Different speed from motor MWII SE2.5

[erioc974]

Hi All
I have some trouble with my multiwii SE 2.5, the speed is different in the GUI

REAR    9      1339
RIGHT 10      1718
LEFT  11      1850
FRONT    3    1197

ESC opto 30 A form the DJI
according some topics it s impossible to set the calibrated on this ESC.

I tried to do the calibration on the arduino script, but nothing changed.
I did the ACC set.

[teslahed]

When you get the chance if you can post your multiwii config code using the code tags - it';s the # sign button at the top of the window when you are writing a new post.

Code Select Expand

Like this

It would help me check there';s nothing wrong there.

[erioc974]

Code Select Expand

#ifndef CONFIG_H_
#define CONFIG_H_



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


/****************  SECTION  1 - BASIC SETUP                                                *******/

  /**************************    The type of multicopter    ****************************/
    #define QUADP


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


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


  /****************************    Mincommand          *******************************/
    /* this is the value for the ESCs when they are not armed
       in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
    #define MINCOMMAND  1000


  /**********************************    I2C speed   ************************************/
    #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
    //#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones


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


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


    /***************************    Combined IMU Boards    ********************************/
      /* if you use a specific sensor board:
         please submit any correction to this list.
           Note from Alex: I only own some boards, for other boards, I';m not sure, the info was gathered via rc forums, be cautious */
      #define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085

/****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/

  /********************************  PID Controller *********************************/
    /* choose one of the alternate PID control algorithms
     * 1 = evolved oldschool algorithm (similar to v2.2)
     * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
     * */
    #define PID_CONTROLLER 1


    /* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
    #define YAW_DIRECTION 1
    //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction

    #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted


   /********************************    ARM/DISARM    *********************************/
   /* optionally disable stick combinations to arm/disarm the motors.
     * In most cases one of the two options to arm/disarm via TX stick is sufficient */
    #define ALLOW_ARM_DISARM_VIA_TX_YAW
    //#define ALLOW_ARM_DISARM_VIA_TX_ROLL


    /********************************    SERVOS      *********************************/
    /* info on which servos connect where and how to setup can be found here
     * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
     */




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


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


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


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


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


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


    //#define VOLTAGEDROP_COMPENSATION // voltage impact correction


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


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


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


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


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


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


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




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


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


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




    /*******************************    SBUS RECIVER    ************************************/
      /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
         You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
      //#define SBUS
      //#define SBUS_SERIAL_PORT 1
      #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500


/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  4 - ALTERNATE CPUs & BOARDS                                    *******/
/*****************                                                                 ***************/
/*************************************************************************************************/


  /**************************************************************************************/
  /********                      Promini Specifig Settings           ********************/
  /**************************************************************************************/


 



    /**********************************    PWM Setup     **********************************/
      /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
         note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
         if activated:
         Motor 1-6 = 10-bit hardware PWM
         Motor 7-8 = 8-bit Software PWM
         Servos    = 8-bit Software PWM
         if deactivated:
         Motor 1-4 = 10-bit hardware PWM
         Motor 5-8 = 10-bit Software PWM
         Servos    = 10-bit Software PWM */
      //#define HWPWM6






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


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


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


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




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


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


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


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


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


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


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




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




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




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


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


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



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




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


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


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


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




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




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


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


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


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

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



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


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


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


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


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


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


    #define MEGA_HW_PWM_SERVOS

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


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




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


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


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


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


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


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


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


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


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


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


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


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


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




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


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


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


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


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


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

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




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


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


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



#endif /* CONFIG_H_ */



[erioc974]

my multiwiiconf at the begining without throttle.

[erioc974]

the weird thing : the front and rear value to 1206 and 1348  when the throttle is full.

[erioc974]

after arduino compilation and compilation I found the correct configuration !!!!! it s a happy night for me    my quadcopter did his first fly over my garden and finish is fly on my neighbors garden !!! but it s close to 2 AM here , then nobody saw me!!! it was great, it took me close to a month to do it , problem after problem question after question !!!

now the next step a correct fly configuration

can you check my mag roll it s -5000, it s weird , isn t it ?

thanks

[teslahed]

Code Select Expand

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


/****************  SECTION  1 - BASIC SETUP                                                *******/

  /**************************    The type of multicopter    ****************************/
    #define QUADP


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


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


  /****************************    Mincommand          *******************************/
    /* this is the value for the ESCs when they are not armed
       in some cases, this value must be lowered down to 900 for some specific ESCs, otherwise they failed to initiate */
    #define MINCOMMAND  1000


  /**********************************    I2C speed   ************************************/
    //#define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
    #define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones


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


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


    /***************************    Combined IMU Boards    ********************************/
      /* if you use a specific sensor board:
         please submit any correction to this list.
           Note from Alex: I only own some boards, for other boards, I';m not sure, the info was gathered via rc forums, be cautious */
      #define CRIUS_SE_v2_0   // Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085

/****************  SECTION  2 - COPTER TYPE SPECIFIC OPTIONS                               *******/

  /********************************  PID Controller *********************************/
    /* choose one of the alternate PID control algorithms
     * 1 = evolved oldschool algorithm (similar to v2.2)
     * 2 = new experimental algorithm from Alex Khoroshko - unsupported - http://www.multiwii.com/forum/viewtopic.php?f=8&t=3671&start=10#p37387
     * */
    #define PID_CONTROLLER 1


    /* NEW: not used anymore for servo coptertypes  <== NEEDS FIXING - MOVE TO WIKI */
    #define YAW_DIRECTION 1
    //#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction

    #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted


   /********************************    ARM/DISARM    *********************************/
   /* optionally disable stick combinations to arm/disarm the motors.
     * In most cases one of the two options to arm/disarm via TX stick is sufficient */
    #define ALLOW_ARM_DISARM_VIA_TX_YAW
    //#define ALLOW_ARM_DISARM_VIA_TX_ROLL


    /********************************    SERVOS      *********************************/
    /* info on which servos connect where and how to setup can be found here
     * http://www.multiwii.com/wiki/index.php?title=Config.h#Servos_configuration
     */




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


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


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


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


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


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


    //#define VOLTAGEDROP_COMPENSATION // voltage impact correction


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


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


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


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


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


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


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




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


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


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




    /*******************************    SBUS RECIVER    ************************************/
      /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1) or PROMICRO boards.
         You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
      //#define SBUS
      //#define SBUS_SERIAL_PORT 1
      //#define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500


/*************************************************************************************************/
/*****************                                                                 ***************/
/****************  SECTION  4 - ALTERNATE CPUs & BOARDS                                    *******/
/*****************                                                                 ***************/
/*************************************************************************************************/


  /**************************************************************************************/
  /********                      Promini Specifig Settings           ********************/
  /**************************************************************************************/


 



    /**********************************    PWM Setup     **********************************/
      /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
         note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
         if activated:
         Motor 1-6 = 10-bit hardware PWM
         Motor 7-8 = 8-bit Software PWM
         Servos    = 8-bit Software PWM
         if deactivated:
         Motor 1-4 = 10-bit hardware PWM
         Motor 5-8 = 10-bit Software PWM
         Servos    = 10-bit Software PWM */
      //#define HWPWM6






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


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


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


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




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


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


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


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


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


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


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




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




  /********                          Failsafe settings                 ********************/
    /* Failsafe check pulses on four main control channels CH1-CH4. If the pulse is missing or bellow 985us (on any of these four channels)
       the failsafe procedure is initiated. After FAILSAFE_DELAY time from failsafe detection, the level mode is on (if ACC or nunchuk is avaliable),
       PITCH, ROLL and YAW is centered and THROTTLE is set to FAILSAFE_THROTTLE value. You must set this value to descending about 1m/s or so
       for best results. This value is depended from your configuration, AUW and some other params.  Next, after FAILSAFE_OFF_DELAY the copter is disarmed,
       and motors is stopped. If RC pulse coming back before reached FAILSAFE_OFF_DELAY time, after the small quard time the RC control is returned to normal. */
    //#define FAILSAFE                                // uncomment  to activate the failsafe function
    #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
    #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 300)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
   
    #define FAILSAFE_DETECT_TRESHOLD  985




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


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


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



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




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


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


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


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




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




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


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


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


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

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



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


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


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


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


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


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


    #define MEGA_HW_PWM_SERVOS

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


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




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


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


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


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


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


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


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


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


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


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


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


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


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




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


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


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


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


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


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

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




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


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


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



#endif /* CONFIG_H_ */

[erioc974]

I have this on the arduino comment it s normal ?

Code Select Expand

[0f] . [be] . [cd] . [bf] . [ed] . [01] . [08] . [95] . [f8] . [94] . [ff] . [cf] i [69] n [6e] i [69] t [74] i [69] a [61] l [6c] i [69] z [7a] a [61] t [74] i [69] o [6f] n [6e]   [20] c [63] o [6f] m [6d] p [70] l [6c] e [65] t [74] e [65] d [64] . [0a] . [00] . [00] . [00] . [00] . [00] . [00] . [00] . [00] . [00] . [01] . [00] . [00] . [00] . [dc] . [05]
avrdude: Recv: . [10]
avrdude: Send: U [55] . [00] '; [27]   [20]
avrdude: Recv: . [14]
avrdude: Recv: . [10]
avrdude: Send: t [74] . [00] @ [40] F [46]   [20]
avrdude: Recv: . [14]
avrdude: Recv: . [dc] . [05] . [dc] . [05] . [dc] . [05] . [dc] . [05] . [dc] . [05] . [dc] . [05] . [e8] . [03] . [09] . [0a] . [0b] . [03] . [06] . [05] . [10] . [0c] . [de] . [05] . [de] . [05] . [de] . [05] . [de] . [05] . [de] . [05] . [de] . [05] . [de] . [05] . [de] . [05] . [00] . [00] . [80] ? [3f] . [00] . [00] . [80] ? [3f] . [00] . [00] . [80] ? [3f] . [04] . [05] . [06] . [02] . [07] . [00] . [01] . [03] . [04] . [10]   [20] @ [40] . [80] . [00]
avrdude: Recv: . [10]
# | 100% 8.52s


avrdude: verifying ...
avrdude: 20032 bytes of flash verified
avrdude: Send: Q [51]   [20]
avrdude: Recv: . [14]
avrdude: Recv: . [10]


avrdude done.  Thank you.