Giroscópios Médios Móveis Multiwii

. 2.3 PIDs MultiWii 328p para X900 - Filme de vôo: 31. 2013. Eu acho que estou pegando esse tricóptero. Com certeza, está bastante sintonizado para um vôo FPV suave. Ainda aperfeiçoado ouça e lá, mas os PIDs neste vídeo parecem funcionar para mim. Graças ao youtube ZaksterBlue por me contar sobre o uso do filtro passa-baixa de 42hz e ativando os giroscópios móveis, ambos dos quais estão no arquivo config. h. Isto é o que realmente fez o truque. Nenhuma estabilização de vídeo foi adicionada a esta filmagem. Material utilizado nesta vid: quadro X900 D28311 Motores 750KV Servidor Tower Pro MG90S Servo HK 30A com SimonK MultiWii 328p com 2.3 FW 10x4.5 Suportes SF 4000mah lipo Turnigy 9xFrSky Boscam 200mw 5.8ghzCloverleaf Boscam RC305Skew Planar Sony Super HAD II câmera de vôo Mobius Wide AngleMultiWii SE v2.1 Configuração Ajuda Necessária :) Olá Primeiro cartaz do tempo - leitor de longo tempo Ainda não conseguimos obter este conjunto direito. Eu passei por este e alguns outros fóruns de posts lá fora. Com este quadro listado abaixo com TODOS os equipamentos atuais que estou usando, agora tenho a luz verde, a luz vermelha e agora a luz azul continua a piscar. Eu já tinha trabalhando com o transmissor muito bem - sem giroscópio ou acc baro -, mas os motores estavam respondendo corretamente. Então, encontrei o guia dos Iniciantes - achei que tudo fizesse. Tinha a capacidade de armar o braço - conseguiu obter todos Os motores funcionam corretamente e o giroscópio quotseemedquot para estar funcionando - note que tudo isso é testado com NO adereços - o que nunca lado inclinado - Eu poderia ouvir esse motor girar mais rápido - Bom Então conectado a MultiWiiconf21 - viu que os motores 1 amp 2 estavam mostrando Estar funcionando quase cheio e 3 à direita. Motors 4 amp 6 foram cerca de 14 do que 1 amp 2 mostrou e 5 foi apenas quotjumping de zero para completo eracticly. Mais uma vez, tudo isso mostra em MultiWiiconf21. Também quotPitch e Rollquot, bem como o diagrama do meu HeXa movendo-se aleatoriamente em todo o lugar. O gráfico - novamente, saltando por toda parte - Então, eu tentei o configurador Online - panoramaic. seconfigurator2.1 e agora não tenho nada. Luz verde acesa, luz vermelha acesa, luz azul Piscando sem parar. Incapaz de armar mesmo. Assim. Eu venho para você, os usuários e pessoas muito mais experientes com isso - HELP LOL Alguém tem essa configuração ou fechou com um bom quotworkingquot Firmware amp válido configH arquivos que eles publicariam ou me enviariam para usar Eu gostaria que TODOS funcionassem como listados Em partes abaixo - mas seria muito feliz neste momento apenas para obter motores e gyrobaroacc para funcionar corretamente. E se preocupe com o GPS e o IC2 e o LCD podem funcionar enquanto avançamos. Eu segui muitos tópicos - links - mesmo o youtube vids e isso é o que posso conseguir sozinho. Crius MWC MultiWii Standard V2.0 SE Controller Board Firmware V2.1 - Orifícios de montagem de tamanho pequeno, 35x35mm - 6 canais de entrada para o receptor padrão e o receptor PPM SUM - Saída do motor até 8 eixos - Saída de 2 servos para o Gimbal PITCH e ROLL Sistema - Uma saída de servos para disparar um botão da câmera - Um soquete FTDIUART TTL para depuração, upload de firmware ou display LCD - Um soquete I2C para sensor de extensão, display I2C LCDOLED ou placa CRIUS I2c-GPS NAV - Regulador de tensão LDO separado de 3.3V e 5V - Microcontrolador ATMega 328P - ITG3205 Gyro MEMS 3 eixos - MPEG6050 Gyroaccel de 6 eixos com unidade de processamento de movimento - HM5883L Magnetômetro digital de 3 eixos - Sensor de pressão digital BMP085 - Conversor de nível lógico a bordo SUNNYSKY V2216-11 Motores sem escova 900KV X 6 com estilo APC Suportes 12x3.8s Hobbywing skywalker 40A ESC Xx ATG 650-X6-16 Braço 16mm Hex rotor Hexa fordling frame hex em quotXquot style I2C-GPS NAV Module: - Todos os dados GPS disponíveis através do ônibus I2C para conectar ao 328P Multiwii FC - A LED A bordo do sho W GPS 3D Fix status - Microcontrolador ATMega 328P - 2 Molex 1.25mm Tomada 4Pin para receptor GPS e FC - 2 para ISP e FTDI Outros - Dimensão: 20mmX30mm - Altura: 5mm - Peso: 2.4g5g (incluir cabo) - Diâmetro do furo: 3mm - Receptor GPS autônomo - Módulo GPS U-blox NEO-6M - Construído em antena GPS ativa 18X18mm - Tomada UART TTL - Bateria recarregável para Backup Outro - Dimensão: 22mmX30mm - Altura: 13mm - Peso: 12g14.4g (inclui cabo) - Diâmetro do furo: Módulo de exibição CRIUS CO-16 OLED de 3mm - Alto brilho, auto-emissão, alta relação de contraste - ponto 12864 monocromático - Interface IVC de 5V - Usado para telemetria e depuração MultiWii FC. - Dimensão: 27mmX27mm - Altura: 6.5mm - Peso: 3.7g4.9g (incluir cabo) Mais links para informações: Tenha o MWC multiwii padrão SE (nenhuma versão do pino I2c) 2.0 eu mesmo tentei 2.1 gui, não conseguiu trabalhar em tudo . No final eu tive que baixar MW-WINGUI 1.4. Eu nunca atualizei o firmware e fui novato para o FC boards, não é uma pista muito. O multiwii 1.4 funciona bem, MAS eu descobri que o multiwii 2.1 não funciona com máquinas Vista. Multiwii 1.4 tudo isso tem baro, accels, mag, gyros todos os dados de envio e recebimento, apenas nenhuma função de mapa. Minha placa veio pré-carregada, sem instruções nenhuma sugestão de firmware, nada e desconfio do novo firmware intermitente se a placa já funcionar como pretendido. Adicionou algumas imagens para você. Meu quadro e ele funcionando em wingui 1.4, também deixará a informação do sensor do meu quadro para. ATMEGA328P microcontrolador ITG3205 giroscópio digital de três eixos BMA180 acelerômetro triaxial BMP085 sensor de pressão HMC5883L de três eixos MW MWM multiwii SE edição padrão 2.0. Aqui é executado no wingui 1.4 (2.0dev quando as cargas escolheram a opção) obteve esta placa, disse que era um Crius se, foi um pouco decepcionado quando este ZMR apareceu Originalmente Postado por Test Pilot Mafia sim, acho que podemos obter seu sistema trabalhando. Preciso saber o que você mudou até agora. Baixou o arquivo zip 2.1 - você pode começar e usar o configurador 2.1 - você enviou o código 2.1 para a placa - você pode ver o ícone do seu tipo de veículo aparecer na parte inferior direita do congiurador - o que a versão de Aruino está usando, embora ele salte por todo o lado Tente 1.01, depois 1.03 - atualmente usando 1.52. O arquivo ConfigH em uso é: este arquivo consiste em várias seções para criar uma combinação de trabalho. Você deve pelo menos fazer suas escolhas na seção 1. 1 - CONFIGURAÇÃO BÁSICA - você deve selecionar uma opção em cada bloco. Isto pressupõe que você tenha 4 canais conectados à sua placa com ESC e servos padrão. 2 - OPÇÕES ESPECÍFICAS DO TIPO DE COPETE - você provavelmente deseja verificar as opções para o seu helicóptero tipo 3 - CONFIGURAÇÃO DO SISTEMA RC 4 - ALTERNAÇÕES CPUs amp BOARDS - se você tiver 5 - CONFIGURAÇÃO ALTERNATIVA - selecione RX alternativo (SBUS, PPM, etc.) ESC-range alternativo, etc. aqui 6 - CARACTERÍSTICAS OPCIONAIS - permita ter recursos agradáveis ​​aqui (FlightModes, LCD, telemetria, monitor de bateria, etc.) 7 - TUNING amp DEVELOPER - se você sabe o que está fazendo, você foi avisado Notas: 1. Os parâmetros marcados com () no comentário são armazenados em eeprom e podem ser ajustados através de um monitor serial ou LCD. Alterar esses valores na config. h e carregar exigirá uma reinicialização da GUI para entrar em vigor O tipo de multicopter definir GIMBAL definir BI definir TRI definir QUADP definir QUADX definir Y4 definir Y6 definir HEX6 definir HEX6X definir HEX6H Novo Modelo definir OCTOX8 definir OCTOFLATP definir OCTOFLATX define FLYINGWING define VTAIL4 define AIRPLANE define SINGLECOPTER define DUALCOPTER define HELI120CCPM define HELI90DEG Motor minthrottle Defina o comando minimo de aceleração enviado para o ESC (Electronic Speed ​​Controller) Este é o valor mínimo que permite que os motores sejam executados em uma velocidade ociosa define MINTHROTTLE 1300 para Turnigy Plush ESC 10A define MINTHROTTLE 1120 para Super Simple ESC 10A define MINTHROTTLE 1064 especial ESC (simonk) define MINTHROTTLE 1050 para ESC escovado como joaninha define MINTHROTTLE 1150 () Motor maxthrottle este é o valor máximo para os ESCs em plena potência, esse valor pode ser Aumentou até 2000 define MAXTHROTTLE 1850 Mincommand, este é o valor para o ESCs quando eles não estão armados em alguns casos, esse valor deve ser reduzido até 900 para alguns ESC específicos, caso contrário, eles não conseguiram iniciar a definição MINCOMMAND 1000 I2C speed define o modo normal I2CSPEED 100000L 100kHz, esse valor deve ser usado para uma definição WMP genuína Modo rápido I2CSPEED 400000L 400kHz, ele funciona apenas com alguns clones WMP. Os i2c Pullups internos permitem pulls I2C internos (na maioria dos casos, é melhor usar pullups externos), defina INTERNALI2CPULLUPS Juntas IMU combinadas se você usar uma placa de sensores específica: envie qualquer correção Para esta lista. Nota de Alex: Eu só possuo algumas placas, para outras placas, não tenho certeza, a informação foi recolhida através de fóruns de rc, seja cauteloso, defina FFIMUv1 primeiro painel 9DOFbaro da Jussi, com HMC5843 lt - confirmado por Alex define a segunda versão FFIMUv2 da placa 9DOFbaro De Jussi, com HMC5883 lt - confirmado por Alex define FREEIMUv1 v0.1 amp. V0.2 amp. Versão v0.3 da placa 9DOF da Fabio define FREEIMUv03 FreeIMU v0.3 e v0.3.1 define FREEIMUv035 FreeIMU v0.3.5 sem baro define FREEIMUv035MS FreeIMU V0.3.5MS lt - confirmado por Alex define FREEIMUv035BMP FreeIMU v0.3.5BMP define FREEIMUv04 FreeIMU v0.4 com MPU6050, HMC5883L, MS561101BA lt - confirmado por Alex define FREEIMUv043 o mesmo que FREEIMUv04 com MPU6050 final (com a escala ACC direita) define NANOWII O menor multiwii FC baseado em MPU6050 pro micro baseado proc lt - confirmado por Alex define PIPO 9DOF placa de erazz definir QUADRINO full FC placa 9DOFbaro placa de witespy com BMP085 baro lt - confirmado por Alex definir QUADRINOZOOM full FC Placa 9DOFbaro da segunda edição de witespy define QUADRINOZOOMMS placa FC completa placa 9DOFbaro da segunda edição witespy lt - confirmada por Alex define ALLINONE placa FC completa ou placa autônoma 9DOFbaro da CSGEU define AEROQUADSHIELDv2 define ATAVRSBIN1 Atmel 9DOF (Contribuição da EOSBandi). Requer energia de 3.3V. Define SIRIUS Sirius Navigator IMU lt - confirmado por Alex define SIRIUSGPS Sirius Navigator IMU usando MAG externo na placa GPS lt - confirmado por Alex define SIRIUS600 Sirius Navigator IMU usando o WMP para o gyro define MINIWII Jussis MiniWii Flight Controller lt - confirmado por Alex define MICROWII MicroWii 10DOF com ATmega32u4, MPU6050, HMC5883L, MS561101BA de flyduino. net define CITRUSv21 CITRUS de qcrc. ca define CHERRY6DOFv10 define DROTEK10DOF Drotek 10DOF com ITG3200, BMA180, HMC5883, BMP085, w ou wo LLC definem DROTEK10DOFMS Drotek 10DOF com ITG3200, BMA180, HMC5883 MS5611, LLC define DROTEK6DOFv2 Drotek 6DOF v2 define DROTEK6DOFMPU Drotek 6DOF com MPU6050 define DROTEK10DOFMPU define MONGOOSE10 mongoose 1.0 store. ckdevices define CRIUSLITE Crius MultiWii Lite define CRIUSSE Crius MultiWii SE define OPENLRSv2MULTI OpenLRS v2 Placa do Receptor Multi Rc incluindo ITG3205 e ADXL345 definem BOARDPROTO1 com MPU6050 HMC5883L MS baro define BOARDPROTO2 com MPU6 050 escravo MAG3110 MS baro define GY80 chinês 10 DOF com L3G4200D ADXL345 HMC5883L BMP085, LLC define GY85 chinês 9 DOF com ITG3205 ADXL345 HMC5883L LLC define GY86 chinês 10 DOF com MPU6050 HMC5883L MS5611, LLC define GY521 Chinesa 6 DOF com MPU6050, LLC define INNOVWORKS10DOF com ITG3200, BMA180, HMC5883, BMP085 disponível aqui diymulticopter definir INNOVWORKS6DOF com ITG3200, BMA180 disponível aqui diymulticopter definir MultiWiiMega MPU6050HMC5883LMS5611 disponíveis MEGA aqui diymulticopter definir PROTODIY 10DOF Mega bordo definir IOIMINIMULTIWII bambucopter definir Bobs6DOFV1 BobsQuads 6DOF V1 com ITG3200 amp BMA180 definir Bobs9DOFV1 BobsQuads 9DOF V1 com ITG3200 , BMA180 amp HMC5883L define Bobs10DOFBMPV1 BobsQuads 10DOF V1 com ITG3200, BMA180, HMC5883L amplificador BMP180 - BMP180 é compatível com o software com BMP085 define FLYDUINOMPU define CRIUSAIOPROV1 define DESQUARED6DOFV2GO DEsquared V2 com ITG3200 apenas define DESQUARED6DOFV4 DEsquared V4 com MPU6050 define LADY BIRD define MEGAWAPV2STD disponível aqui: multircshop lt - confirmado por Alex define MEGAWAPV2ADV define HKMultiWiiSEV2 Hobbyking board com MPU6050 HMC5883L BMP085 define HKMultiWii328P Também rotulado quotHobbybrochot na parte de trás. ITG3205 BMA180 BMP085 NMC5583L Conector DSM2 (Spektrum Satellite) define RCNetFC RCNet FC com MPU6050 e MS561101BA rcnet define FLYDUULTRA MEGA10DOFMT3339 Sensores independentes de FC deixam-no comentado se você já verificou uma placa específica acima do giroscópio I2C define WMP define ITG3200 define L3G4200D define MPU6050 combo ACC I2C acelerômetro Defina NUNCHUCK se você quiser usar o nunckuk conectado a um WMP definir MMA7455 definir ADXL345 definir BMA020 definir BMA180 definir NUNCHACK se você quiser usar o nunckuk como um autônomo I2C ACC sem WMP definir LIS3LV02 definir LSM303DLxACC definir MMA8451Q I2C barómetro definir BMP085 definir MS561101BA I2C Magnetômetro definir HMC5843 definir HMC5883 definir AK8975 definir MAG3110 Sonar para a finalidade de visualização atualmente - sem código de controle atrás definir SRF02 usar o Devantech SRF i2c sensores definir SRF08 definir SRF10 definir SRF23 ADC acelerômetro para 5DOF de sparkfun, usa o PIN analógico A1A2A3 definir ADCACC Board orient Mudança de posição Se você tiver um quadro projetado apenas para o modo e não pode rotear FC phisycally para voar no modo X (ou vice-versa), você pode usar uma dessas opções para a rotação de sensores virtuais em 45 deegres e, em seguida, defina o tipo de multicopter de acordo com o voo modo. Verifique a ordem dos motores e as direções da rotação dos motores para coincidir com o novo ponto de frente. Descompactar apenas uma opção definir SENSORSTILT45DEGRIGHT girar a FRENTE 45 graus no sentido horário definir SENSORSTILT45DEGLEFT girar a FRENTE 45 graus no sentido anti-horário TRI definir YAWDIRECTION 1 definir YAWDIRECTION -1 se você deseja inverter a correção de guinada Direção que você pode mudar a viagem de servo tricóptero aqui define TRIYAWCONSTRAINTMIN 1020 define TRIYAWCONSTRAINTMAX 2000 define TRIYAWMIDDLE 1500 () tail servo center pos. - use isso para o ajuste inicial do ajuste final após o LCD BI, você pode alterar a direção do curso do servo do bicóptero aqui, defina BIPITCHDIRECTION 1 define BIPITCHDIRECTION -1 ARMDISARM opcionalmente desativa as combinações de barras para armar os motores. Na maioria dos casos, uma das duas opções de armdisarm via TX stick é suficiente definir ALLOWARMDISARMVIATXYAW definir ALLOWARMDISARMVIATXROLL Estabilização de Cam As seguintes linhas aplicam-se apenas para um sistema de estabilização de inclinação de pitchroll. Descompactar a primeira ou a segunda linha para ativá-la definir SERVOMIXTILT definir SERVOTILT definir TILTPITCHMIN 1020 servo viagem min, não configurá-la abaixo de 1020 definir TILTPITCHMAX 2000 servo viagem max, valor máximo2000 definir TILTPITCHMIDDLE 1500 valor servo neutro definir TILTPITCHPROP 10 servo proporcional (amarrado ao ângulo) Pode ser negativo para inverter o movimento definir o canal TILTPITCHAUXCH AUX3 AUX para sobregravar o passo CAM (AUX1-AUX4), comentar para desativar a entrada manual e liberar o canal AUX definir TILTROLLMIN 1020 definir TILTROLLMAX 2000 definir TILTROLLMIDDLE 1500 definir TILTROLLPROP 10 definir o canal AUX4 AUX4 de TILTROLLAUXCH para sobrescrever CAM Roll (AUX1-AUX4), comente para desativar a entrada manual e liberar a função de disparo da câmera do canal AUX. Ativado via Rc Opções na GUI, servo outputA2 no promini define CAMTRIG define CAMSERVOHIGH 2000 a posição de servo de nível HIGH definindo CAMSERVOLOW 1020 a posição de servo de estado BAIXO define CAMTIMEHIGH 1000 a duração do servo de estado ALTO expresso em ms define CAMTIMELOW 1000 a duração de Servo de estado BAIXO expresso em ms Flying Wing você pode alterar a orientação do servo de mudança e os valores de servo minmax aqui válidos para todos os modos de vôo, mesmo o modo passThrough precisa configurar instruções de servo aqui, não é necessário trocar servos entre canais em rx definir PITCHDIRECTIONL 1 servo-pitch esquerdo A orientação define PITCHDIRECTIONR -1 orientação do servo-inclinação direita (sinal oposto para PITCHDIRECTIONL, se os servos estiverem montados na orientação espelhada) define ROLLDIRECTIONL 1 orientação do servo-rolo esquerdo define ROLLDIRECTIONR 1 orientação do servo-rolo direito (mesmo sinal como ROLLDIRECTIONL, se os servos estiverem montados Na orientação espelhada) defina WINGLEFTMID 1500 () pos. Servo central esquerdo. - use isso para o ajuste inicial trim posterior medidor através do LCD definir WINGRIGHTMID 1500 () pos. Direito do servo central. - use isso para ajuste inicial trim posterior ponto médio através de LCD definir WINGLEFTMIN 1020 limite servo intervalo de viagem deve estar dentro 10202000 definir WINGLEFTMAX 2000 limite servo intervalo de viagem deve estar dentro 10202000 definir WINGRIGHTMIN 1020 limite servo intervalo de viagem deve estar dentro 10202000 definir WINGRIGHTMAX 2000 limite servo viagem O intervalo deve estar dentro de 10202000 O avião define USETHROTTLESERVO Para uso do servo padrão de 50Hz no acelerador. Definir SERVIÇOS Taxas em 0-100 definir SERVODIRECÇÃO Inverter servos por definição -1 definir FLAPPERONS AUX4 Mix Flaps com Aileronds. Defina FLAPPERONEP Endpooints para flaps em um interruptor de 2 vias, mais definido e programado em rádio. Defina FLAPPERONEP ou Flapperons para CrowMix define FLAPPERONINVERT Mudança de direção om flapperons define FLAPS AUX4 Traditional Flaps em A2 inverter com SERVODIRECTION servo2). Defina FLAPEP Endpooints para flaps em um comutador de 2 vias mais definido e programe no rádio. Define FLAPSPEED 3 Faça as abas se moverem lentamente O valor mais alto é a velocidade mais alta. Comum para Heli amp Avião define D12POWER Use D12 no PROMINI para alimentar sensores. Desabilitar o servo4 em D12 definir SERVOOFFSET () Ajustar Servo MID Amortecedor de deslocamento Ángulos Swash Canais selecionáveis: ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 Governador: tenta manter rpm através do passo e mudanças de tensão abordagem preditiva: observe a entrada Sinais e tensão e adivinhe correções apropriadas. (A curva do acelerador deve deixar espaço para o governador, então 0-50-75-80-80 está certo, 0-50-95-100-100 não está certo. Pode ser alternado via alterna auxiliar. Define GOVERNORP 7 () proporcional Fator. Maior valor - maior aumento do acelerador. Deve ser gt1 0 desligar definir o tempo de decadência do GOVERNORD 4 (). O valor mais alto - gt leva mais tempo para retornar o acelerador ao normal. Deve ser gt1 definir a escala de correção de impacto de tensão GOVERNORR 10 () em 0.1 Unidades. Maior valor - gt mais compensação por quedas de tensão. Normal é valor 10 ltgt 1.0 0 está desligado Heli Channel para controlar CollectivePitch define COLECTIVEPITCH THROTTLE Definir Movimento máximo disponível para os servos. Dependendo do modelo, defina SERVOENDPOINTHIGH define SERVOENDPOINTLOW Limite o alcance de Pitch Coletivo .100 é Full Range em cada sentido e posição para Zero Pitch define COLLECTIVERANGE. Define YAWCENTER 1500 Use servo5 SERVOENDPOINTHIGHLOW para os endpoints. Define YAWMOTOR 0 Se um motor é usado como YAW Ajuste para 1 mais ajustado para 0. Servo de mistura para heli 1 20 Utilizar 110 frações (ex.5 510 12) definir SERVONICK definir SERVOLEFT definir SERVIDOR Servo misturar para heli 90 definir SERVODIRECÇÕES -1 inverter servo Limitar Máximo controle para Roll amp Nick em 0-100 definir CONTROLRANGE usar servo código para conduzir a saída do acelerador . Você quer isso para servo analógico dirigindo o acelerador nos motores IC. Se inativo, a saída do acelerador será tratada como uma saída do motor, para que ele possa dirigir um ESC definir HELIUSESERVOFORTHROTTLE Configurações simples e DualCopter Alterar para -1 para reverter o servomovement por eixo Servosettings para SingleCopter definir SINGLECOPTRERYAW Esquerda, Direita, Frente, Traseira definir SINGLECOPTRERSERVO Pitch, Pitch, Roll, Roll Servosettings para DualCopter define DUALCOPTERSERVO Pitch, Roll Use SERVOOFFSET e SERVIDOS na seção Heli e Airplane para centralização e pontos finais. Nota: não é necessário descomentar algo nesta seção se você usar um receptor padrão PPM Sum Reciver As seguintes linhas aplicam-se apenas Para receptor específico com apenas um sinal de soma PPM, no PIN digital 2 Selecione a linha direita, dependendo da sua marca de rádio. Sinta-se livre para modificar a ordem em seu pedido PPM é diferente definir SERIALSUMPPM PITCH, YAW, THROTTLE, ROLL, AUX1, AUX2, AUX3, AUX4,8,9,10, 11 Para GraupnerSpektrum define SERIALSUMPPM ROLL, PITCH, THROTTLE, YAW, AUX1 AUX2, AUX3, AUX4,8,9,10, 11 Para RobeHitecFutaba define SERIALSUMPPM ROLL, PITCH, YAW, THROTTLE, AUX1, AUX2, AUX3, AUX4,8,9,10, 11 Para Multiplex define SERIALSUMPPM PITCH, ROLL, THROTTLE YAW, AUX1, AUX2, AUX3, AUX4,8,9,10, 11 Para alguns HitecSanwaOthers Descomplicando a linha seguinte, permita conectar o receptor PPMSUM ao PIN THROTTLE padrão nas placas MEGA (por exemplo, A8 no CRIUS AIO) define PPMONTHROTTLE Spektrum Satellite Reciver The As seguintes linhas aplicam-se apenas para o receptor de satélite Spektrum Os satélites Spektrum são dispositivos 3V. NÃO conecte-se a 5V Para placas MEGA, prenda o fio cinzento saturado para RX1, pino 19. Sat fio preto para terra. Sat orange wire para Mega boards 3.3V (ou qualquer outra fonte de 3V a 3.3V). Para PROMINI, prenda cinza satinado para RX0. Anexe sat black to ground. Define SPEKTRUM 1024 define SPEKTRUM 2048 define SPEKSERIALPORT 1 Forçado a 0 em Pro Mini e placas seriais individuais Defina a sua escolha de 0, 1 ou 2 em qualquer placa baseada em Mega (padrão para 1 em Mega). Define que permite um quotBindquot de um Spektrum ou receptor remoto compatível (aka Satellite) via Configuration GUI. O modo de ligação será igual ao declarado acima, se o seu TX for capaz. Ground, Power e Signal devem vir de três pinos adjacentes. Por padrão, estes são Ground4, Power5, Signal6. Esses pinos estão em uma linha na maioria das placas de proteção MultiWii. Os pinos podem ser superados abaixo. Normalmente, é necessário um regulador de 3.3V no pino de energia. Se o seu satélite trava durante a ligação (pisca, mas não se completa com uma luz sólida), vá direto 5V em todos os pinos. Para Pro Mini, o conector para o Satélite que reside no FTDI pode ser desconectado e movido para esses três pinos adjacentes. Defina SPEKBIND Un-Comment para o Suporte Spektrum Satellie Bind. O código é de 420 bytes menor sem ele. Define SPEKBINDGROUND 4 define SPEKBINDPOWER 5 define SPEKBINDDATA 6 SBUS RECIVER A seguinte linha aplica-se apenas para Futaba S-Bus Receiver em placas MEGA apenas no RX1 (Serial 1). Você deve inverter o S-Bus-Serial Signal, p. Ex. Com um Hex-Inverter como o IC SN74 LS 04, defina o sinal SBUS RC da porta serial através do Protocolo Serial Multiwii, define o motor RCSERIAL Hexa 5 ampères 6 pinos PIN A0 e A1 em vez do PIN D5 amplificador D6 para configuração de 6 motores e promini config Este mod permite O uso de um receptor padrão em um pro mini (sem necessidade de usar um receptor de soma PPM) define A0A1PINHEX Aux 2 Pin possibilidade de usar PIN8 ou PIN12 como entrada AUX2 RC (apenas um, não ambos) ele desativa neste caso o POWER PIN (pino 12) ou PIN BUZZER (pino 8) define RCAUXPIN8 definir RCAUXPIN12 pino Layout, ative isso para uma melhor pinlayout se todos os pinos podem ser usados ​​gt não é possível no ProMicro define A32U4ALLPINS PWM Setup ative todas as 6 saídas PWM de hardware Motor 5 D11 e 6 D13. Nota: não é possível no promisor sparkfun (o pino 11 amp. 13 não está quebrado) se ativado: Motor 1-6 hardware de 10 bits PWM Motor 7-8 Software de 8 bits Servidores PWM Software de 8 bits PWM se desativado: Motor 1-4 Hardware de 10 bits PWM Motor 5-8 Software de 10 bits Servidores PWM Software de 10 bits PWM define HWPWM6 aux2 pin no pino D17 (RXLED) define RCAUX2PIND17 Buzzer Pin isso move o pino Buzzer de TXO para D8 para uso com ppm Soma ou espectro sat. RX (não é necessário se A32U4ALLPINS estiver ativo) define D8BUZZER Promicro versão relacionada LED de status inválido para Promicro ver 10 define PROMICRO10 apenas habilitar qualquer um destes se você deve alterar a atribuição de pinos padrão, por exemplo, Sua placa não tem um pino específico que você precisará alterar PINx e PORTx plus shift de acordo com o pino desejado define OVERRIDEVBATPIN A0 em vez de A3 Analog PIN 3 define OVERRIDELEDPINPINMODE pinMode (A1, OUTPUT) use A1 em vez de d13 define OVERRIDELEDPINTOGGLE PINC 1ltlt1 PINB 1ltlt5 interruptor LEDPIN estado (digital PIN 13) definir OVERRIDELEDPINOFF PORTC amp (1ltlt1) PORTB amp (1ltlt5) define OVERRIDELEDPINON PORTC 1ltlt1 foi PORTB (1ltlt5) define OVERRIDEBUZZERPINPINMODE pinMode (A2, OUTPUT) use A2 em vez de d8 define OVERRIDEBUZZERPINON PORTC 1ltlt2 PORTB 1 define OVERRIDEBUZZERPINOFF PORTC amp (1ltlt2) PORTB amplificador Serial com speed Esta é a velocidade das interfaces seriais define SERIAL0COMSPEED 115200 define SERIAL1COMSPEED 115200 define SERIAL2COMSPEED 115200 define SERIAL3COMSPEED 115200 entrelaçamento de atraso em micro segundos entre 2 leituras WMPNK em uma configuração WMPNK se o tempo de calibração ACC for Muito longo (20 ou 30s), tente aumentar esse atraso até 400 0 é relevante somente para um conf com NK define INTERLEAVINGDELAY 3000 quando há um erro no ônibus I2C, neutralizamos os valores durante um curto período de tempo. Expresso em microssegundos é relevante somente para um conf com pelo menos um WMP define NEUTRALIZEDELAY 100000 filtro Lowpass para alguns giroscópios ITG3200 amp ITG3205 filtro de filtro passa baixa. Caso não consiga eliminar todas as vibrações no Gyro, você pode tentar diminuir a freqüência LPF, apenas um passo por tentativa. Assim que se afastar, fique com essa configuração. Isso não ajudará as ondulações de feedback, então mude somente quando o helicóptero é aleatoriamente twiching e todas as opções de amortecimento e balanceamento acabaram. Descompactar apenas uma opção IMPORTANTE Alterar a configuração do filtro passa-baixa muda o comportamento do PID, então reune seus PIDs depois de mudar o LPF. Define ITG3200LPF256HZ Esta é a configuração padrão, não há necessidade de descomentar, apenas para referência definir ITG3200LPF188HZ definir ITG3200LPF98HZ definir ITG3200LPF42HZ definir ITG3200LPF20HZ definir ITG3200LPF10HZ Use isso apenas em casos extremos, em vez de mudar os motores e acessórios MPU6050 Configuração do filtro de passagem baixa. Caso não consiga eliminar todas as vibrações no Gyro, você pode tentar diminuir a freqüência LPF, apenas um passo por tentativa. Assim que se afastar, fique com essa configuração. Isso não ajudará as ondulações de feedback, então mude somente quando o helicóptero é aleatoriamente twiching e todas as opções de amortecimento e balanceamento acabaram. Descompactar apenas uma opção IMPORTANTE Alterar a configuração do filtro passa-baixa muda o comportamento do PID, então reune seus PIDs depois de mudar o LPF. Define MPU6050LPF256HZ Esta é a configuração padrão, não é necessário descompactar, apenas para referência definir MPU6050LPF188HZ definir MPU6050LPF98HZ definir MPU6050LPF42HZ definir MPU6050LPF20HZ definir MPU6050LPF10HZ definir MPU6050LPF5HZ Use isso apenas em casos extremos, em vez mudar os motores e acessórios Gyro suavizando GYROSMOOTHING. Caso não consiga reduzir as vibrações e depois de ter testado as opções do filtro passa-baixa, você pode tentar o alisamento do giroscópio através da média. Não é adequado para multicopters Bons resultados para helicópteros, aviões e asas voadoras (espumantes) com muitas vibrações. Definir GYROSMOOTHING () intervalos de média separados para roll, pitch, yaw Gyros médios móveis definir MMGYRO 10 () Função média móvel ativa para Gyros definir MMGYROVECTORLENGTH 15 Comprimento do vetor médio móvel (valor máximo para a saída de sinal médio servoGimbal MMGYRO ajustável definir MMSERVOGIMBAL Saída ativa Função média móvel para Servos Gimbal define MMSERVOGIMBALVECTORLENGHT 32 Comprimento da Calibração contínua de giroscópio do vetor médio móvel A calibração de calibração será repetida se o helicóptero estiver se movendo durante a calibração. Defina GYROCALIBRATIONFAILSAFE AP FlightMode Desactiva temporariamente o GPSHOLDMODE para permitir ajustar a posição de espera ao mover As varas definem APMODE 40 Crie um deslize para o GPS. AcroTrainer assistido Acro Train Acro com recuperação automática. O valor define o ponto em que o ANGLEMODE assume. Lembre-se de ativar o ANGLEMODE primeiro. Um valor em 200 dará uma transferência muito distinta, definindo ACROTRAINERMODE 200 multiwiiforumviewto. sou Pt1944p17437 Configurações de segurança Os pulsos de verificação Failsafe em quatro canais de controle principais CH1-CH4. Se o pulso estiver faltando ou abaixo do 985us (em qualquer um desses quatro canais), o procedimento de proteção contra falhas é iniciado. Após o tempo de detecção a prova de falhas, o modo de nível está ativado (se ACC ou nunchuk estiver disponível), PITCH, ROLL e YAW estão centrados e THROTTLE está configurado para FAILSAFETHR0TTLE valor. Você deve definir esse valor para descer cerca de 1 ms ou mais para obter melhores resultados. Esse valor depende da sua configuração, AUW e alguns outros parâmetros. Em seguida, depois de FAILSAFEOFFDELAY, o helicóptero está desarmado e os motores estão parados. Se o pulso RC voltando antes alcançado o tempo FAILSAFEOFFDELAY, após o pequeno período de tempo, o controle RC retorna ao normal. Defina o descomentamento de FAILSAFE para ativar a função de falha defina FAILSAFEDELAY 10 Tempo de proteção para ativação a prova de falha após o sinal perdido. 1 passo 0.1sec - 1sec no exemplo define FAILSAFEOFFDELAY 200 Time for Landing antes de os motores pararem em 0.1sec. 1 passo 0.1sec - 20sec no exemplo define FAILSAFETHROTTLE (MINTHROTTLE 200) () O nível do acelerador usado para pouso - pode ser relativo ao MINTHROTTLE - como neste caso LED FLASHER define LEDFLASHER define LEDFLASHERDDR DDRB define LEDFLASHERPORT PORTB define LEDFLASHERBIT PORTB4 define LEDFLASHERINVERT define LEDFLASHERSEQUENCE 0b00000000 Leds OFF define LEDFLASHERSEQUENCEARMED 0b00000101 crie flashes duplos defina LEDFLASHERSEQUENCEMAX 0b11111111 iluminação total define LEDFLASHERSEQUENCELOW 0b00000000 sem iluminação Luzes de desembarque Luzes de desembarque Use um pino de saída para controlar as luzes de aterragem. Eles podem ser alternados automaticamente quando usados ​​em conjunto com dados de altitude de uma unidade de sonar. Define LANDINGLIGHTSDDR DDRC define LANDINGLIGHTSPORT PORTC define LANDINGLIGHTSBIT PORTC0 define LANDINGLIGHTSINVERT altitude acima do solo (em cm) conforme relatado pelo sonar define LANDINGLIGHTSAUTOALTITUDE 50 adote o padrão de flasher para a luz de aterragem LEDs define LANDINGLIGHTSADOPTLEDFLASHERPATTERN INFLIGHT ACC Calibração Isso ativará a calibração ACC-Inflight se não for definida define INFLIGHTACCCALIBRATION Desativar o pino de energia WMP desativar o uso do PIN DE POTÊNCIA (tudo pronto se a opção RCAUXPIN12 for selecionada) defina DISABLEPOWERPIN introduzir uma banda morta ao redor do centro de suporte Deve ser maior que zero, comente se você não quer um deadband no rolo, pitch e yaw define DEADBAND 6 define a zona neutra da barra de aceleração durante a espera de altitude, a configuração padrão é -40 não recomendável e altere o valor abaixo se quiser alterá-lo. Defina ALTHOLDTHROTTLENEUTRALZONE 40 GPS usando uma porta SERIAL se habilitado, defina aqui o número da porta serial Arduino e a nota de velocidade UART: somente o PIN RX é usado no caso do modo NMEA, o GPS não está configurado por multiwii no modo NMEA, o GPS deve ser Configurado para produzir frases NMEA GGA e RMC (que geralmente é o padrão conf para a maioria dos dispositivos GPS), pelo menos, taxa de atualização de 5Hz. Descomente a primeira linha para selecionar a porta serial do GPS do arduino define o GPSSERIAL 2 deve ser 2 para o flyduino v2. É o número da porta serial no arduino MEGA define o GPSBAUD 57600 define o protocolo GPSBAUD 115200 GPS NMEA - Protocolo padrão NMEA As frases GGA, GSA e RMC são necessárias UBLOX - Protocolo binário U-Blox, use o arquivo ublox config (u-blox-config. ublox. txt) da árvore de origem MTKBINARY16 e MTKBINARY19 - MTK3329 chipset baseado em GPS com o firmware binário DIYDrones (v1.6 ou v1.9) Com UBLOX e MTKBINARY você não precisa usar o GPSFILTERING no código multiwii. define NMEA define UBLOX define MTKBINARY16 define MTKBINARY19 define INITMTKGPS initialize MTK GPS for using selected speed, 5Hz update rate and GGA amp RMC sentence or binary settings define GPSPROMINISERIAL 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 code. googlepi2c-gps-nav You have to use at least I2CGpsNav code r33 define I2CGPS I2C GPS device made with an indeedent ATTiny24313 GPS device and optional sonar device. githubwertarbytetiny-gps get GPS data from Tiny-GPS define TINYGPS get sonar data from Tiny-GPS define TINYGPSSONAR GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK. define GPSFROMOSD 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 - gt LED blink at speed of incoming GPS frames - Fix and sat no. bellow 5 - gt LED off - Fix and sat no. gt 5 - gt LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7. define GPSLEDINDICATOR define USEMSPWP Enables the MSPWP command, which is used by WinGUI to display and log Home and Poshold positions define DONTRESETHOMEATARM 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 NAVCONTROLSHEADING true copter faces toward the navigation point, maghold must be enabled for it define NAVTAILFIRST false true - copter comes in with tail first define NAVSETTAKEOFFHEADING true true - when copter arrives to home position it rotates its head to takeoff direction Get your magnetic decliniation from here. magnetic-declination Convert the degreeminutes into decimal degree by gt degreeminutes(160) Note the sign on declination it could be negative or positive (WEST or EAST) define MAGDECLINIATION 3.96f For Budapest Hungary. define MAGDECLINIATION 0.0f define GPSLEADFILTER Adds a forward predictive filterig to compensate gps lag. Code based on Jason Shorts lead filter implementation define GPSFILTERING add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable define GPSWPRADIUS 200 if we are within this distance to a waypoint then we consider it reached (distance is in cm) define NAVSLEWRATE 30 Adds a rate control to nav output, will smoothen out nav angle spikes uncomment this line if you plan to use a LCD or OLED define LCDCONF to include setting the aux switches for AUX1 - gt AUX4 via LCD define LCDCONFAUX if program gets too large (gt32k), need to exclude some functionality uncomment to suppress some unwanted aux3 aux4 items in config menu (only useful if LCDCONFAUX is enabled) define SUPPRESSLCDCONFAUX34 The type of LCD choice of LCD attached for configuration and telemetry, see notes below define LCDDUMMY No Physical LCD attached. With this amp LCDCONF defined, TX sticks still work to set gains, by watching LED blink. define LCDSERIAL3W Alex initial variant with 3 wires, using rx-pin for transmission 9600 baud fixed define LCDTEXTSTAR SERIAL LCD: Cats Whisker LCDTEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus) define LCDVT100 SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.) define LCDTTY SERIAL LCD: useful to tweak parameters over cable with arduino IDE serial monitor define LCDETPP I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial) define LCDLCD03 I2C LCD: LCD03, which is i2c define OLEDI2C128x64 I2C LCD: OLED multiwiiforumviewtopic. phpf7ampt1350 Logo settings define SUPPRESSOLEDI2C128x64LOGO suppress display of OLED logo to save memory 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 - amp. 8 - . 9 - ( You must add both to your lcd. telemetry. sequences define DISPLAYFONTDSIZE currently only aplicable for OLEDI2C128x64 style of display - AUTODETECTED via LCD setting - only activate to override defaults define DISPLAY2LINES define DISPLAYMULTILINE define MULTILINEPRE 2 multiline configMenu pref lines define MULTILINEPOST 6 multiline configMenu post lines Navigation keys to navigate the LCD menu define LCDMENUPREV p define LCDMENUNEXT n define LCDVALUEUP u define LCDVALUEDOWN d define LCDMENUSAVEEXIT s define LCDMENUABORT x To use an LCD03 for configuration: robot-electronics. co. ukhtmLcd03tech. htm Remove the jumper on its back to set i2c control. VCC to 5V VCC (pin1 from top) SDA - Pin A4 Mini Pro - Pin 20 Mega (pin2 from top) SCL - Pin A5 Mini Pro - Pin 21 Mega (pin3 from top) GND to Ground (pin4 from top) To use an Eagle Tree Power Panel LCD for configuration: White wire to Ground Red wire to 5V VCC (or to the WMP power pin, if you prefer to reset everything on th e bus when WMP resets) Yellow wire to SDA - Pin A4 Mini Pro - Pin 20 Mega Brown wire to SCL - Pin A5 Mini Pro - Pin 21 Mega Cats whisker LCDTEXTSTAR LCD Pleae note this display needs a full 4 wire connection to (5V, Gnd, RXD, TXD ) Configure display as follows: 115K baud, and TTL levels for RXD and TXD, terminal mode NO rx tx line reconfiguration, use natural pins. The four buttons sending A, B, C, D are supported for configuration navigation and request of telemetry pages 1-4 to monitor system values (battery level, loop time etc. with LCD enable this note: for now you must send single characters to request different pages Buttons toggle request for page onoff The active page on the LCD does get updated automatically Easy to use with Terminal application or display like LCD - if available uses the 4 preconfigured buttons to send A, B, C, D Activation define LCDTELEMETRY to enable automatic hopping between a choice of telemetry pages uncomment this. This may be useful if your LCD has no buttons or the sending is broken hopping is activated and deactivated in unarmed mode with throttlelow amp rollleft amp pitchforward set it to the sequence of telemetry pages you want to see 2 line displays support pages 1-9 multiline displays support pages 1-5 define LCDTELEMETRYAUTO quot123452679quot pages 1 to 9 in ascending order define LCDTELEMETRYAUT O quot212232425262729quot strong emphasis on page 2 same as above, but manual stepping sequence requires stick input (throttlelow amp rollright amp pitchforward) to step through each defined telemetry page First page of the sequence gets loaded at startup to allow non-interactive display define LCDTELEMETRYSTEP quot0123456789quot should contain a 0 to allow switching off. First page of sequence gets loaded upon startup if program gets too large (gt32k), need to exclude some functionality uncomment to suppress some unwanted telemetry pages (only useful if telemetry is enabled) define SUPPRESSTELEMETRYPAGE1 define SUPPRESSTELEMETRYPAGE2 define SUPPRESSTELEMETRYPAGE3 define SUPPRESSTELEMETRYPAGE4 define SUPPRESSTELEMETRYPAGE5 define SUPPRESSTELEMETRYPAGE6 define SUPPRESSTELEMETRYPAGE7 define SUPPRESSTELEMETRYPAGE8 define SUPPRESSTELEMETRYPAGE9 define RXRSSI define RXRSSIPIN A3 Buzzer 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 for V BAT monitoring after the resistor divisor we should get 0V5V-gt01023 on analog VBATPIN with R 133k and R251k vbat 0102316VBATSCALE 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 VBATLEVELWARN1 107 () 10,7V define VBATLEVELWARN2 99 () 9.9V define VBATLEVELCRIT 93 () 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered define NOVBAT 16 () Avoid beeping without any battery 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 multiwiiwikiindex. phptitlePowermeter 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 POWERMETERSOFT define POWERMETERHARD PLEVELSCALE is the step size you can use to set alarm define PLEVELSCALE 50 if you change this value for other granularity, you must search for comments in code to change accordingly larger PLEVELDIV will get you smaller value for power (mAh equivalent) define PLEVELDIV 5000 () default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter define PLEVELDIVSOFT PLEVELDIV for soft always equal to PLEVELDIV for hard set to 5000 define PSENSORNULL 510 () set to analogRead() value for zero current for I0A my sensor gives 12 Vss that is approx 2.49Volt define PINT2mA 13 () for telemtry display: one integer step on arduino analog translates to mA (example 4.9 37 100 uncomment to disable the altitude hold feature. This is useful if all of the following apply you have a baro want altitude readout do not use altitude hold feature want to save memory space define SUPPRESSBAROALTHOLD Natural alt change for rapid pilots. Its temporary switch OFF the althold when throttle stick is out of deadband defined with ALTHOLDTHROTTLENEUTRALZONE but if its commented: Smooth alt change routine is activated, for slow auto and aerophoto modes (in general solution from alexmos). Its slowly increasedecrease altitude proportional to stick movement (-100 throttle gives about -50 cm in 1 second with cycle time about 3-4ms) define ALTHOLDFASTTHROTTLECHANGE enable to get audio feedback upon risingfalling copterplane. 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 amp 2 1 method 1 2 method 2 define SUPPRESSVARIOMETERUP if no signaling for up movement is desired define SUPPRESSVARIOMETERDOWN if no signaling for down movement is desired define VARIOMETERSINGLETONE use only one tone (BEL) neccessary for non-patched vt100 terminals 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 LCDTTY and use arduino IDEs 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 BOARDNAME quotMultiWii V2.10quot 123456789.123456 Support multiple configuration profiles in EEPROM define MULTIPLECONFIGURATIONPROFILES Experimental: force a stable, fixated (high) cycle time when activated, the displayed cycle time in GUI will not be correct. Tunable via LCD config menu. value of 0 turns the feature off. define CYCLETIMEFIXATED 9000 () Part II as forum limits length of Posts 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 SERVORFR50HZ up to 160Hz servo refreshrate. works with the most analog servos define SERVORFR160HZ 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 SERVORFR300HZ HW PWM Servos HW PWM Servo outputs for Arduino Mega. moves: Pitch pin 44 Roll pin 45 CamTrig pin 46 SERVO4 pin 11 (assigned to PPM or SPECTRUM CH9 on copter configuration) SERVO5 pin 12 (assigned to PPM or SPECTRUM CH10 on copter configuration) this option disable other software PWMs for servos - only five hardware controlled servos avaliable define MEGAHWPWMSERVOS to reduce memory footprint, it is possible to 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 LCDCONF) to tune the parameters or live with the defaults. If you run a LCDOLED via i2c or serialBluetooth, this is safe to use define SUPPRESSALLSERIALMSP 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 SUPPRESSOTHERSERIALCOMMANDS saves approx 0 to 100 bytes, depending on features enabled 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 minmax cycleTimes set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER ltgt PMSOFT) define LOGVALUES 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, powercycleresetinitialize events, arm events, disarm events, last armedTime, failsafedisarm, i2cerrsdisarm To activate set to size of eeprom for your mcu: promini 328p: 1023 2560: 4095. Enable one or more options to show the log define LOGPERMANENT 1023 define LOGPERMANENTSHOWATSTARTUP enable to display log at startup define LOGPERMANENTSHOWATL enable to display log when receiving L define LOGPERMANENTSHOWAFTERCONFIG enable to display log after exiting LCD config menu define LOGPERMANENTSERVICELIFETIME 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 Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated define LCDCONFDEBUG Use this to trigger telemetry without a TX - only for debugging - do NOT fly w ith this activated define LCDTELEMETRYDEBUG This form rolls between all screens, LCDTELEMETRYAUTO must also be defined. define LCDTELEMETRYDEBUG 6 This form stays on the screen specified. Enable string transmissions from copter to GUI define DEBUGMSG to calibrate all ESCs connected to MWii at the same time (useful to avoid unpluggingre-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 code. googlepmultiwiiwikiESCsCalibration define ESCCALIBLOW MINCOMMAND define ESCCALIBHIGH 2000 define ESCCALIBCANNOTFLY 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 63ms18ms value must be 1 65535 define LCDTELEMETRYFREQ 23 to send telemetry data over serial 23 ltgt 60ms ltgt 16Hz (only sending interlaced, so 8Hz update rate) define LCDTELEMETRYAUTOFREQ 967 to step to next telemetry page 967 ltgt 3s define PSENSORFREQ 6 to read hardware powermeter sensor 6 ltgt 18ms define VBATFREQ PSENSORFREQ to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing 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 Uncomment this line, and make sure to comment out the HK board. define CRIUSSE Crius MultiWii SE Just so you know, the ZMR board Crius SE Ive owned both boards and they are identical, just the name on them is different. Different place of manufacture I presume yes thats what mine is defined under. also i thought it was 2.1, worked out its 2.0 so i had to use multiwii 1.4 configwingui. have flashed my board to 2.1 and can say it works with the above defined in wingui 2.1,Jeu 25 Sep 2014 17:36 Je suis nouveau dans le monde Multiwii et jaimerais installer un buzzer sur mon multi. Idalement je voudrais pouvoir lactiver avec un switch sur mon Tx et quil sactive automatiquement en cas de Failsafe (parce que chercher un modle dans des hautes herbes peut tre trs long. ) Pour lactiver sur mes avions jai juste paramtr un switch sur mon Tx. bas pas de son, haut des beeps. Mais l je suis perdu car je ne sais pas exactement o le brancher et quoi activer dans le logiciel Multiwii. Voici ma config. Quad X Tx. Taranis Rx. D4R-II Multiwii 2.3 Crius Aiop v2 RCTimer Mon fichier config. h. Par rapport au fichier dorigine jai juste activ le ppm sum, et le failsafe (mon D4R-II est en No pulse en cas de Failsafe). Code: ifndef CONFIGH define CONFIGH this file consists of several sections to create a working combination you must at least make your choices in section 1. 1 - BASIC SETUP - you must select an option in every block. this assumes you have 4 channels connected to your board with standard ESCs and servos. 2 - COPTER TYPE SPECIFIC OPTIONS - you likely want to check for options for your copter type 3 - RC SYSTEM SETUP 4 - ALTERNATE CPUs amp BOARDS - if you have 5 - ALTERNATE SETUP - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here 6 - OPTIONAL FEATURES - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.) 7 - TUNING amp DEVELOPER - if you know what you are doing you have been warned - (ESCs calibration, Dynamic MotorProp Balancing, Diagnostics, Memory savings. ) 8 - DEPRECATED - these features will be removed in some future release Notes: 1. parameters marked with () in the comment are stored in eeprom and can be changed via serial monitor or LCD. 2. parameters marked with () in the comment are stored in eeprom and can be changed via the GUI The type of multicopter define GIMBAL define BI define TRI define QUADP define QUADX define Y4 define Y6 define HEX6 define HEX6X define HEX6H New Model define OCTOX8 define OCTOFLATP define OCTOFLATX define FLYINGWING define VTAIL4 define AIRPLANE define SINGLECOPTER define DUALCOPTER define HELI120CCPM define HELI90DEG 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 1300 for Turnigy Plush ESCs 10A define MINTHROTTLE 1120 for Super Simple ESCs 10A define MINTHROTTLE 1064 special ESC (simonk) define MINTHROTTLE 1050 for brushed ESCs like ladybird define MINTHROTTLE 1050 () () 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 990 I2C speed define I2CSPEED 100000L 100kHz normal mode, this value must be used for a genuine WMP define I2CSPEED 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 INTERNALI2CPULLUPS 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, Im not sure, the info was gathered via rc forums, be cautious define FFIMUv1 first 9DOFbaro board from Jussi, with HMC5843 lt - confirmed by Alex define FFIMUv2 second version of 9DOFbaro board from Jussi, with HMC5883 lt - confirmed by Alex define FREEIMUv1 v0.1 amp v0.2 amp 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 FREEIMUv035MS FreeIMU v0.3.5MS lt - confirmed by Alex define FREEIMUv035BMP FreeIMU v0.3.5BMP define FREEIMUv04 FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA lt - confirmed by Alex 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 lt - confirmed by Alex define PIPO 9DOF board from erazz define QUADRINO full FC board 9DOFbaro board from witespy with BMP085 baro lt - confirmed by Alex define QUADRINOZOOM full FC board 9DOFbaro board from witespy second edition define QUADRINOZOOMMS full FC board 9DOFbaro board from witespy second edition lt - confirmed by Alex define ALLINONE full FC board or standalone 9DOFbaro board from CSGEU define AEROQUADSHIELDv2 define ATAVRSBIN1 Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power. define SIRIUS Sirius Navigator IMU lt - confirmed by Alex define SIRIUSGPS Sirius Navigator IMU using external MAG on GPS board lt - confirmed by Alex define SIRIUS600 Sirius Navigator IMU using the WMP for the gyro define SIRIUSAIR Sirius Navigator IMU 6050 32U4 from MultiWiiCopter lt - confirmed by Alex define SIRIUSAIRGPS Sirius Navigator IMU 6050 32U4 from MultiWiiCopter with GPSMAG remote located define SIRIUSMEGAv5OSD ParisSirius ITG3050,BMA280,MS5611,HMC5883,uBlox Multiwiicopter lt - confirmed by Alex define MINIWII Jussis MiniWii Flight Controller lt - confirmed by Alex define MICROWII MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from flyduino. net define CITRUSv21 CITRUS from qcrc. ca define CHERRY6DOFv10 define DROTEK10DOF Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or wo LLC define DROTEK10DOFMS Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC define DROTEK6DOFv2 Drotek 6DOF v2 define DROTEK6DOFMPU Drotek 6DOF with MPU6050 define DROTE K10DOFMPU define MONGOOSE10 mongoose 1.0 store. ckdevices define CRIUSLITE Crius MultiWii Lite define CRIUSSE Crius MultiWii SE define CRIUSSEv20 Crius MultiWii SE 2.0 with MPU6050, HMC5883 and BMP085 define OPENLRSv2MULTI OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345 define BOARDPROTO1 with MPU6050 HMC5883L MS baro define BOARDPROTO2 with MPU6050 slave MAG3110 MS baro define GY80 Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC define GY85 Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC define GY86 Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC define GY521 Chinese 6 DOF with MPU6050, LLC define INNOVWORKS10DOF with ITG3200, BMA180, HMC5883, BMP085 available here diymulticopter define INNOVWORKS6DOF with ITG3200, BMA180 available here diymulticopter define MultiWiiMega MEGA MPU6050HMC5883LMS5611 available here diymulticopter define PROTODIY 10DOF mega board define IOIMINIMULTIWII bambucopter define Bobs6DOFV1 BobsQuads 6DOF V1 with ITG 3200 amp BMA180 define Bobs9DOFV1 BobsQuads 9DOF V1 with ITG3200, BMA180 amp HMC5883L define Bobs10DOFBMPV1 BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L amp BMP180 - BMP180 is software compatible with BMP085 define FLYDUINOMPU MPU6050 Break Out onboard 3.3V reg define CRIUSAIOPROV1 define DESQUARED6DOFV2GO DEsquared V2 with ITG3200 only define DESQUARED6DOFV4 DEsquared V4 with MPU6050 define LADYBIRD define MEGAWAPV2STD available here: multircshop lt - confirmed by Alex define MEGAWAPV2ADV define HKMultiWiiSEV2 Hobbyking board with MPU6050 HMC5883L BMP085 define HKMultiWii328P Also labeled quotHobbybroquot on the back. ITG3205 BMA180 BMP085 NMC5583L DSM2 Connector (Spektrum Satellite) define RCNetFC RCNet FC with MPU6050 and MS561101BA rcnet define RCNetFCGPS RCNet FC with MPU6050 MS561101BA HMC5883L UBLOX GPS rcnet define FLYDUULTRA MEGA10DOFMT3339 FC define DIYFLYINGMAGEV1 diyflying 10DOF mega board with MPU6050 HMC5883L BMP085 indoor-flying. hk define MultiWii32U4SE Hextronik MultiWii32U4SE define MultiWii32U4SEnobaro Hextronik MultiWii32U4SE without the MS561101BA for more free flash-memory define Flyduino9DOF Flyduino 9DOF IMU MPU6050HMC5883l define NanoPlane Multiwii Plane version with tail-front LSM330 sensor radiosait. ruenpage5324.html independent sensors leave it commented if you already checked a specific board above I2C gyroscope define WMP define ITG3200 define MPU3050 define L3G4200D define MPU6050 combo ACC define LSM330 combo ACC I2C accelerometer define NUNCHUCK if you want to use the nunckuk connected to a WMP define MMA7455 define ADXL345 define BMA020 def ine BMA180 define BMA280 define NUNCHACK if you want to use the nunckuk as a standalone I2C ACC without WMP define LIS3LV02 define LSM303DLxACC define MMA8451Q I2C barometer define BMP085 define MS561101BA I2C magnetometer define HMC5843 define HMC5883 define AK8975 define MAG3110 Sonar for visualization purpose currently - no control code behind define SRF02 use the Devantech SRF i2c sensors define SRF08 define SRF10 define SRF23 ADC accelerometer for 5DOF from sparkfun, uses analog PIN A1A2A3 define ADCACC Board orientation shift If you have frame designed only for mode and you cannot rotate FC phisycally for flying in X mode (or vice versa) you can use one of of this options for virtual sensors rotation by 45 deegres, then set type of multicopter according to flight mode. Check motors order and directions of motors rotation for matching with new front point Uncomment only one option define SENSORSTILT45DEGRIGHT rotate the FRONT 45 degres clockwise define SENSORSTILT45DEGLEFT rotate the FRONT 45 degres counterclockwise NEW: not used anymore for servo coptertypes lt NEEDS FIXING - MOVE TO WIKI define YAWDIRECTION 1 define YAWDIRECTION -1 if you want to reverse the yaw correction direction define ONLYARMWHENFLAT prevent the copter from arming when the copter is tilted ARMDISARM optionally disable stick combinations to armdisarm the motors. In most cases one of the two options to armdisarm via TX stick is sufficient define ALLOWARMDISARMVIATXYAW define ALLOWARMDISARMVIATXROLL SERVOS info on which servos connect where and how to setup can be found here multiwiiwikiindex. phptitleConfig. hServosconfiguration if you want to preset minmiddlemax values for servos right after flashing, because of limited physical room for servo travel, then you must enable and set all three following options define SERVOMIN define SERVOMAX define SERVOMID () define FORCESERVORATES 0 normal, 1 reverse Cam Stabilisation The following lines apply only for a pitchroll tilt stabilization system. Uncomment the first or second line to activate it define SERVOMIXTILT define SERVOTILT camera trigger function. activated via Rc Options in the GUI, servo outputA2 on promini trigger interval can be changed via (GUI) or via AUX channel define CAMTRIG define CAMTIMEHIGH 1000 the duration of HIGH state servo expressed in ms Airplane define USETHROTTLESERVO For use of standard 50Hz servo on throttle. define FLAPPERONS AUX4 Mix Flaps with Aileroins. define FLAPPERONEP Endpooints for flaps on a 2 way switch else set and program in radio. define FLAPPERONINVERT Change direction om flapperons define FLAPS Traditional Flaps on SERVO3. define FLAPSPEED 3 Make flaps move slowm Higher value is Higher Speed. 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 GOVERNORP 7 () proportional factor. Higher value - gt higher throttle increase. Must be gt1 0 turn off define GOVERNORD 4 () decay timing. Higher value - gt takes longer to return throttle to normal. Must be gt1 define VOLTAGEDROPCOMPENSATION voltage impact correction Heli Channel to control CollectivePitch define COLLECTIVEPITCH THROTTLE Limit the range of Collective Pitch. 100 is Full Range each way and position for Zero Pitch define COLLECTIVERANGE . define YAWMOTOR 0 If a motor is used as YAW Set to 1 else set to 0. Limit Maximum controll for Roll amp Nick in 0-100 define CONTROLRANGE 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 HELIUSESERVOFORTHROTTLE your individu al 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: multiwiiwikiindex. phptitleConfig. hIndividualMixing define MYPRIVATEMIXING quotfilename. hquot 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. multiwiiwikiindex. phptitleConfig. hIndividualdefaults define MYPRIVATEDEFAULTS quotfilename. hquot note: no need to uncomment something in this section if you use a standard receiver 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 SERIALSUMPPM PITCH, YAW, THROTTLE, ROLL, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For GraupnerSpektrum define SERIALSUMPPM ROLL, PITCH, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For RobeHitecFutaba define SERIALSUMPPM ROLL, PITCH, YAW, THROTTLE, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For Multiplex define SERIALSUMPPM PITCH, ROLL, THROTTLE, YAW, AUX1,AUX2,AUX3,AUX4,8,9,10,11 For some HitecSanwaOthers Uncommenting following line allow to connect PPMSUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO) define PPMONTHROTTLE 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 boards 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 SPEKSERIALPORT 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 quotBindquot 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 Ground4, Power5, Signal6. 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 wont 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 SPEKBIND Un-Comment for Spektrum Satellie Bind Support. Code is 420 bytes smaller without it. define SPEKBINDGROUND 4 define SPEKBINDPOWER 5 define SPEKBINDDATA 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 SBUSSERIALPORT 1 define SBUSMIDOFFSET 988 SBUS Mid-Point at 1500 Hexa Motor 5 amp 6 Pins PIN A0 and A1 instead of PIN D5 amp D6 for 6 motors config and promini config This mod allow the use of a standard receiver on a pro mini (no need to use a PPM sum receiver) define A0A1PINHEX Aux 2 Pin possibility to use PIN8 or PIN12 as the AUX2 RC input (only one, not both) it deactivates in this case the POWER PIN (pin 12) or the BUZZER PIN (pin 8) define RCAUXPIN8 define RCAUXPIN12 pin Layout activate this for a better pinlayout if all pins can be used gt not possible on ProMicro define A32U4ALLPINS PWM Setup activate all 6 hardware PWM outputs Motor 5 D11 and 6 D13. note: not possible on the sparkfun promicro (pin 11 amp 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 aux2 pin on pin D17 (RXLED) define RCAUX2PIND17 Buzzer Pin this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) define D8BUZZER Promicro version related Inverted status LED for Promicro ver 10 define PROMICRO10 only enable any of this if you must change the default pin assignment, e. g. your board does not have a specific pin you may need to change PINx and PORTx plus shift according to the desired pin define OVERRIDEVBATPIN A0 instead of A3 Analog PIN 3 define OVERRIDEPSENSORPIN A1 instead of A2 Analog PIN 2 define OVERRIDELEDPINPINMODE pinMode (A1, OUTPUT) use A1 instead of d13 define OVERRIDELEDPINTOGGLE PINC 1ltlt1 PINB 1ltlt5 switch LEDPIN state (digital PIN 13) define OVERRIDELEDPINOFF PORTC amp (1ltlt1) PORTB amp (1ltlt5) define OVERRIDELEDPINON PORTC 1ltlt1 was PORTB (1ltlt5) define OVERRIDEBUZZERPINPINMODE pinMode (A2, OUTPUT) use A2 instead of d8 define OVERRIDEBUZZERPINON PORTC 1ltlt2 PORTB 1 define OVERRIDEBUZZERPINOFF PORTC amp (1ltlt2) PORTB amp Serial com speed This is the speed of the serial interfaces define SERIAL0COMSPEED 115200 define SERIAL1COMSPEED 115200 define SERIAL2COMSPEED 115200 define SERIAL3COMSPEED 115200 interleaving delay in micro seconds between 2 readings WMPNK in a WMPNK config if the ACC calibration time is v ery long (20 or 30s), try to increase this delay up to 4000 it is relevent only for a conf with NK define INTERLEAVINGDELAY 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 NEUTRALIZEDELAY 100000 Lowpass filter for some gyros ITG3200 amp 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 PIDs after changing LPF. define ITG3200LPF256HZ This is the default setting, no need to uncomment, just for reference define ITG3200LPF188HZ define ITG3200LPF98HZ define ITG3200LPF42HZ define ITG3200LPF20HZ define ITG3200LPF10HZ Use this only in extreme cases, rather change motors andor 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 PIDs after changing LPF. define MPU6050LPF256HZ This is the default setting, no need to uncomment, just for reference define MPU6050LPF188HZ define MPU6050LPF98HZ define MPU6050LPF42HZ define MPU6050LPF20HZ define MPU6050LPF10HZ define MPU6050LPF5HZ Use this only in extreme cases, rather change motors andor props Gyro smoothing GYROSMOOTHING. 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 GYROSMOOTHING () 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 FASTERANALOGREADS Angele throttle correction Automatically increase throttle based on the angle of the copter Original idea by Kraut Rob, first implementation HAdrian define THROTTLEANGLECORRECTION 40 Advanced Headfree Mode In Advanced Headfree mode when the copter is farther than ADVHEADFREERANGE meters then the bearing between home and copter position will become the control direction IF cop ter come closer than ADVHEADFREERANGE meters, then the control direction freezed to the bearing between home and copter at the point where it crosses the ADVHEADFREERANGE meter distance first implementation by HAdrian, mods by EOSBandi define ADVANCEDHEADFREE Advanced headfree mode is enabled when this is uncommented define ADVHEADFREERANGE 15 Range where advanced headfree mode activated continuous gyro calibration Gyrocalibration will be repeated if copter is moving during calibration. define GYROCALIBRATIONFAILSAFE AP FlightMode Temporarily Disables GPSHOLDMODE to be able to make it possible to adjust the Hold-position when moving the sticks. define APMODE 40 Create a deadspan for GPS. Assisted AcroTrainer Train Acro with auto recovery. Value set the point where ANGLEMODE takes over. Remember to activate ANGLEMODE first. A Value on 200 will give a very distinct transfer define ACROTRAINERMODE 200 multiwiiforumviewtopic. phpf16ampt1944p17437 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 FAILSAFEDELAY 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 FAILSAFETHROTTLE value. You must set this value to descending about 1ms or so for best results. This value is depended from your configuration, AUW and some other params. Next, after FAILSAFEOFFDELAY the copter is disarmed, and motors is stopped. If RC pulse coming back before reached FAILSAFEOFFDELAY time, after the small quard time the RC control is returned to normal. define FAILSAFE uncomment to activate the failsafe function define FAILSAFEDELAY 10 Guard time for failsafe activation after signal lost. 1 step 0.1sec - 1sec in example define FAILSAFEOFFDELAY 200 Time for Landing before motors stop in 0.1sec. 1 step 0.1sec - 20sec in example define FAILSAFETHROTTLE (MINTHROTTLE 200) () Throttle level used for landing - may be relative to MINTHROTTLE - as in this case define FAILSAFEDETECTTRESHOLD 900 LED FLASHER define LEDFLASHER define LEDFLASHERDDR DDRB define LEDFLASHERPORT PORTB define LEDFLASHERBIT PORTB4 define LEDFLASHERINVERT define LEDFLASHERSEQUENCE 0b00000000 leds OFF define LEDFLASHERSEQUENCEARMED 0b00000101 create double flashes define LEDFLASHERSEQUENCEMAX 0b11111111 full illumination define LEDFLASHERSEQUENCELOW 0b00000000 no illumination Landing lights Landing lights Use an output pin to control landing lights. They can be switched automatically when used in conjunction with altitude data from a sonar unit. define LANDINGLIGHTSDDR DDRC define LANDINGLIGHTSPORT PORTC define LANDINGLIGHTSBIT PORTC0 define LANDINGLIGHTSINVERT altitude above ground (in cm) as reported by sonar define LANDINGLIGHTSAUTOALTITUDE 50 adopt the flasher pattern for landing light LEDs define LANDINGLIGHTSADOPTLEDFLASHERPATTERN INFLIGHT ACC Calibration This will activate the ACC-Inflight calibration if unchecked define INFLIGHTACCCALIBRATION OSD Switch This adds a box that can be interpreted by OSD in activation status (to switch onoff the overlay for instance) define OSDSWITCH 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 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 GPSSERIAL 2 should be 2 for flyduino v2. Its the serial port number on arduino MEGA define GPSPROMINISERIAL 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 GPSBAUD 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 MTKBINARY16 and MTKBINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9) With UBLOX and MTKBINARY you dont have to use GPSFILTERING in multiwii code. define NMEA define UBLOX define MTKBINARY16 define MTKBINARY19 define INITMTKGPS initialize MTK GPS for using selected speed, 5Hz update rate and GGA amp RMC sentence or binary settings I2C GPS device made with an independant arduino GPS device including some navigation functions contribution from EOSBandi code. googlepi2c-gps-nav You have to use at least I2CGpsNav code r33 define I2CGPS If your I2C GPS board has Sonar support enabled define I2CGPSSONAR GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK. define GPSFROMOSD 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 - gt LED blink at speed of incoming GPS frames - Fix and sat no. bellow 5 - gt LED off - Fix and sat no. gt 5 - gt LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7. define GPSLEDINDICATOR define USEMSPWP Enables the MSPWP command, which is used by WinGUI to display and log Home and Poshold positions define DONTRESETHOMEATARM 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 NAVCONTROLSHEADING true copter faces toward the navigation point, maghold must be enabled for it define NAVTAILFIRST false true - copter comes in with tail first define NAVSETTAKEOFFHEADING true true - when copter arrives to home position it rotates its head to takeoff direction Get your magnetic declination from here. magnetic-declination Convert the degreeminutes into decimal degree by gt degreeminutes(160) Note the sign on declination it could be negative or positive (WEST or EAST) define MAGDECLINATION 3.96f For Budapest Hungary. define MAGDECLINATION 0.0f () define GPSLEADFILTER Adds a forward predictive filterig to compensate gps lag. Code based on Jason Shorts lead filter implementation define GPSFILTERING add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable define GPSWPRADIUS 200 if we are within this distance to a waypoint then we consider it reached (distance is in cm) define NAVSLEWRATE 30 Adds a rate control to nav output, will smoothen out nav angle spikes The type of LCD choice of LCD attached for configuration and telemetry, see notes below define LCDDUMMY No Physical LCD attached. With this amp LCDCONF defined, TX sticks still work to set gains, by watching LED blink. define LCDSERIAL3W Alex initial variant with 3 wires, using rx-pin for transmission 9600 baud fixed define LCDTEXTSTAR SERIAL LCD: Cats Whisker LCDTEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus) define LCDVT100 SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.) define LCDTTY SERIAL LCD: useful to tweak parameters over cable with arduino IDE serial monitor define LCDETPP I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial) define LCDLCD03 I2C LCD: LCD03, which is i2c define OLEDI2C128x64 I2C LCD: OLED multiwiiforumviewtopic. phpf7ampt1350 define OLEDDIGOLE I2C OLED from digoleindex. phpproductID550 Display settings define LCDSERIALPORT 0 must be 0 on Pro Mini and single serial boards Set to your choice on any Mega based board define SUPPRESSOLEDI2C128x64LOGO suppress display of OLED logo to save memory 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 - amp. 8 - . 9 - ( You must add both to your lcd. telemetry. sequences define DISPLAYFONTDSIZE currently only aplicable for OLEDI2C128x64 and OLEDDIGOLE style of display - AUTODETECTED via LCD setting - only activate to override defaults define DISPLAY2LINES define DISPLAYMULTILINE define MULTILINEPRE 2 multiline configMenu pref lines define MULTILINEPOST 6 multiline configMenu post lines define DISPLAYCOLUMNS 16 Navigation keys to navigate the LCD menu define LCDMENUPREV p define LCDMENUNEXT n define LCDVALUEUP u define LCDVALUEDOWN d define LCDMENUSAVEEXIT s define LCDMENUABORT x uncomment this line if you plan to use a LCD or OLED for tweaking parameters multiwiiwikiindex. phptitleExtrafeaturesConfigurationMenu define LCDCONF to include setting the aux switches for AUX1 - gt AUX4 via LCD define LCDCONFAUX optional exclude some functionality - uncomment to suppress unwanted aux channel configuration options define SUPPRESSLCDCONFAUX2 define SUPPRESSLCDCONFAUX34 to monitor system values (battery level, loop time etc. with LCD multiwiiwikiindex. phptitleLCDTelemetry to enable automatic hopping between a choice of telemetry pages uncomment this. define LCDTELEMETRYAUTO quot123452679quot pages 1 to 9 in ascending order define LCDTELEMETRYAUTO quot212232425262729quot strong emphasis on page 2 manual stepping sequence first page of the sequence gets loaded at startup to allow non-interactive display define LCDTELEMETRYSTEP quot0123456789quot should contain a 0 to allow switching off. optional exclude some functionality - uncomment to suppress some unwanted telemetry pages define SUPPRESSTELEMETRYPAGE1 define SUPPRESSTELEMETRYPAGE2 define SUPPRESSTELEMETRYPAGE3 define SUPPRESSTELEMETRYPAGE4 define SUPPRESSTELEMETRYPAGE5 define SUPPRESSTELEMETRYPAGE6 define SUPPRESSTELEMETRYPAGE7 define SUPPRESSTELEMETRYPAGE8 define SUPPRESSTELEMETRYPAGE9 define SUPPRESSTELEMETRYPAGER Buzzer 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 91s93 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 for V BAT monitoring after the resistor divisor we should get 910V5V93-gt910102393 on analog VBATPIN with R133k and R251k vbat 91010239316VBATSCALE 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 VBATLEVELWARN1 107 () () 10,7V define VBATLEVELWARN2 99 () () 9.9V define VBATLEVELCRIT 93 () () 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered define NOVBAT 16 Avoid beeping without any battery 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 multiwiiwikiindex. phptitlePowermeter 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 POWERMETERSOFT define POWERMETERHARD define PSENSORNULL 510 () hard only: set to analogRead() value for zero cur rent for I0A my sensor gives 12 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) 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 ALTHOLDTHROTTLENEUTRALZONE 50 define ALTHOLDTHROTTLEMIDPOINT 1500 in us - if uncommented, this value is used in ALTHOLD 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 andor variometer do not use altitude hold feature want to save memory space define SUPPRESSBAROALTHOLD enable to get audio feedback upon risingfalling copterplane. 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 amp 2 1 method 1 2 method 2 define SUPPRESSVARIOMETERUP if no signaling for up movement is desired define SUPPRESSVARIOMETERDOWN if no signaling for down movement is desired define VARIOMETERSINGLETONE use only one tone (BEL) neccessary for non-patched vt100 terminals 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 LCDTTY and use arduino IDEs 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 BOARDNAME quotMultiWii V-.--quot 123456789.123456 Support multiple configuration profiles in EEPROM define MULTIPLECONFIGURATIONPROFILES do no reset constants when change of flashed program is detected define NOFLASHCHECK 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 SERVORFR50HZ up to 160Hz servo refreshrate. works with the most analog servos define SERVORFR160HZ 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 SERVORFR300HZ 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) HW PWM Servo outputs for 32u4 NanoWii, MicroWii etc. - works with either the variable SERVORFRRATE or one of the 3 fixed servo. refresh. rates Tested only for heli120, i. e. 1 motor 4 servos, moves.. motor91093 motor pin 6 servo91393 nick servo pin 11 servo91493 left servo pin 10 servo91593 yaw servo pin 5 servo91693 right servo pin 9 define A32U44HWPWMSERVOS define SERVORFRRATE 50 In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4 define SERVOPIN5RFRRATE 200 separate yaw pwm rate. In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for 32u4 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 LCDCONF) to tune the parameters or live with the defaults. If you run a LCDOLED via i2c or serialBluetooth, this is safe to use define SUPPRESSALLSERIALMSP 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 SUPPRESSOTHERSERIALCOMMANDS 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 SUPPRESSDEFAULTSFROMGUI define DISABLESETTINGSTAB Saves 400bytes on ProMini 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 minmax cycleTimes set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER ltgt PMSOFT) define LOGVALUES 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, powercycleresetinitialize events, arm events, disarm events, last armedTime, failsafedisarm, i2cerrsdisarm Enable one or more options to show the log define LOGPERMANENT define LOGPERMANENTSHOWATSTARTUP enable to display log at startup define LOGPERMANENTSHOWATL enable to display log when receiving L define LOGPERMANENTSHOWAFTERCONFIG enable to display log after exiting LCD config menu define LOGPERMANENTSERVICELIFETIME 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 DEBUGFREE 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 LCDCONFDEBUG Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated define LC DTELEMETRYDEBUG This form rolls between all screens, LCDTELEMETRYAUTO must also be defined. define LCDTELEMETRYDEBUG 6 This form stays on the screen specified. Enable string transmissions from copter to GUI define DEBUGMSG to calibrate all ESCs connected to MWii at the same time (useful to avoid unpluggingre-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 code. googlepmultiwiiwikiESCsCalibration define ESCCALIBLOW MINCOMMAND define ESCCALIBHIGH 2000 define ESCCALIBCANNOTFLY 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 63ms18ms value must be 911 6553593 define LCDTELEMETRYFREQ 23 to send telemetry data over serial 23 ltgt 60ms ltgt 16Hz (only sending interlaced, so 8Hz update rate) define LCDTELEMETRYAUTOFREQ 967 to step to next telemetry page 967 ltgt 3s define PSENSORSMOOTH 16 len of averaging vector for smoothing the PSENSOR readings should be power of 2 set to 1 to disable define VBATSMOOTH 16 len of averaging vector for smoothing the VBAT readings should be power of 2 set to 1 to disable define RSSISMOOTH 16 len of averaging vecto r for smoothing the RSSI readings should be power of 2 set to 1 to disable define DYNBALANCE () Dynamic balancing controlled from Gui 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 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 D12POWER Use D12 on PROMINI to power sensors. Will disable servo91493 on D12 disable use of the POWER PIN (allready done if the option RCAUXPIN12 is selected) define DISABLEPOWERPIN Jai fouill sur le net mais je nai pas trouv grand chose de prcis ma problmatique. A certains endroits je vois des gens qui soudent directement 1 fiche de leur buzzer sur la pin 32 de la carte. En lisant le fichier config. h, jai plutt limpression que cest la sortie d8 (celle ct des sorties moteurs ) qui est utilise, ou la A2 (si on d-commente une ligne). Par contre est-ce que cela va fonctionner avec mon buzzer ou est-ce quil faut en refaire 1 de toutes pices. Jai 3 fiches sur mon buzzer et jai plutt limpression quil ne faut en avoir que 2. Je ne vois rien non plus dans le fichier config. h pour lutilisation que je veux en faire. Est-ce cach ou non cod dorigine Jai dj cod du C lcole mais a fait quelques annes que je nai pas mis les doigts dedans. Est-ce que quelquun utilise un buzzer de la mme faon que moi ou peut maider dans mes recherches. Javoue patauger un peu. Modifi en dernier par Thraun38 le Mer 21 Jan 2015 19:37, modifi 1 fois. Sam 27 Sep 2014 17:32 Ton code fonctionne parfaitement avec mon setup Voici les modifications que jai fait en suivant ton code : Code: Dans le Config. h define BUZZER Dans le Def. h if defined(MEGA) define LEDPINPINMODE pinMode (13, OUTPUT)pinMode (30, OUTPUT) define LEDPINTOGGLE PINB (1ltlt7) PINC (1ltlt7) define LEDPINON PORTB (1ltlt7) PORTC (1ltlt7) define LEDPINOFF PORTB amp (1ltlt7) define BUZZERPINPINMODE pinMode (32, OUTPUT) define BUZZERPINPINMODE DDRH (1ltlt5) For Buzzer on D8 if defined PILOTLAMP define PLPINON PORTC 1ltlt5 define PLPINOFF PORTC amp (1ltlt5) else define BUZZERPINON PORTC 1ltlt5 define BUZZERPINOFF PORTC amp (1ltlt5) define BUZZERPINON PORTH 1ltlt5 For Buzzer on D8 define BUZZERPINOFF PORTH amp (1ltlt5) For Buzzer on D8 endif Mon buzzer fonctionne avec ce code et a rempli mon cahier des charges - a sonne quand jactive un switch sur ma radio (je lai dclar dans MultiwiiConf) - a sonne quand mon multi passe en failsafe Alors par contre a sonne aussi la mise sous tension du multi. Vu que mon buzzer est un buzzer spcial, il a une mlodie un peu lourde loreille gt je vais donc maintenant me pencher sur le code pour dsactiver cette sonnerie la mise sous tension. Si je ny arrive pas jutiliserai un montage perso avec juste un piezo branch sur le signal et le GND du port D8 (le bip la mise sous tension sera alors moins lourd). Je peux aussi dire merci Tomdu38 avec qui jai pass quelques heures au tlphone pour rgler ce buzzer. On a essay pas mal de choses qui auraient d marcher, mais la fin je me suis rendu compte que lorsquon alimentait la Crius avec le port USB, on navait pas de 5v sur les sorties des moteursservos. Jtais sr que a envoyait du jus, mais en fait non. Je pense quil doit encore men vouloir. Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Sam 27 Sep 2014 22:27 Mais non je ten veux pas. les potes sest fait pour dpanner. A charge de revanche. A Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Sam 11 Avr 2015 04:18 slt, je cherche galement a mettre un piezzo buzzer sur la crius(aiop v2) en ppm activable via la radio. cette ligne semble tre la solution. Buzzer Pin this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) define D8BUZZER malheureusement aucune indication ne ressort de google a propos de cette fameuse fiche D8. ayant claqu une apm 2.5 a branch le piezzo un peu partout pour tester, je ne voudrait pas refaire la mme boulette, et prfrais avoir confirmation de lemplacement exacte ou lon doit brancher le et le - du piezzo buzzer sur la crius ( aiop v2 ). Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Sam 11 Avr 2015 15:18 La Pin D8 o jai install mon buzzer est simplement la sortie 8 de la carte, juste ct des sorties vers les ESC. Nakamura utilise aussi juste un buzzer. Je pense quil a mis le du piezo sur le signal de la sortie 8, et le - sur le -. Dans mon post prcdent tu as exactement ce que jai d modifier pour que a fonctionne, et le code de Nakamura peut aussi taider si tu ny arrives pas avec le mien. Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Jeu 11 Juin 2015 15:00 Salut, Super la modif, marche au poil sur crius aiop V2, indispensable en cas de crash dans les hautes herbes. jimagine quil est possible, de la mme manire, dassigner les pin 11amp12 afin de dclencher des leds et des fumignes. Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Ven 12 Juin 2015 03:34 Je pense que oui. Il faut juste faire des essais et y passer un peu de temps. Le code tant open tout est faisable Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2 Ven 12 Juin 2015 15:52 oui cest top pour a lopen source ) Pas toujours vident du premier coup, ou javais tous copiercoll dans le config. h lol maintenant jessaie de comprendre a quoi correspondent les valeurs (13, OUTPUT) et (1ltlt7) a priori, je dirais que (1ltlt7) indique le chemin du pin D8, qui est en fait 6eme broche..mais alors pourquoi 7 et pas 8 ou 6. Re: Installation Buzzer sur Crius Aiop V2 RCTimer Multiwii 2