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// ************************************************************************************************************
// board orientation and setup
// ************************************************************************************************************
//default board orientation
#if !defined(ACC_ORIENTATION) 
  #define ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  = X; accADC[PITCH]  = Y; accADC[YAW]  = Z;}
#endif
#if !defined(GYRO_ORIENTATION) 
  #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = Z;}
#endif
#if !defined(MAG_ORIENTATION) 
  #define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  = X; magADC[PITCH]  = Y; magADC[YAW]  = Z;}
#endif

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//#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

#define PROMINI  //Arduino type
//#define MEGA

//enable internal I2C pull ups
//#define INTERNAL_I2C_PULLUPS


//if you use independent sensors
//leave it commented it you already checked a specific board above
/* I2C gyroscope */
#define ITG3200
//#define L3G4200D

/* I2C accelerometer */
//#define ADXL345
//#define BMA020
#define BMA180
//#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
//#define LIS3LV02


/* 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, ra