#ifndef CONFIG_H_
#define CONFIG_H_
/**************************************************************************/
/**** CONFIGURABLE PARAMETERS ****/
/**** 可配置參量 ****/
/**** ****/
/**** 2013.10.28最新MWC程式注釋翻譯 ****/
/**** Translater：Dexter ****/
/**** 本程式注釋由Dexter翻譯，引用請注明出處 ****/
/**************************************************************************/
/* this file consists of several sections
此檔案包含有幾個章節
* to create a working combination you must at least make your choices in section 1.
* 為了建立一個真正能夠工作的軟體體系，您必須至少完成第一章的設定
* 1 - BASIC SETUP - you must select an option in every block.
* 1 - 基本設定-您必須在每一個小節中都選擇一個選項
* this assumes you have 4 channels connected to your board with standard ESCs and servos.
* 在設定這些選項的時候都假定您的遙控有四個通道連結到飛控版，并且飛控版帶有标準電調和伺服器
* 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type
* 2 - 飛行器類型具體選項-您可能想要在這裡确認您的飛行器類型
* 3 - RC SYSTEM SETUP
* 3 - 遙控系統設定
* 4 - ALTERNATE CPUs & BOARDS - if you have
* 4 - 交替的多個處理器和飛控闆（或者其他子產品闆）- 如果有的話，沒有的話不用管
* 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
* 5 - 交替性設定-在這裡可以選擇一個交替的方案（靜态Bash機關時間-，脈沖調制，其他），交替的電調範圍和其他
* -Bash：bash 是一個為GNU計劃編寫的Unix shell。它的名字是一系列縮寫：Bourne-Again SHell — 這是關于Bourne shell（sh）的一個雙關語（Bourne邊界 again / born again重生）。Bourne shell是一個早期的重要shell，由史蒂夫·伯恩在1978年前後編寫，并同Version 7 Unix一起釋出。bash則在1987年由布萊恩·福克斯創造。在1990年，Chet Ramey成為了主要的維護者。
* 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
* 6 - 非必選特性功能 - 在這裡可以啟用特色功能（飛行模式，液晶屏，測距儀，電池監控器等）
* 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
* 7 - 調諧與開發者- 請先确認自己知道自己操作的是什麼，否則是很危險的
* - (ESCs calibration, Dynamic Motor/Prop Balancing, Diagnostics,Memory savings.....)
* -（标準轉換字元校準，動态馬達/支架平衡，診斷項目，記憶儲存等等）
* 8 - DEPRECATED - these features will be removed in some future release
* 8 - 不建議使用的項目- 這些功能在未來的簡化過程中将被删除
*/
/* Notes:
* 1. parameters marked with (*) in the comment are stored in eeprom and can be changed via serial monitor or LCD.
* 1.下面這些代碼批注中（删除代碼批注前的//來啟用該功能）帶有 (*)的參數兼備儲存在EEPROM中，并且可以通過外接的螢幕或者液晶屏更改。
* 2. parameters marked with (**) in the comment are stored in eeprom and can be changed via the GUI
* 2. 面這些代碼批注中帶有 (**)的參數兼備儲存在EEPROM中，并且可以通過MultiWiiConf軟體來進行修改
*/
/**************************************************************/
/**************** SECTION 1 - BASIC SETUP **************/
/***************** 第一章 - 基本設定 ***************/
/***************************************************************/
/************************** The type of multicopter ****************************/
/************************** MultiWii 飛行器類型 ****************************/
//#define GIMBAL //獨立的雲台穩定器（非飛控用途）
//#define BI //阿凡達雙馬達雙舵機飛行模式
//#define TRI //Y型三軸
//#define QUADP //四軸+模式
//#define QUADX //四軸X模式
//#define Y4 //Y型四軸
//#define Y6 //Y型六軸
//#define HEX6 //六軸*模式
//#define HEX6X //六軸X模式
//#define HEX6H // New Model //六軸H模式
//#define OCTOX8 //八軸X4模式
//#define OCTOFLATP //八軸水準+模式
//#define OCTOFLATX //八軸水準X模式
//#define FLYING_WING //飛翼模式
//#define VTAIL4 //V型尾翼四軸（與×模式一樣，類似固定翼，轉向靈活）
//#define AIRPLANE //固定翼
//#define SINGLECOPTER //單軸模式
//#define DUALCOPTER //共軸雙槳
//#define HELI_120_CCPM //直升機120°傾斜盤
//#define HELI_90_DEG //直升機90°傾斜盤
/************* Motor minthrottle 油門最小值設定 **************/
/* 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 */
/*設定最小的油門指令發送到電子調速器（電調），遙控器上的油門達到所設定的最小值時馬達開始怠速運作*/
//#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A 最小油門1300，适用于TURNIGY電調10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A 最小油門1120，适用于微型電調10A
//#define MINTHROTTLE 1064 // special ESC (simonk) 最小油門1064，适用于SimonK無刷電調
//#define MINTHROTTLE 1050 // for brushed ESCs like ladybird 最小油門1050，适用于有刷電調，如瓢蟲電調
#define MINTHROTTLE 1150 // (*) (**) 預設最小油門1150，适用于普通電調
/************* Motor maxthrottle 油門最大值設定 *************/
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
/* 設定電調輸出對大速度時所對應的遙控油門最大值，這個值可以增加到2000*/
#define MAXTHROTTLE 1850
/************ Mincommand 電調初始最低值指令 *******************/
/* this is the value for the ESCs when they are not armed. In some cases,
該值應用于電調還沒有就緒時（即初始化設定）的情況，有時，具體到某些特殊的電調這個值必須低于900，否則電調則不能被初始化
this value must be lowered down to 900 for some s pecific ESCs, otherwise they failed to initiate */
#define MINCOMMAND 1000
/********** I2C speed I2C總線頻率（這個要根據傳感器選擇） *********/
#define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
//100kHz 屬于一般模式，這個值必須用于真實的WMP
//#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones
//400kHz 屬于快速模式，品質好一些的闆子都是可以直接選擇400的速度的，如果有問題再切換回100
/*************** Internal i2c Pullups 内部I2C上拉 ******************/
/* enable internal I2C pull ups (in most cases it is better to use external pullups)
允許内部I2C總線上拉（在大多數情況下，使用外部上拉會更好）*/
//#define INTERNAL_I2C_PULLUPS
/*******************************************************************/
/***************** boards and sensor definitions ***************/
/***************** 飛控版類型與傳感器定義 ***************/
/*******************************************************************/
/************** Combined IMU Boards 一體型慣性測量單元飛控闆 *******************/
/* if you use a specific sensor board:如果你使用的是某一個具體的傳感器飛控闆
please submit any correction to this list.請向此清單送出校正
Note from Alex: I only own some boards, for other boards, I'm not sure, the info was gathered via rc forums, be cautious
來自四周創始人Alex（法）的批注：我隻有其中的一些闆子，對于其他飛控闆我并不确認他能用，這些資訊都是通過遠端遙控控制器收集來的資訊，請小心使用 */
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex 已由Alex測試成功
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex 已由Alex測試成功
//#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測試成功
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- confirmed by Alex 已由Alex測試成功
//#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測試成功
//#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測試成功
//#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測試成功
//#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測試成功
//#define SIRIUSGPS // Sirius Navigator IMU using external MAG on GPS board <- confirmed by Alex 已由Alex測試成功
//#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測試成功
//#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測試成功
//#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測試成功
//#define MEGAWAP_V2_ADV
//#define HK_MultiWii_SE_V2 // Hobbyking board with MPU6050 + HMC5883L + BMP085 <- confirmed by Dexter 已由本翻譯者Dexter測試成功 可用于市面上黃綠針腳，兩排I2C總線接口的MWC SE 2.5飛控版
//#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 獨立傳感器選擇 *********************/
/* leave it commented if you already checked a specific board above */
/* 如果你在上面已經選好自己的闆子了，并且也沒有安裝附加的傳感器請不要再單獨啟用下列傳感器 */
/* I2C gyroscope I2C總線連接配接的陀螺儀*/
//#define WMP
//#define ITG3200
//#define MPU3050
//#define L3G4200D
//#define MPU6050 //combo + ACC
//#define LSM330 //combo + ACC
/* I2C accelerometer I2C總線連接配接的加速度計*/
//#define NUNCHUCK // if you want to use the nunckuk connected to a WMP
//如果你想使用連接配接到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，并将其作為獨立的I2C累加器
//#define LIS3LV02
//#define LSM303DLx_ACC
//#define MMA8451Q
/* I2C barometer I2C總線連接配接的氣壓計*/
//#define BMP085
//#define MS561101BA
/* I2C magnetometer I2C總線連接配接的電子羅盤*/
//#define HMC5843
//#define HMC5883
//#define AK8975
//#define MAG3110
/* Sonar 聲納傳感器（用于經确定稿）*/ // for visualization purpose currently - no control code behind
// 用于目前視距，背景沒有控制代碼
//#define SRF02 // use the Devantech SRF i2c sensors 使用Devantech SRF出品的I2C傳感器
//#define SRF08
//#define SRF10
//#define SRF23
/* ADC accelerometer ADC加速度傳感器 */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
// 用于sparkfun出品的5DOF，使用模拟接口，就是飛控闆上的A1,A2,A3
//#define ADCACC
/* enforce your individual sensor orientation - even overrides board specific defaults */
/* 強制定義獨立傳感器的方向-這甚至會重寫闆子上的預設值 */
//#define FORCE_ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = Y; imu.accADC[PITCH] = -X; imu.accADC[YAW] = Z;}
//強制定義加速度計的三軸方向數值
//#define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = Z;}
//強制定義陀螺儀的三軸方向數值
//#define FORCE_MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = Z;}
//強制定義電子羅盤的三軸方向數值
/* Board orientation shift 飛控闆方向轉換*/
/* If you have frame designed only for + mode and you cannot rotate FC phisycally for flying in X mode (or vice versa)
如果你的機架式+模式的，而且對于X模式或者不能在機械結構上轉為強制關閉（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.
如果你啟用下列選項使傳感器虛拟地轉了45°角，然後要根據飛行模式來設定飛行器種類
* Check motors order and directions of motors rotation for matching with new front point! Uncomment only one option!
檢查馬達指令和轉向以符合新設定的前向，下面兩個選項隻能選一個。
*/
//#define SENSORS_TILT_45DEG_RIGHT // rotate the FRONT 45 degres clockwise 右斜45°---機頭方向順時針轉45°
//#define SENSORS_TILT_45DEG_LEFT // rotate the FRONT 45 degres counterclockwise 左斜45°---機頭方向逆時針轉45°
/**************************************************************/
/***************** ***************/
/**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/
/**************** 第二章 - 飛行器類型具體設定 *******/
/***************** ***************/
/***************************************************************/
/************ PID Controller PID控制器設定 ***************/
/* choose one of the alternate PID control algorithms 選擇一個PID控制算法，下列選項二選一，即通過更改#define PID_CONTROLLER 1中的1來選擇，預設選擇舊式算法
* 1 = evolved oldschool algorithm (similar to v2.2) 舊式算法，類似于2.2版本中的算法
* 2 = new experimental algorithm from Alex Khoroshko 來自代碼原創者法國人Alex新的實驗性算法 - 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類型的飛行器 <== 這一點需要修正-轉移到WIKI */
#define YAW_DIRECTION 1
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction 把自穩方向設為反向
#define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted 隻有飛行器處于水準姿态才能解鎖，防止飛行器在傾斜時解鎖
/**************** ARM/DISARM 上鎖/解鎖 ******************/
/* optionally disable stick combinations to arm/disarm the motors.
可選性地使“用搖杆組合來解鎖或者上鎖馬達”這個功能不可用
* In most cases one of the two options to arm/disarm via TX stick is sufficient
某些情況下，使用下列兩個選項中的一個選項來通過TX搖杆來上鎖或者解鎖就足夠了
第一個表示用YAW搖杆，第二個表示用ROLL搖杆，
*/
#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
關于伺服的連接配接，安裝的資訊可以在下列網址找到
* 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
如果想要事先設定好伺服燒寫程式後的的最小，中間，最大值可以在此設定，因為伺服的運作實體空間有限，是以接下來必須同時設定好下列三個選項
* 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 強制伺服頻率 0表示正常，1表示反向
/************ Cam Stabilisation 相機雲台穩定 **************/
/* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it
下面的幾行選項隻适用于二軸雲台系統，開啟第一或者第二行來啟用對應的功能 */
//#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
相機觸發功能，即快門：通過實時監控程式中的遙控選項來開啟，将伺服輸出定義為Promini（即飛控闆）上的A2接口
*/
// trigger interval can be changed via (*GUI*) or via AUX channel 觸發間距（即快門按下的深度）可以通過實時監控程式來修改，或者通過AUX頻道來修改。
//#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機關計時運作
/*********************** Airplane 适用于固定翼飛機的功能 ***********************/
//#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.如果你控制油門用的是50Hz的标準伺服請開啟此項
//#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.通過副翼配置飛行方式
#define FLAPPERON_EP { 1500, 1700 } // Endpoints for flaps on a 2 way switch else set {1020,2000} and program in radio.
//設定一個範圍，信号值在這兩個端點的時候會切換至相應的飛行方式。
#define FLAPPERON_INVERT { -1, 1 } // Change direction on flapperons { Wing1, Wing2 }設定的上下方向
//#define FLAPS // Traditional Flaps on SERVO3.在03伺服上的傳統副翼
//#define FLAPSPEED 3 // Make flaps move slow, Higher value is Higher Speed.
//減緩副翼速度。值越大，速度越快
/*********************** Common for Heli & Airplane 對于直升機和固定翼的通用設定 ***********************/
/* 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.
* 調節器：試圖通過改變俯仰以及電壓來穩定RPM（電機每分鐘轉數）
* 超前處理：提取輸入信号以及電壓值來猜測出恰當地修正。
* 油門曲線必須給調節器留下一些空間，比如0-50-75-80-80就可以，但 0-50-95-100-100 就不可以。
* 可以通過輔助裝置口AUX口來轉換以及鎖定。
*/
//#define GOVERNOR_P 7 // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
//比例因數。 值越大，油門上升越快。這個值必須大于等于1，為零則為關閉。
//#define GOVERNOR_D 4 // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
//延遲時間。值越大，油門恢複值正常值的時間就越長。這個值必須大于等于1
//#define VOLTAGEDROP_COMPENSATION // voltage impact correction
//修正電壓沖擊影響
/*********************** Heli 直升機選項設定 ***********************/
/* Channel to control CollectivePitch 控制總距的通道*/
#define COLLECTIVE_PITCH THROTTLE
/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
/* 限制總距範圍， */
#define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%最小值, ZeroPitch offset from 1500以1500為基準的俯仰補償, Max%最大值}.
#define YAWMOTOR 0 // If a motor is used as YAW Set to 1 else set to 0.
//如果有一個控制橫向擺動的馬達就把這個值設定為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 遙控系統設定 *******/
/***************** ***************/
/*************************************************************************************************/
/* note: no need to uncomment something in this section if you use a standard receiver */
/* 提示：如果你使用的是标準接收機，就不需要更改下列選項*/
/**************************************************************************************/
/******** special receiver types 特殊接收機類型 ************/
/**************************************************************************************/
/**************************** 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 可選處理器和外設闆 *******/
/***************** ***************/
/*************************************************************************************************/
/**************************************************************************************/
/******** Promini Specifig Settings Promini的具體設定 ********************/
/**************************************************************************************/
/*************** Hexa Motor 5 & 6 Pins 六軸飛行器的馬達5和馬達6設定******************/
/* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config A0，A1接口将會代替D5，D6接口來控制馬達5和馬達6
This mod allow the use of a standard receiver on a pro mini 該模式下允許Pro mini飛空闆使用标準接收機
(no need to use a PPM sum receiver不需要使用PPM sum接收機) */
//#define A0_A1_PIN_HEX
/********************* Aux 2 Pin AUX2接口設定 *************************/
/* possibility to use PIN8 or PIN12 as the AUX2 RC input 使PIN8或者P12來作為接收機的輸入接口 (only one, not both隻能二選一，不能同時選擇)
it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) 由于接口數量有限，選擇相應的選項将會屏蔽掉PIN12或者PIN8原來分别對應的的電量監控和蜂鳴器功能*/
//#define RCAUXPIN8
//#define RCAUXPIN12
/**************************************************************************************/
/***************** Teensy 2.0 Support 對Teensy2.0的支援 ******************/
/**************************************************************************************/
/* uncomment this if you use a teensy 2.0 with teensyduino 如果你使用的是基于Teensyduino系統闆的Teensy2.0 可以啟用下面的功能
it needs to run at 16MHz 這使得Teensyduino需要以16MHz的速度運作*/
//#define TEENSY20
/**************************************************************************************/
/******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/
/******** Atmega32u4系統闆的設定，如ProMicro，Leonardo等等 ***********/
/**************************************************************************************/
/********************************* pin Layout 接口輸出 **********************************/
/* activate this for a better pinlayout if all pins can be used => not possible on ProMicro
使得輸出變得更好，但這個選項不能用于ProMicro系統闆*/
//#define A32U4ALLPINS
/********************************** PWM Setup PWM設定 **********************************/
/* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13. 開啟六軸模式，使得6個硬體PWM輸出對應于D11接口（接馬達5）和D13接口（接馬達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接口并沒有損壞
if activated: 如果開啟這個功能，對應的馬達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 設定AUX 2接口 **********************************/
/* AUX2 pin on pin RXO 使AUX2 對應 RXO 接口*/
//#define RCAUX2PINRXO
/* aux2 pin on pin D17 (RXLED) 使AUX2 對應接口D17（ 即RXO） */
//#define RCAUX2PIND17
/********************************** Buzzer Pin 蜂鳴器接口 **********************************/
/* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
/* 這個選項将蜂鳴器接口從TXO轉換到了D8，用來配合ppm sum 或者spectrum sat來使用。（另外，如果A32U4ALLPINS已經被開啟就不需要再使用此功能）*/
//#define D8BUZZER
/*********************** Promicro version related Promicro 版本相關設定 ****************************/
/* Inverted status LED for Promicro ver 10 将版本為10的Promicro上的LED等開關狀态置反 */
//#define PROMICRO10
/**************************************************************************************/
/******** override default pin assignments 重寫預設的接口配置設定表 ********************/
/**************************************************************************************/
/* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
/*隻需要啟用你需要的預設分派接口就好了，比如在你沒有某個具體的接口的時候，将其配置設定到其他接口 */
/* you may need to change PINx and PORTx plus #shift according to the desired pin! */
/*你可能需要改變某個PIN接口，并且根據需求将某個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) 改變LED燈的接口狀态（數字端口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 多個處理單元與傳感器闆塊之間互交的設定 *******/
/***************** ***************/
/*************************************************************************************************/
/****** Serial com speed 序列槽速度 ******/
/* This is the speed of the serial interfaces 在此設定序列槽速度 */
#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 */
/* 在一個WMP與NK共同的配置中，且介于兩個WMP或者NK讀取時，設定一個以為秒為機關的交叉存取延時
如果加速計的校準時間很長，比如20或者30秒，這是就需要你增加延時的值到4000，這隻與NK的配置相關*/
#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 */
/* 當I2C端口總線上沒有錯誤的時候，我們将會在短時間内把這個值給中和掉。這個值以毫秒機關表達，
它僅僅和一個至少包含有一個WMP的配置表相關 */
#define NEUTRALIZE_DELAY 100000
/**************************************************************************************/
/******** Gyro filters 陀螺儀濾波器 ********************/
/**************************************************************************************/
/******** Lowpass filter for some gyros 适合某些陀螺儀的低通濾波器 **********/
/* 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 低通濾波器的相關設定。 為了防止你不能消除陀螺儀的所有震動， 你可以嘗試減少低通濾波器的頻率。
每次試驗的時候隻要降低或者升高一個級别就好。如果飛行器不再抽風，就别再改了。改動這些選項對回報擺動是沒有任何幫助的
是以，隻有在飛行器亂擺或者毫無目的的運動的時候再更改下面的設定。下面的設定隻能開啟一項。
重要提示：更改過低通濾波器後将會更改PID的行為。是以，更改過低通濾波後還要再對PID進行設定 */
//#define ITG3200_LPF_256HZ // This is the default setting,這是預設值 no need to uncomment, 不用管就是這個值just for reference僅供參考而已
//#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, 在很特殊地情況下才有可能調用這個值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 低通濾波器的相關設定。 為了防止你不能消除陀螺儀的所有震動， 你可以嘗試減少低通濾波器的頻率。
每次試驗的時候隻要降低或者升高一個級别就好。如果飛行器不再抽風，就别再改了。改動這些選項對回報擺動是沒有任何幫助的
是以，隻有在飛行器亂擺或者毫無目的的運動的時候再更改下面的設定。下面的設定隻能開啟一項。
重要提示：更改過低通濾波器後将會更改PID的行為。是以，更改過低通濾波後還要再對PID進行設定 */
//#define MPU6050_LPF_256HZ // 這是預設值 no need to uncomment, 不用管就是這個值just for reference僅供參考而已
//#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, 在很特殊地情況下才有可能調用這個值rather change motors and/or props
/****** Gyro smoothing 陀螺儀平滑濾波 **********/
/* 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.*/
/* 如果你使用平滑濾波不能減少震動，你可以調用這個功能試一試，主要方法是均衡。 但這個方法不适用于旋翼飛行器。
這對于直升機，固定翼，還有泡沫飛翼效果很好*/
//#define GYRO_SMOOTHING {20, 20, 3} // (*) separate averaging ranges for roll, pitch, yaw
//将橫滾，俯仰，平移的均值分别定義
/************* Moving Average Gyros 陀螺儀移動平均數 *************/
//#define MMGYRO 10 // (*) Active Moving Average Function for Gyros 對陀螺儀激活移動平均數功能
//#define MMGYROVECTORLENGTH 15 // Length of Moving Average Vector (maximum value for tunable MMGYRO
//移動平均數矢量長度（要設定為對于可變陀螺儀的最大值）
/* Moving Average ServoGimbal Signal Output 移動平均數伺服平衡環信号輸出*/
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal對伺服平衡環激活輸出移動平均數的功能
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector移動平均數的矢量長
/************************ Analog Reads 模拟讀 **********************************/
/* 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讀的速度的話，可以開啟此功能。這将導緻結果精度降低，特别是在多餘一個頻道的情況下 */
//#define FASTER_ANALOG_READS
/*************************************************************************/
/***************** ***************/
/**************** SECTION 6 - OPTIONAL FEATURES 可選功能 *******/
/***************** ***************/
/*************************************************************************/
/************************ Angele throttle correction 自穩油門修正 ********************/
/* Automatically increase throttle based on the angle of the copter 根據飛行器偏角自動修正角度
Original idea by Kraut Rob, first implementation HAdrian 這個點子是由Kraut Rob想出來的，但是首次實作的是HAdrian*/
//#define THROTTLE_ANGLE_CORRECTION 40
/************************* Advanced Headfree Mode 進階無頭模式 ********************/
/* 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
在進階無頭模式中，當飛行器比than ADV_HEADFREE_RANGE後面跟的數字的距離還遠的時候，
原始home和飛行器兩點一線組成的方向将會成為控制方向，反之飛行器還是原來的模式。
首次實作本功能的是HAdrian，之後由EOSBandi修正
*/
//#define ADVANCED_HEADFREE //開啟進階無頭模式Advanced headfree mode is enabled when this is uncommented
//#define ADV_HEADFREE_RANGE 15 //設定距離Range where advanced headfree mode activated
/************************ continuous gyro calibration 連續陀螺儀校準 ********************/
/* Gyrocalibration will be repeated if copter is moving during calibration.
如果飛行器在校準期間移動了，則陀螺儀重新校準*/
//#define GYROCALIBRATIONFAILSAFE
/************************ AP FlightMode AP接入點模式 *****************************/
/* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.
暫時性的将GPS_HOLD_MODE功能失效。這使得在移動操縱杆時來保持位置成為可能*/
#define AP_MODE 40 // Create a deadspan for GPS 為GPS建立一個範圍.
/************************ Assisted AcroTrainer 輔助訓練 ************************************/
/* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
Remember to activate ANGLE_MODE first!...
帶有自穩的訓練，這個值确定了當飛行器傾斜到什麼角度的時候，自穩子產品來接管飛行器的姿态控制
A Value on 200 will give a very distinct transfer 200是這個值的臨界點*/
//#define ACROTRAINER_MODE 200 // http://www.multiwii.com/forum/viewtopic.php?f=16&t=1944#p17437
/******** Failsafe settings 失效保護設定 ********************/
/* 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. */
/* 失效保護主要檢測的是四個主要控制頻道（即CH1-CH4）的脈沖信号，如果在這四個頻道中的任何一個頻道上沒有檢測到脈沖信号或者脈沖信号小雨985us
失效保護過程就會初始化。 如果有一個頻道出了問題，且超過了 FAILSAFE_DELAY 對應的判斷延時後，層模式将會啟動（前提是nunchuk是可用的）
俯仰，橫滾，方向三個頻道會被置中，油門将會被設定為FAILSAFE_THROTTLE後對應的數值，設定這個值後如果能是飛行器在失效保護模式下以每秒一米的速度
下落就會得到比較理想的效果。這個值和飛行器的配置、結構、外形、總重量、參數都有關系。接下來，在FAILSAFE_OFF_DELAY之後，飛行器是脫控的，
并且馬達會停轉。如果遙控信号在到達FAILSAFE_OFF_DELAY時間之前恢複，并且達到正常值，很短的時間内遙控器對飛行器的控制将會重新生效 */
//#define FAILSAFE // uncomment to activate the failsafe function
//啟動失效保護功能
#define FAILSAFE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
//失去信号後多久進入失效保護狀态，一個機關值代表0.1秒，預設一秒，設定為10
#define FAILSAFE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
//多久後飛行器馬達停轉停止工作
#define FAILSAFE_THROTTLE (MINTHROTTLE + 200) // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
//當處于失效保護模式時油門的值
#define FAILSAFE_DETECT_TRESHOLD 985
/***************** DFRobot LED RING DFRobot（Drive the Future）燈與響鈴 *********************************/
/* I2C DFRobot LED RING communication 用I2C借口做 DFRobot燈與響鈴通信 */
//#define LED_RING
/******************************** LED FLASHER LED閃燈 ***********************************/
//#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燈關
//#define LED_FLASHER_SEQUENCE_ARMED 0b00000101 // create double flashes 建立雙閃燈
//#define LED_FLASHER_SEQUENCE_MAX 0b11111111 // full illumination 全流水燈
//#define LED_FLASHER_SEQUENCE_LOW 0b00000000 // no illumination 無流水燈
/******************************* Landing lights 着陸燈 *********************************/
/* Landing lights 着陸燈
Use an output pin to control landing lights. 使用一個輸出端來控制着陸燈
They can be switched automatically when used in conjunction 着陸燈會根據聲呐單元傳來的高度資訊自動連續變化
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 聲呐資料到達距地面多高時開始自動開啟着陸燈*/
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50
/* adopt the flasher pattern for landing light LEDs 采用LED着陸燈閃爍模式*/
//#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
/************************* INFLIGHT ACC Calibration 飛行中加速度計校準 *****************************/
/* This will activate the ACC-Inflight calibration if unchecked 開啟飛行中加速度計校準 */
//#define INFLIGHT_ACC_CALIBRATION
/******************************* OSD Switch 光學掃描器開關 *************************************/
// This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
//這增加了一個能夠被處于激活狀态的光學掃描器器解讀的盒子（以開關疊加來作為例子）
//#define OSD_SWITCH
/**************************************************************************************/
/*********************** TX-related 發射機關聯 **************************/
/**************************************************************************************/
/* introduce a deadband around the stick center 将置中的遙控器杆周圍設定為死區，并以此作為開頭
Must be greater than zero, comment if you dont want a deadband on roll, pitch and yaw 這個值必須大于，如果不希望橫滾，俯仰，方向有死區，就可以不開啟這個功能*/
//#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 顯示屏顯示設定 *********************/
/************************************************************************************************/
/* http://www.multiwii.com/wiki/index.php?title=Extra_features#LCD_.2F_OLED */
/***************************** The type of LCD LCD種類 **********************************/
/* 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 顯示設定 ***********************************/
#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和其他一些單獨的闆子上，這個數必須設定為0.如果你用的是Mega闆子，則需要再進行具體設定
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory
//阻止OLED的logo來節約空間
/* 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 蜂鳴器 ****/
/********************************************************************/
//#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 電池電壓監控器 ****/
/********************************************************************/
/* 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) 電能表 ****/
/********************************************************************/
/* 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 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
/********************************************************************/
/**** 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 飛控闆命名 ****/
/********************************************************************/
/*
* 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
開啟此項後，解鎖後電機不會怠速旋轉，而是徹底停下。強烈建議開啟此項*/
//#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,
* #[email protected], #i2c_err[email protected]
* 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_ */ 轉載于:https://www.cnblogs.com/dujiaoxi/p/6266395.html
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