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  /**************************************************************************************/
  /***********************                  GPS                **************************/
  /**************************************************************************************/

    /* GPS using a SERIAL port
       only available on MEGA boards (this might be possible on 328 based boards in the future)
       if enabled, define here the Arduino Serial port number and the UART speed
       note: only the RX PIN is used, the GPS is not configured by multiwii
       the GPS must be configured to output NMEA sentences (which is generally the default conf for most GPS devices)
       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_BAUD   115200
    
    //#define GPS_PROMINI_SERIAL    57600 // Will Autosense if GPS is connected when ardu boots!.....
   

    /* I2C GPS device made with an independant arduino + GPS device
       including some navigation functions
       contribution from EOSBandi
       http://code.google.com/p/i2c-gps-nav/ */
    //#define I2C_GPS

    /* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
       optional sonar device.
       https://github.com/wertarbyte/tiny-gps/ */
    /* get GPS data from Tiny-GPS */
    //#define TINY_GPS
    /* get sonar data from Tiny-GPS */
    //#define TINY_GPS_SONAR

    /* GPS data readed from OSD -- still need some more code to work */
    //#define GPS_FROM_OSD

    /* 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
    
    #define MAG_DECLINIATION  2.77f              //For Bierhütte.
    //#define MAG_DECLINIATION  2.90f              //For Berlin.
    //Get your magnetic decliniation 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 GPS_FILTERING              true      // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency
    #define GPS_LOW_SPEED_D_FILTER     true      // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise
    #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)