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/*
MultiWiiCopter by Alexandre Dubus
radio-commande.com
February  2011     V1.6
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 any later version. see <http://www.gnu.org/licenses/>
*/

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

/* 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 1300 // for Turnigy Plush ESCs 10A
//#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
//#define MINTHROTTLE 1200
#define MINTHROTTLE 1100

/* The type of multicopter */
//#define GIMBAL
//#define BI //experimental
//#define TRI
//#define QUADP
#define QUADX
//#define Y6
//#define HEX6
//#define FLYING_WING //experimental

//#define YAW_DIRECTION 1 // if you want to reverse the yaw correction direction
#define YAW_DIRECTION -1

#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

//****** advanced users settings   *************

//enable internal I2C pull ups
#define INTERNAL_I2C_PULLUPS

/* The following lines apply only for a pitch/roll tilt stabilization system */
/* It is not compatible with Y6 or HEX6 */
/* Uncomment the first line to activate it */
#define SERVO_TILT
#define TILT_PITCH_MIN    1020    //servo travel min, don't set it below 1020
#define TILT_PITCH_MAX    2000    //servo travel max, max value=2000
#define TILT_PITCH_MIDDLE 1500    //servo neutral value
#define TILT_PITCH_PROP   10      //servo proportional (tied to angle) ; can be negative to invert movement
#define TILT_ROLL_MIN     1020
#define TILT_ROLL_MAX     2000
#define TILT_ROLL_MIDDLE  1500
#define TILT_ROLL_PROP    10

/* I2C gyroscope */
#define ITG3200

/* I2C accelerometer */
#define ADXL345
//#define BMA020
//#define BMA180

/* I2C barometer */
//#define BMP085

/* I2C magnetometer */
//#define HMC5843

/* ADC accelerometer */ // for 5DOF from sparkfun, uses analog PIN A1/A2/A3
//#define ADCACC

/* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2 */
/* IF YOUR RECEIVER IS NOT CONCERNED, DON'T UNCOMMENT ANYTHING. Note this is mandatory for a Y6 setup */
/* 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,CAMPITCH,CAMROLL //For Graupner/Spektrum
//#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL //For Robe/Hitec/Futaba
//#define SERIAL_SUM_PPM         PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL //For some Hitec/Sanwa/Others

/* 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

//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 
#define VBATLEVEL1_3S 960 
#define VBATLEVEL2_3S 880
#define VBATLEVEL3_3S 800

/* 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

/* this is the value for the ESCs when thay are not armed */
/* in some case, this value must be lowered down to 900 for some specific ESCs */
#define MINCOMMAND 1000

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

/* This is the speed of the serial interface. 115200 kbit/s is the best option for a USB connection.*/
#define SERIAL_COM_SPEED 115200

/* In order to save space, it's possibile to desactivate the LCD configuration functions */
/* comment this line only if you don't plan to used a LCD */
#define LCD_CONF

/* 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

/* force the autolevel activation */
/* usefull for a 4 channels only setup */
//#define FORCE_LEVEL

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

/* experimental */
/* camera trigger function */
//#define CAMSERVO
//#define CAM_SERVO_HIGH 2000  // the position of HIGH state servo
//#define CAM_SERVO_LOW 1020   // the position of LOW state servo
//#define CAM_TIME_HIGH 1000   // the duaration of HIGH state servo expressed in ms
//#define CAM_TIME_LOW 1000    // the duaration of LOW state servo expressed in ms

//****** end of advanced users settings *************

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