic hopping between a choice of telemetry pages uncomment this. */
//#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2
/* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
//#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
/* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
//#define SUPPRESS_TELEMETRY_PAGE_1
//#define SUPPRESS_TELEMETRY_PAGE_2
//#define SUPPRESS_TELEMETRY_PAGE_3
//#define SUPPRESS_TELEMETRY_PAGE_4
//#define SUPPRESS_TELEMETRY_PAGE_5
//#define SUPPRESS_TELEMETRY_PAGE_6
//#define SUPPRESS_TELEMETRY_PAGE_7
//#define SUPPRESS_TELEMETRY_PAGE_8
//#define SUPPRESS_TELEMETRY_PAGE_9
//#define SUPPRESS_TELEMETRY_PAGE_R
/********************************************************************/
/**** RSSI ****/
/********************************************************************/
//#define RX_RSSI
//#define RX_RSSI_PIN A3
/********************************************************************/
/**** Buzzer 蜂鸣器 ****/
/********************************************************************/
//#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 电池电压监控器 ****/
/********************************************************************/
/* for V BAT monitoring
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
with R1=33k and R2=51k
vbat = [0;1023]*16/VBATSCALE
must be associated with #define BUZZER ! */
//#define VBAT // uncomment this line to activate the vbat code
#define VBATSCALE 131 // (*) (**) change this value if readed Battery voltage is different than real voltage
#define VBATNOMINAL 126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
#define VBATLEVEL_WARN1 107 // (*) (**) 10,7V
#define VBATLEVEL_WARN2 99 // (*) (**) 9.9V
#define VBATLEVEL_CRIT 93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
#define NO_VBAT 16 // Avoid beeping without any battery
/********************************************************************/
/**** powermeter (battery capacity monitoring) 电能表 ****/
/********************************************************************/
/* enable monitoring of the power consumption from battery (think of mAh)
allows to set alarm value in GUI or via LCD
Full description and howto here http://www.multiwii.com/wiki/index.php?title=Powermeter
Two options:
1 - hard: - (uses hardware sensor, after configuration gives very good results)
2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC) */
//#define POWERMETER_SOFT
//#define POWERMETER_HARD
#define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
gives / Vss; that is approx .49Volt; */
#define PINT2mA 132 /* (*) hard: one integer step on arduino analog translates to mA (example 4.9 / 37 * 1000) ;
soft: use fictional value, start with .
for hard and soft: larger PINT2mA will get you larger value for power (mAh equivalent) */
/********************************************************************/
/**** altitude hold ****/
/********************************************************************/
/* defines the neutral zone of throttle stick during altitude hold, default setting is
+/-50 uncommend and change the value below if you want to change it. */
#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 50
//#define ALT_HOLD_THROTTLE_MIDPOINT 1500 // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
/* uncomment to disable the altitude hold feature.
* This is useful if all of the following apply
* + you have a baro
* + want altitude readout and/or variometer
* + do not use altitude hold feature
* + want to save memory space */
//#define SUPPRESS_BARO_ALTHOLD
/********************************************************************/
/**** altitude variometer 高度表 ****/
/********************************************************************/
/* enable to get audio feedback upon rising/falling copter/plane.
* Requires a working baro.
* For now, Output gets sent to an enabled vt100 terminal program over the serial line.
* choice of two methods (enable either one or both)
* method 1 : use short term movement from baro ( bigger code size)
* method 2 : use long term observation of altitude from baro (smaller code size)
*/
//#define VARIOMETER 12 // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
//#define SUPPRESS_VARIOMETER_UP // if no signaling for up movement is desired
//#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
//#define VARIOMETER_SINGLE_TONE // use only one tone (BEL); neccessary for non-patched vt100 terminals
/********************************************************************/
/**** baord naming 飞控板命名 ****/
/********************************************************************/
/*
* this name is displayed together with the MultiWii version number
* upon powerup on the LCD.
* If you are without a DISPLAYD then You may enable LCD_TTY and
* use arduino IDE's serial monitor to view the info.
*
* You must preserve the format of this string!
* It must be 16 characters total,
* The last 4 characters will be overwritten with the version number.
*/
#define BOARD_NAME "MultiWii V-.--"
// 123456789.123456
/************* Support multiple configuration profiles in EEPROM ************/
//#define MULTIPLE_CONFIGURATION_PROFILES
/************* do no reset constants when change of flashed program is detected ***********/
//#define NO_FLASH_CHECK
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 7 - TUNING & DEVELOPER **************/
/***************** ***************/
/*************************************************************************************************/
/**************************************************************************************/
/******** special ESC with extended range [0-2000] microseconds ********************/
/**************************************************************************************/
//#define EXT_MOTOR_RANGE // using this with wii-esc requires to change MINCOMMAND to 1008 for promini and mega
/**************************************************************************************/
/*********************** motor, servo and other presets ***********************/
/**************************************************************************************/
/* motors will not spin when the throttle command is in low position
this is an alternative method to stop immediately the motors
开启此项后，解锁后电机不会怠速旋转，而是彻底停下。强烈建议开启此项*/
//#define MOTOR_STOP
/* some radios have not a neutral point centered on 1500. can be changed here */
#define MIDRC 1500
/*********************** Servo Refreshrates ***********************/
/* Default 50Hz Servo refresh rate*/
#define SERVO_RFR_50HZ
/* up to 160Hz servo refreshrate .. works with the most analog servos*/
//#define SERVO_RFR_160HZ
/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
for use with digital servos
dont use it with analog servos! thay may get damage. (some will work but be careful) */
//#define SERVO_RFR_300HZ
/*********************** HW PWM Servos ***********************/
/* HW PWM Servo outputs for Arduino Mega.. moves:
Pitch = pin 44
Roll = pin 45
CamTrig = pin 46
SERVO4 = pin 11 (aileron left for fixed wing or TRI YAW SERVO)
SERVO5 = pin 12 (aileron right for fixed wing)
SERVO6 = pin 6 (rudder for fixed wing)
SERVO7 = pin 7 (elevator for fixed wing)
SERVO8 = pin 8 (motor for fixed wing) */
#define MEGA_HW_PWM_SERVOS
/* HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVO_RFR_RATE or
* one of the 3 fixed servo.refresh.rates *
* Tested only for heli_120, i.e. 1 motor + 4 servos, moves..
* motor[0] = motor = pin 6
* servo[3] = nick servo = pin 11
* servo[4] = left servo = pin 10
* servo[5] = yaw servo = pin 5
* servo[6] = right servo= pin 9
*/
//#define A32U4_4_HW_PWM_SERVOS
#define SERVO_RFR_RATE 50 // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
//#define SERVO_PIN5_RFR_RATE 200 // separate yaw pwm rate.
// In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4
/********************************************************************/
/**** Memory savings ****/
/********************************************************************/
/* options to counter the general shortage of both flash and ram memory, like with leonardo m32u4 and others */
/**** suppress handling of serial commands.***
* This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
* Enable either one or both of the following options */
/* Remove handling of all commands of the New MultiWii Serial Protocol.
* This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
* You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
* If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
//#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
/* Remove handling of other serial commands.
* This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
* Navigating via stick inputs on tx is not affected and will work the same. */
//#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves approx 0 to 100 bytes, depending on features enabled
/**** suppress keeping the defaults for initial setup and reset in the code.
* This requires a manual initial setup of the PIDs etc. or load and write from defaults.mwi;
* reset in GUI will not work on PIDs
*/
//#define SUPPRESS_DEFAULTS_FROM_GUI
//#define DISABLE_SETTINGS_TAB // Saves ~400bytes on ProMini
/********************************************************************/
/**** diagnostics ****/
/********************************************************************/
/* to log values like max loop time and others to come
logging values are visible via LCD config
set to 1, enable 'R' option to reset values, max current, max altitude
set to 2, adds min/max cycleTimes
set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
//#define LOG_VALUES 1
/* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
* used to track number of flights etc. over lifetime of controller board.
* Writes to end of eeprom - should not conflict with stored parameters yet.
* Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
* #failsafe@disarm, #i2c_errs@disarm
* Enable one or more options to show the log
*/
//#define LOG_PERMANENT
//#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
//#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
//#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
//#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
/* to add debugging code
not needed and not recommended for normal operation
will add extra code that may slow down the main loop or make copter non-flyable */
//#define DEBUG
//#define DEBUG_FREE // will add 'F' command to show free memory
/* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_CONF_DEBUG
/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
//#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.
/* Enable string transmissions from copter to GUI */
//#define DEBUGMSG
/********************************************************************/
/**** ESCs calibration ****/
/********************************************************************/
/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
Warning: this creates a special version of MultiWii Code
You cannot fly with this special version. It is only to be used for calibrating ESCs
Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
#define ESC_CALIB_LOW MINCOMMAND
#define ESC_CALIB_HIGH 2000
//#define ESC_CALIB_CANNOT_FLY // uncomment to activate
/**** internal frequencies ****/
/* frequenies for rare cyclic actions in the main loop, depend on cycle time
time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
example: with cycle time of approx 3ms, do action every 6*3ms=18ms
value must be [1; 65535] */
#define LCD_TELEMETRY_FREQ 23 // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
#define LCD_TELEMETRY_AUTO_FREQ 967// to step to next telemetry page 967 <=> 3s
#define PSENSOR_SMOOTH 16 // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
#define VBAT_SMOOTH 16 // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
#define RSSI_SMOOTH 16 // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable
/********************************************************************/
/**** Dynamic Motor/Prop Balancing ****/
/********************************************************************/
/* !!! No Fly Mode !!! */
//#define DYNBALANCE // (**) Dynamic balancing controlled from Gui
/********************************************************************/
/**** Regression testing ****/
/********************************************************************/
/* for development only:
to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
together. This is meant to help detecting compile time errors for various features in a coordinated way.
It is not meant to produce your flying firmware
To use:
- do not set any options in config.h,
- enable with #define COPTERTEST 1, then compile
- if possible, check for the size
- repeat with other values of 2, 3, 4 etc.
*/
//#define COPTERTEST 1
/*************************************************************************************************/
/***************** ***************/
/**************** SECTION 8 - DEPRECATED *******/
/***************** ***************/
/*************************************************************************************************/
/* these features will be removed in the unforseeable future. Do not build new products or
* functionality based on such features. The default for all such features is OFF.
*/
/************************** WMP power pin *******************************/
//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
/* disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) */
#define DISABLE_POWER_PIN
/*************************************************************************************************/
/**** END OF CONFIGURABLE PARAMETERS ****/
/*************************************************************************************************/
#endif /* CONFIG_H_ */
