Originally Posted by xardinen

Second time it flips over and sends pieces of two props flying across the room, this is getting really frustrating. I dont know what Im missing in the configuration.

Sounds like your pids are to low or your sensor directions are not correct. Would be concerned if you cannot connect and read pics in the GUI. Make sure you don't have the aux2-4 connected to the rx. You need to have the GUI connected to be able to ensure the sensors are acting in the correct directions or they will cause any correction to add to the motion and just cause the quad to flip.

Originally Posted by justk1w1

Sounds like your pids are to low or your sensor directions are not correct. Would be concerned if you cannot connect and read pics in the GUI. Make sure you don't have the aux2-4 connected to the rx. You need to have the GUI connected to be able to ensure the sensors are acting in the correct directions or they will cause any correction to add to the motion and just cause the quad to flip.

Im sure the directions are correct. I can use the GUI to read/write but only when I've defined both accelerometer and gyro. But that is no problem as I've assigned Acc to Aux1 now.

I have noticed that when holding the quad in my hand and tilting it its harder to return it to a leveled position than it is tilting it. Is this caused by a too high I term? Last test was with these PIDs:
P: 6,1
I: 0.011
D: 11

My Config.h:
/************************************************** ***********************************************/
/**** CONFIGURABLE PARAMETERS ****/
/************************************************** ***********************************************/

/* 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 & 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 (LCD, telemetry, battery monitor etc.)
* 7 - TUNING & DEVELOPER - if you know what you are doing; you have been warned
*/




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 1 - BASIC SETUP *******/
/***************** ***************/
/************************************************** ***********************************************/

/************************** The type of multicopter ****************************/
//#define GIMBAL
//#define BI
//#define TRI
//#define QUADP
#define QUADX
//#define Y4
//#define Y6
//#define HEX6
//#define HEX6X
//#define OCTOX8
//#define OCTOFLATP
//#define OCTOFLATX
//#define FLYING_WING
//#define VTAIL4
//#define AIRPLANE
//#define SINGLECOPTER
//#define DUALCOPTER
//#define HELI_120_CCPM
//#define HELI_90_DEG

/**************************** 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 1094

/**************************** Motor maxthrottle *******************************/
/* this is the maximum value for the ESCs at full power, this value can be increased up to 2000 */
#define MAXTHROTTLE 1912

/**************************** 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 1000

/********************************** I2C speed ************************************/
//#define I2C_SPEED 100000L //100kHz normal mode, this value must be used for a genuine WMP
#define I2C_SPEED 400000L //400kHz fast mode, it works only with some WMP clones

/*************************** Internal i2c Pullups ********************************/
/* enable internal I2C pull ups (in most cases it is better to use external pullups) */
//#define INTERNAL_I2C_PULLUPS

/************************************************** ************************************/
/***************** boards and sensor definitions ******************/
/************************************************** ************************************/

/*************************** 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, I'm not sure, the info was gathered via rc forums, be cautious */
#define HK_MultiWii_328P
//#define FFIMUv1 // first 9DOF+baro board from Jussi, with HMC5843 <- confirmed by Alex
//#define FFIMUv2 // second version of 9DOF+baro board from Jussi, with HMC5883 <- confirmed by Alex
//#define FREEIMUv1 // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
//#define FREEIMUv03 // FreeIMU v0.3 and v0.3.1
//#define FREEIMUv035 // FreeIMU v0.3.5 no baro
//#define FREEIMUv035_MS // FreeIMU v0.3.5_MS <- confirmed by Alex
//#define FREEIMUv035_BMP // FreeIMU v0.3.5_BMP
//#define FREEIMUv04 // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA <- 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 <- confirmed by Alex
//#define PIPO // 9DOF board from erazz
//#define QUADRINO // full FC board 9DOF+baro board from witespy with BMP085 baro <- confirmed by Alex
//#define QUADRINO_ZOOM // full FC board 9DOF+baro board from witespy second edition
//#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy second edition <- confirmed by Alex
//#define ALLINONE // full FC board or standalone 9DOF+baro board from CSG_EU
//#define AEROQUADSHIELDv2
//#define ATAVRSBIN1 // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
//#define SIRIUS // Sirius Navigator IMU <- confirmed by Alex
//#define SIRIUS600 // Sirius Navigator IMU using the WMP for the gyro
//#define MINIWII // Jussi's MiniWii Flight Controller <- confirmed by Alex
//#define CITRUSv2_1 // CITRUS from qcrc.ca
//#define CHERRY6DOFv1_0
//#define DROTEK_10DOF // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
//#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
//#define DROTEK_6DOFv2 // Drotek 6DOF v2
//#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
//#define DROTEK_10DOF_MPU//
//#define MONGOOSE1_0 // mongoose 1.0 http://store.ckdevices.com/
//#define CRIUS_LITE // Crius MultiWii Lite
//#define CRIUS_SE // Crius MultiWii SE
//#define OPENLRSv2MULTI // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
//#define BOARD_PROTO_1 // with MPU6050 + HMC5883L + MS baro
//#define BOARD_PROTO_2 // with MPU6050 + slave MAG3110 + MS baro
//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
//#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here http://www.diymulticopter.com
//#define PROTO_DIY // 10DOF mega board
//#define IOI_MINI_MULTIWII// www.bambucopter.com
//#define Bobs_6DOF_V1 // BobsQuads 6DOF V1 with ITG3200 & BMA180
//#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
//#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
//#define FLYDUINO_MPU
//#define CRIUS_AIO_PRO_V1

/*************************** independent sensors ********************************/
/* leave it commented if you already checked a specific board above */
/* I2C gyroscope */
//#define WMP
//#define ITG3200
//#define L3G4200D
//#define MPU6050 //combo + ACC

/* I2C accelerometer */
//#define NUNCHUCK // if you want to use the nunckuk connected to a WMP
//#define MMA7455
//#define ADXL345
//#define BMA020
//#define BMA180
//#define NUNCHACK // if you want to use the nunckuk as a standalone I2C ACC without WMP
//#define LIS3LV02
//#define LSM303DLx_ACC

/* 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 A1/A2/A3
//#define ADCACC

/* individual sensor orientation */
//#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = Y; accADC[PITCH] = -X; accADC[YAW] = Z;}
//#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;}
//#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 2 - COPTER TYPE SPECIFIC OPTIONS *******/
/***************** ***************/
/************************************************** ***********************************************/

/******************************** TRI *********************************/
#define YAW_DIRECTION 1
//#define YAW_DIRECTION -1 // if you want to reverse the yaw correction direction
/* you can change the tricopter servo travel here */
#define TRI_YAW_CONSTRAINT_MIN 1020
#define TRI_YAW_CONSTRAINT_MAX 2000
#define TRI_YAW_MIDDLE 1500 // tail servo center pos. - use this for initial trim; later trim midpoint via LCD

/******************************** ARM/DISARM *********************************/
/* optionally disable stick combinations to arm/disarm the motors.
* In most cases one of the two options to arm/disarm via TX stick is sufficient */
#define ALLOW_ARM_DISARM_VIA_TX_YAW
#define ALLOW_ARM_DISARM_VIA_TX_ROLL

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

/* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
//#define CAMTRIG
#define CAM_SERVO_HIGH 2000 // the position of HIGH state servo
#define CAM_SERVO_LOW 1020 // the position of LOW state servo
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
#define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms

/*********************** Flying Wing ***********************/
/* you can change change servo orientation and servo min/max values here
valid for all flight modes, even passThrough mode
need to setup servo directions here; no need to swap servos amongst channels at rx */
#define PITCH_DIRECTION_L 1 // left servo - pitch orientation
#define PITCH_DIRECTION_R -1 // right servo - pitch orientation (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
#define ROLL_DIRECTION_L 1 // left servo - roll orientation
#define ROLL_DIRECTION_R 1 // right servo - roll orientation (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
#define WING_LEFT_MID 1500 // left servo center pos. - use this for initial trim; later trim midpoint via LCD
#define WING_RIGHT_MID 1500 // right servo center pos. - use this for initial trim; later trim midpoint via LCD
#define WING_LEFT_MIN 1020 // limit servo travel range must be inside [1020;2000]
#define WING_LEFT_MAX 2000 // limit servo travel range must be inside [1020;2000]
#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
#define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]

/*********************** Airplane ***********************/
#define SERVO_RATES {100, 100, 100, 100, 100, 100, 100, 100} // Rates in 0-100%
#define SERVO_DIRECTION { -1, 1, 1, -1, 1, 1, 1, 1 } // Invert servos by setting -1

//#define FLAPPERONS AUX4 // Mix Flaps with Aileroins.
#define FLAPPERON_EP { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
//#define FLAPPERON_EP { 1200, 1500 } // Or Flapperons up for CrowMix
#define FLAPPERON_INVERT { 1, -1 } // Change direction om flapperons { Wing1, Wing2 }

//#define FLAPS AUX4 // Traditional Flaps on A2 invert with SERVO_DIRECTION servo[2).
#define FLAP_EP { 1500, 1900 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.

//#define FLAPSPEED 3 // Make flaps move slowm Higher value is Higher Speed.

/*********************** Common for Heli & Airplane ***********************/
//#define D12_POWER // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
#define SERVO_OFFSET { 0, 0, 0, 0, 0, 0, 0, 0 } // Adjust Servo MID Offset & Swash angles
// Selectable channels:= ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4

/*********************** Heli ***********************/
/* Channel to control CollectivePitch */
#define COLLECTIVE_PITCH THROTTLE
/* Set Maximum available movement for the servos. Depending on model */
#define SERVO_ENDPOINT_HIGH {2000,2000,2000,2000,2000,2000,2000,2000};
#define SERVO_ENDPOINT_LOW {1020,1020,1020,1020,1020,1020,1020,1020};

/* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
#define COLLECTIVE_RANGE { 80, 1500, 80 }// {Min%, ZeroPitch, Max%}.
#define YAW_CENTER 1500 // Use servo[5] SERVO_ENDPOINT_HIGH/LOW for the endpoits.
#define YAWMOTOR 0 // If a motor is useed as YAW Set to 1 else set to 0.

/* Servo mixing for heli 120 Use 1/10 fractions (ex.5 = 5/10 = 1/2)
{Coll,Nick,Roll} */
#define SERVO_NICK { +10, -10, -0 }
#define SERVO_LEFT { +10, +5, +10 }
#define SERVO_RIGHT { +10, +5, -10 }

/* Servo mixing for heli 90
{Coll,Nick,Roll} */
#define SERVO_DIRECTIONS { +1, -1, -1 } // -1 will invert servo

/* Limit Maximum controll for Roll & Nick in 0-100% */
#define CONTROLL_RANGE { 100, 100 } // { ROLL,PITCH }

/* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
//#define HELI_USE_SERVO_FOR_THROTTLE

/*********************** Single and DualCopter Settings ***********************/
/* Change to -1 to reverse servomovement per axis
Servosettings for SingleCopter */
#define SINGLECOPTRER_YAW {1, 1, 1, 1} // Left, Right,Front,Rear
#define SINGLECOPTRER_SERVO {1,-1, 1,-1} // Pitch,Pitch,Roll, Roll

/* Servosettings for DualCopter */
#define DUALCOPTER_SERVO {1,1} //Pitch,Roll
/* Use SERVO_OFFSET and SERVO_RATES in Heli and Airplane section for centering and endpoints */




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 3 - RC SYSTEM SETUP *******/
/***************** ***************/
/************************************************** ***********************************************/

/* note: no need to uncomment something in this section if you use a standard receiver */

/************************************************** ************************************/
/******** special receiver types ********************/
/************************************************** ************************************/

/**************************** PPM Sum Reciver ***********************************/
/* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
//#define SERIAL_SUM_PPM PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4 //For Graupner/Spektrum
//#define SERIAL_SUM_PPM ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4 //For Robe/Hitec/Futaba
//#define SERIAL_SUM_PPM PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4 //For some Hitec/Sanwa/Others

/********************** Spektrum Satellite Reciver *******************************/
/* The following lines apply only for Spektrum Satellite Receiver
Spektrum Satellites are 3V devices. DO NOT connect to 5V!
For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
For PROMINI, attach sat grey to RX0. Attach sat black to ground. */
//#define SPEKTRUM 1024
//#define SPEKTRUM 2048

/******************************* SBUS RECIVER ************************************/
/* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1).
You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
//#define SBUS

/******************* RC signal from the serial port via Multiwii Serial Protocol *********/
//#define RCSERIAL




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 4 - ALTERNATE CPUs & BOARDS *******/
/***************** ***************/
/************************************************** ***********************************************/

/************************************************** ************************************/
/******** Promini Specifig Settings ********************/
/************************************************** ************************************/

/************************** Hexa Motor 5 & 6 Pins *******************************/
/* PIN A0 and A1 instead of PIN D5 & 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 A0_A1_PIN_HEX

/********************************* 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


/************************************************** ************************************/
/***************** Teensy 2.0 Support ******************/
/************************************************** ************************************/
/* uncomment this if you use a teensy 2.0 with teensyduino
it needs to run at 16MHz */
//#define TEENSY20


/************************************************** ************************************/
/******** Settings for ProMicro, Leonardo and other Atmega32u4 Boards ***********/
/************************************************** ************************************/

/********************************* pin Layout **********************************/
/* activate this for a better pinlayout if all pins can be used => 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 & 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

/********************************** Aux 2 Pin **********************************/
/* AUX2 pin on pin RXO */
//#define RCAUX2PINRXO

/* 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




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 5 - ALTERNATE SETUP *******/
/***************** ***************/
/************************************************** ***********************************************/

/****** Serial com speed *********************************/
/* This is the speed of the serial interface */
#define SERIAL_COM_SPEED 115200

/* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
it is relevent only for a conf with NK */
#define INTERLEAVING_DELAY 3000

/* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
it is relevent only for a conf with at least a WMP */
#define NEUTRALIZE_DELAY 100000


/************************************************** ************************************/
/******** Gyro filters ********************/
/************************************************** ************************************/

/********************* Lowpass filter for some gyros ****************************/
/* ITG3200 & ITG3205 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define ITG3200_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define ITG3200_LPF_188HZ
//#define ITG3200_LPF_98HZ
//#define ITG3200_LPF_42HZ
//#define ITG3200_LPF_20HZ
//#define ITG3200_LPF_10HZ // Use this only in extreme cases, rather change motors and/or props

/* MPU6050 Low pass filter setting. In case you cannot eliminate all vibrations to the Gyro, you can try
to decrease the LPF frequency, only one step per try. As soon as twitching gone, stick with that setting.
It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
balancing options ran out. Uncomment only one option!
IMPORTANT! Change low pass filter setting changes PID behaviour, so retune your PID's after changing LPF.*/
//#define MPU6050_LPF_256HZ // This is the default setting, no need to uncomment, just for reference
//#define MPU6050_LPF_188HZ
//#define MPU6050_LPF_98HZ
//#define MPU6050_LPF_42HZ
//#define MPU6050_LPF_20HZ
//#define MPU6050_LPF_10HZ
//#define MPU6050_LPF_5HZ // Use this only in extreme cases, rather change motors and/or props

/****** Gyro smoothing **********************************/
/* GYRO_SMOOTHING. In case you cannot reduce vibrations _and_ _after_ you have tried the low pass filter options, you
may try this gyro smoothing via averaging. Not suitable for multicopters!
Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
//#define GYRO_SMOOTHING {20, 20, 3} // separate averaging ranges for roll, pitch, yaw

/************************ Moving Average Gyros **********************************/
//#define MMGYRO // Active Moving Average Function for Gyros
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
/* Moving Average ServoGimbal Signal Output */
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 6 - OPTIONAL FEATURES *******/
/***************** ***************/
/************************************************** ***********************************************/

/* Pseudo-derivative conrtroller for level mode (experimental)
Additional information: http://www.multiwii.com/forum/viewtopic.php?f=8&t=503 */
//#define LEVEL_PDF


/******** Failsave settings ********************/
/* Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
and THROTTLE is set to FAILSAVE_THR0TTLE value. You must set this value to descending about 1m/s or so for best results.
This value is depended from your configuration, AUW and some other params.
Next, afrer FAILSAVE_OFF_DELAY the copter is disarmed, and motors is stopped.
If RC pulse coming back before reached FAILSAVE_OFF_DELAY time, after the small quard time the RC control is returned to normal.
If you use serial sum PPM, the sum converter must completly turn off the PPM SUM pusles for this FailSafe functionality.*/
//#define FAILSAFE // uncomment to activate the failsafe function
#define FAILSAVE_DELAY 10 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
#define FAILSAVE_OFF_DELAY 200 // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
#define FAILSAVE_THROTTLE (MINTHROTTLE + 200) // Throttle level used for landing - may be relative to MINTHROTTLE - as in this case


/***************** DFRobot LED RING *********************************/
/* I2C DFRobot LED RING communication */
//#define LED_RING

/******************************** LED FLASHER ***********************************/
//#define LED_FLASHER
//#define LED_FLASHER_DDR DDRB
//#define LED_FLASHER_PORT PORTB
//#define LED_FLASHER_BIT PORTB4
//#define LED_FLASHER_SEQUENCE ( (uint8_t) 0 )
// create double flashes
//#define LED_FLASHER_SEQUENCE_ARMED ( (uint8_t) (1<<0 | 1<<2) )
// full illumination
//#define LED_FLASHER_SEQUENCE_MAX 0xFF


/******************************* 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 LANDING_LIGHTS_DDR DDRC
//#define LANDING_LIGHTS_PORT PORTC
//#define LANDING_LIGHTS_BIT PORTC0

/* altitude above ground (in cm) as reported by sonar */
//#define LANDING_LIGHTS_AUTO_ALTITUDE 50


/************************* INFLIGHT ACC Calibration *****************************/
/* This will activate the ACC-Inflight calibration if unchecked */
//#define INFLIGHT_ACC_CALIBRATION

/************************** Disable WMP power pin *******************************/
/* disable use of the POWER PIN
(allready done if the option RCAUXPIN12 is selected) */
//#define DISABLE_POWER_PIN


/************************************************** ************************************/
/*********************** TX-related **************************/
/************************************************** ************************************/

/* 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

/* defines the neutral zone of throttle stick during altitude hold, default setting is
+/-20 uncommend and change the value below if you want to change it. */
//#define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 20


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

/* GPS using a SERIAL port
only available on MEGA boards (this might be possible on 328 based boards in the future)
if enabled, define here the Arduino Serial port number and the UART speed
note: only the RX PIN is used, the GPS is not configured by multiwii
the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
#define GPS_BAUD 115200

//#define GPS_PROMINI_SERIAL 57600 // Will Autosense if GPS is connected when ardu boots

/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBandi http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
//#define I2C_GPS

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

/* indicate a valid GPS fix with at least 5 satellites by flashing the LED? */
#define GPS_LED_INDICATOR

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

//#define USE_MSP_WP //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
//Uncomment it if you are planning to use WinGUI - Will cost +208 bytes of Flash

//#define DONT_RESET_HOME_AT_ARM // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)

/* GPS navigation can control the heading */

#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for it
#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction


/* Get your magnetic decliniation from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINIATION 3.96f //For Budapest Hungary.
#define MAG_DECLINIATION 0.0f

#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
#define GPS_LOW_SPEED_D_FILTER // below .5m/s speed ignore D term for POSHOLD_RATE, theoretically this also removed D term induced noise commnent out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes


/************************************************** ************************************/
/*********************** LCD/OLED - display settings *********************/
/************************************************** ************************************/

/* uncomment this line if you plan to use a LCD or OLED */
//#define LCD_CONF

/* to include setting the aux switches for AUX1 -> AUX4 via LCD */ //to review (activate[] is now 16 bit long)
//#define LCD_CONF_AUX

/* if program gets too large (>32k), need to exclude some functionality */
/* uncomment to suppress some unwanted aux3 aux4 items in config menu (only useful if LCD_CONF_AUX is enabled) */
//#define SUPPRESS_LCD_CONF_AUX34

/***************************** The type of LCD **********************************/
/* choice of LCD attached for configuration and telemetry, see notes below */
//#define LCD_SERIAL3W // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
//#define LCD_TEXTSTAR // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
//#define LCD_VT100 // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
//#define LCD_ETPP // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
//#define LCD_LCD03 // I2C LCD: LCD03, which is i2c
//#define OLED_I2C_128x64 // I2C LCD: OLED http://www.multiwii.com/forum/viewtopic.php?f=7&t=1350

/****************************** Logo settings ***********************************/
//#define SUPPRESS_OLED_I2C_128x64LOGO // suppress display of OLED logo to save memory

/* style of display - AUTODETECTED via LCD_ setting - only activate to overwrite defaults */
//#define DISPLAY_2LINES
//#define DISPLAY_MULTILINE
//#define MULTILINE_PRE 2 // multiline configMenu # pref lines
//#define MULTILINE_POST 6 // multiline configMenu # post lines
/******************************** Navigation ***********************************/
/* keys to navigate the LCD menu (preset to LCD_TEXTSTAR key-depress codes)*/
#define LCD_MENU_PREV 'a'
#define LCD_MENU_NEXT 'c'
#define LCD_VALUE_UP 'd'
#define LCD_VALUE_DOWN 'b'

#define LCD_MENU_SAVE_EXIT 's'
#define LCD_MENU_ABORT 'x'

/* To use an LCD03 for configuration:
http://www.robot-electronics.co.uk/htm/Lcd03tech.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 the 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 */

/* Cat's whisker LCD_TEXTSTAR 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 */


/************************************************** ************************************/
/*********************** telemetry **************************/
/************************************************** ************************************/

/* 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 on/off
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 LCD_TELEMETRY

/* 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 throttle=low & roll=left & pitch=forward
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 LCD_TELEMETRY_AUTO "123452679" // pages 1 to 7 in ascending order
//#define LCD_TELEMETRY_AUTO "212232425262729" // strong emphasis on page 2

/* same as above, but manual stepping sequence; requires
stick input (throttle=low & roll=right & pitch=forward) to
step through each defined telemetry page */
//#define LCD_TELEMETRY_STEP "0123456789" // must begin with 0


/* on telemetry page B (2) it gives a bar graph which shows how much voltage battery has left. Range from 0 to 12 Volt is not very informative
so we try do define a meaningful range. For a 3S battery we define full=12,6V and calculate how much it is above first warning level
Example: 12.6V - VBATLEVEL1_3S (for me = 126 - 102 = 24) */
#define VBATREF 24

/* if program gets too large (>32k), need to exclude some functionality
uncomment to suppress some unwanted telemetry pages (only useful if telemetry is enabled) */
//#define SUPPRESS_TELEMETRY_PAGE_1
//#define SUPPRESS_TELEMETRY_PAGE_2
//#define SUPPRESS_TELEMETRY_PAGE_3
//#define SUPPRESS_TELEMETRY_PAGE_4
//#define SUPPRESS_TELEMETRY_PAGE_5
//#define SUPPRESS_TELEMETRY_PAGE_6
//#define SUPPRESS_TELEMETRY_PAGE_7
//#define SUPPRESS_TELEMETRY_PAGE_8
//#define SUPPRESS_TELEMETRY_PAGE_9

/************************************************** ******************/
/**** 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)

/************************************************** ******************/
/**** battery voltage monitoring ****/
/************************************************** ******************/
/* for V BAT monitoring
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
with R1=33k and R2=51k
vbat = [0;1023]*16/VBATSCALE
must be associated with #define BUZZER ! */
//#define VBAT // uncomment this line to activate the vbat code
#define VBATSCALE 131 // change this value if readed Battery voltage is different than real voltage
#define VBATLEVEL1_3S 107 // 10,7V
#define VBATLEVEL2_3S 103 // 10,3V
#define VBATLEVEL3_3S 99 // 9.9V
#define NO_VBAT 16 // Avoid beeping without any battery


/************************************************** ******************/
/**** powermeter (battery capacity monitoring) ****/
/************************************************** ******************/

/* enable monitoring of the power consumption from battery (think of mAh)
allows to set alarm value in GUI or via LCD
Two options:
1 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC
00. relies on your combo of battery type (Voltage, cpacity), ESC, ESC settings, motors, props and multiwii cycle time
01. set POWERMETER soft. Uses PLEVELSCALE = 50, PLEVELDIV = PLEVELDIVSOFT = 5000
0. output is a value that linearily scales to power (mAh)
1. get voltage reading right first
2. start with freshly charged battery
3. go fly your typical flight (routine and duration)
4. at end connect to GUI or LCD and read the power value; write it down (example 4711)
5. charge battery, write down amount of energy needed (example 722 mAh)
6. compute alarm value for desired power threshold (example 750 mAh : alarm = 4711 / 722 * 750)
7. set alarm value in GUI or LCD
8. enjoy your new battery alarm - possibly repeat steps 2 .. 7
9. if you want the numbers to represent your mAh value, you must change PLEVELDIV
2 - hard: - (uses hardware sensor, after configuration gives reasonable results
00. uses analog pin 2 to read voltage output from sensor.
01. set POWERMETER hard. Uses PLEVELSCALE = 50
02. install low path filter for 25 Hz to sensor input
03. check your average cycle time. If not close to 3ms, then you must change PLEVELDIV accordingly
1. compute PLEVELDIV for your sensor (see below for insturctions)
2. set PLEVELDIVSOFT to 5000 ( to use LOG_VALUES for individual motor comparison)
3. attach, set PSENSORNULL and PINT2mA
4. configure, compile, upload, set alarm value in GUI or LCD
3. enjoy true readings of mAh consumed
set POWERMETER to "soft" (1) or "hard" (2) depending on sensor you want to utilize */
//#define POWERMETER_SOFT
//#define POWERMETER_HARD
/* the sum of all powermeters ranges from [0:60000 e4] theoretically.
the alarm level from eeprom is out of [0:255], so we multipy alarm level with PLEVELSCALE and with 1e4 before comparing
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 PLEVELDIV 1361L // to convert the sum into mAh divide by this value
/* amploc 25A sensor has 37mV/A
arduino analog resolution is 4.9mV per unit; units from [0..1023]
sampling rate 20ms, approx 19977 micro seconds
PLEVELDIV = 37 / 4.9 * 10e6 / 18000 * 3600 / 1000 = 1361L
set to analogRead() value for zero current */
#define PSENSORNULL 510 // for I=0A my sensor gives 1/2 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




/************************************************** ***********************************************/
/***************** ***************/
/**************** SECTION 7 - TUNING & DEVELOPER **************/
/***************** ***************/
/************************************************** ***********************************************/

/************************************************** ************************************/
/******** special ESC with extended range [0-2000] microseconds ********************/
/************************************************** ************************************/
//#define EXT_MOTOR_RANGE

/************************************************** ************************************/
/*********************** motor, servo and other presets ***********************/
/************************************************** ************************************/
/* motors will not spin when the throttle command is in low position
this is an alternative method to stop immediately the motors */
//#define MOTOR_STOP

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

/*********************** Servo Refreshrates ***********************/
/* Default 50Hz Servo refresh rate*/
#define SERVO_RFR_50HZ

/* up to 160Hz servo refreshrate .. works with the most analog servos*/
//#define SERVO_RFR_160HZ

/* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
for use with digital servos
dont use it with analog servos! thay may get damage. (some will work but be careful) */
//#define SERVO_RFR_300HZ

/*********************** HW PWM Servos ***********************/
/* HW PWM Gimbal for Arduino Mega.. moves:
Pitch = pin 44
Roll = pin 45
this reduces the PWM resolution for all other servos to 8 bit */
//#define MEGA_HW_GIMBAL

/************************************************** ******************/
/**** IMU complimentary filter tuning ****/
/************************************************** ******************/

/* Set the Low Pass Filter factor for ACC
Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time
Comment this out if you want to set a specific coeff (non default)*/
//#define ACC_LPF_FACTOR 100

/* Set the Low Pass Filter factor for Magnetometer
Increasing this value would reduce Magnetometer noise (not visible in GUI), but would increase Magnetometer lag time
Comment this out if you want to set a specific coeff (non default)*/
//#define MG_LPF_FACTOR 4

/* Set the Gyro Weight for Gyro/Acc complementary filter
Increasing this value would reduce and delay Acc influence on the output of the filter
Comment this out if you want to set a specific coeff (non default)*/
//#define GYR_CMPF_FACTOR 400.0f

/* Set the Gyro Weight for Gyro/Magnetometer complementary filter
Increasing this value would reduce and delay Magnetometer influence on the output of the filter
Comment this out if you want to set a specific coeff (non default)*/
//#define GYR_CMPFM_FACTOR 200.0f


/************************************************** ******************/
/**** diagnostics ****/
/************************************************** ******************/

/* to log values like max loop time and others to come
logging values are visible via LCD config
set to 2, if you want powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
//#define LOG_VALUES 1

/* 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 LCD_CONF_DEBUG

/* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
//#define LCD_TELEMETRY_DEBUG //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
//#define LCD_TELEMETRY_DEBUG 6 //This form stays on the screen specified.


/************************************************** ******************/
/**** ESCs calibration ****/
/************************************************** ******************/

/* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
Warning: this creates a special version of MultiWii Code
You cannot fly with this special version. It is only to be used for calibrating ESCs
Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration */
#define ESC_CALIB_LOW MINCOMMAND
#define ESC_CALIB_HIGH MAXTHROTTLE
//#define ESC_CALIB_CANNOT_FLY // uncomment to activate

/**** internal frequencies ****/
/* frequenies for rare cyclic actions in the main loop, depend on cycle time
time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
example: with cycle time of approx 3ms, do action every 6*3ms=18ms
value must be [1; 65535] */
#define LCD_TELEMETRY_FREQ 23 // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
#define LCD_TELEMETRY_AUTO_FREQ 667 // to step to next telemetry page 667 <=> 2s
#define PSENSORFREQ 6 // to read hardware powermeter sensor 6 <=> 18ms
#define VBATFREQ PSENSORFREQ // to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing

/************************************************** ******************/
/**** Regression testing ****/
/************************************************** ******************/

/* for development only:
to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
together. This is meant to help detecting compile time errors for various features in a coordinated way.
It is not meant to produce your flying firmware
To use:
- do not set any options in config.h,
- enable with #define COPTERTEST 1, then compile
- if possible, check for the size
- repeat with other values of 2, 3, 4 etc.
*/
//#define COPTERTEST 1

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

Your config looks pretty standard. Only one thing I could see was under arm/disarm - you have both options enabled - not a biggie, but should just pick one and stick with that for all your builds.
There is a test you can do - REMOVE your props. Hold the quad, arm the quad and give enough throttle to get motors spinning. Tilt the quad to the right and make sure motors on right speed up and left slow. Pitch the quad forward and make sure front motors speed up and back slow down. The other test I normally do is the same but with props on - this is dangerous and only do this if u know what you are doing - but doing this you can feel the quad resist the movement .. if yours is adding the the quad could flip in your hand. Complete test 1 first WITHOUT props.

If you have followed the sensor direction test the you should be confident the sensors are correct - check your motor rotation is correct and also you have the correct props on.

@xardinen download the latest dev code here http://multiwii.googlecode.com/files..._dev_r1240.zip and flash it to your FCB make sure you define the correct board, pullups, i2c speed, and throttle min and max command.

Originally Posted by justk1w1

Your config looks pretty standard. Only one thing I could see was under arm/disarm - you have both options enabled - not a biggie, but should just pick one and stick with that for all your builds.
There is a test you can do - REMOVE your props. Hold the quad, arm the quad and give enough throttle to get motors spinning. Tilt the quad to the right and make sure motors on right speed up and left slow. Pitch the quad forward and make sure front motors speed up and back slow down. The other test I normally do is the same but with props on - this is dangerous and only do this if u know what you are doing - but doing this you can feel the quad resist the movement .. if yours is adding the the quad could flip in your hand. Complete test 1 first WITHOUT props.

If you have followed the sensor direction test the you should be confident the sensors are correct - check your motor rotation is correct and also you have the correct props on.

The sensors/motors are all correct, when I tilt the copter to one direction the motors on that side speed up. Prop direction is correct aswell, but what Im saying is that if I tilt to quad say 20 degrees forward the front motors rev up lets say 20% more rpm. But when I tilt it back to the level position the back motors rev up 40%. These numbers are not correct but used to give you an idea of what's going on.
What's the advantage of the Dev code?

I put the same board in the little Hobby King quad, it's actually my first MWC experience so there was some pain involved.
First, picking the right board in config.h was not easy. The first few gave me very erratic readings for the roll gyro in the trace. I wound up using '#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L' because that finally stabilized the traces; (there's a huge hole in that part of the documentation available.)
After that, I set all my channel reversing and then moved on to the PID settings.
The initial values 4, 0.035, and 23 were to high and yielded an almost uncontrollable oscillation. I wound up backing them down to 2.3, 0.03, and 10 to get a decent hover in acro mode.
I am still tweaking level mode, it seems to work but there is a small amount of high-speed oscillation still. I believe my Level PID settings are 7, .045, and 0. There's not much info out there for setting that parameter set either.
It's not quite up to Naza flight but it definitely flies better than my V5.5 KK board.
I hope this helps.
-Jim

Originally Posted by jkrause528

I put the same board in the little Hobby King quad, it's actually my first MWC experience so there was some pain involved.
First, picking the right board in config.h was not easy. The first few gave me very erratic readings for the roll gyro in the trace. I wound up using '#define Bobs_9DOF_V1 // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L' because that finally stabilized the traces; (there's a huge hole in that part of the documentation available.)
After that, I set all my channel reversing and then moved on to the PID settings.
The initial values 4, 0.035, and 23 were to high and yielded an almost uncontrollable oscillation. I wound up backing them down to 2.3, 0.03, and 10 to get a decent hover in acro mode.
I am still tweaking level mode, it seems to work but there is a small amount of high-speed oscillation still. I believe my Level PID settings are 7, .045, and 0. There's not much info out there for setting that parameter set either.
It's not quite up to Naza flight but it definitely flies better than my V5.5 KK board.
I hope this helps.
-Jim

Thanks, what kind of motors do you use? I know that the PIDs that works for you and your configuration doesn't necessary work for me but it gives me some perspective to work with.

The Motors are: 1811 2900kv brushless motors
https://www.hobbyking.com/hobbyking/s...idProduct=8142
and the ESC's are: Multistar 10amp esc https://www.hobbyking.com/hobbyking/s..._ESC_2_3S.html

Originally Posted by xardinen

The sensors/motors are all correct, when I tilt the copter to one direction the motors on that side speed up. Prop direction is correct aswell, but what Im saying is that if I tilt to quad say 20 degrees forward the front motors rev up lets say 20% more rpm. But when I tilt it back to the level position the back motors rev up 40%. These numbers are not correct but used to give you an idea of what's going on.
What's the advantage of the Dev code?

If you tilt the quad forward 20 degrees the front motors speed up and then tilt back to level and you say that they are faster. The intial tilt correction is based on the gyro and when in level mode the tilt correction is assisted by the acc the faster you try to tilt then the higher the value of the correction. When you Plug power into the quad, is this the postion that you actually arm and try to fly from?? I only ask this as the startup routine performs an acc calibration so you have to make sure that the quad is level when you plug in. The other option is to use the sticks to to calibrate the acc before you arm it - there's a stick routine sheet on the website which will show you what to do.
I'm using the standard MW2.1 at this stage, which is stable, so you shouldn't have any issues. Can you plug the quad into a PC and upload a pic of the realtime data?? Have you balanced the props and the motors?? Is there any excessive vibration?? Can you take a video of what is happening and post it up so we can see??

Originally Posted by justk1w1

If you tilt the quad forward 20 degrees the front motors speed up and then tilt back to level and you say that they are faster. The intial tilt correction is based on the gyro and when in level mode the tilt correction is assisted by the acc the faster you try to tilt then the higher the value of the correction. When you Plug power into the quad, is this the postion that you actually arm and try to fly from?? I only ask this as the startup routine performs an acc calibration so you have to make sure that the quad is level when you plug in. The other option is to use the sticks to to calibrate the acc before you arm it - there's a stick routine sheet on the website which will show you what to do.
I'm using the standard MW2.1 at this stage, which is stable, so you shouldn't have any issues. Can you plug the quad into a PC and upload a pic of the realtime data?? Have you balanced the props and the motors?? Is there any excessive vibration?? Can you take a video of what is happening and post it up so we can see??

I always make sure that I plug it in on a level surface. I'll try to get the photos and video later today for you to view.

EDIT: It's airborne and it's quite stable. I started off by using Jkrauses PiDs and increased the P term. I had some twitches that I almost eliminated by defining these two lines:
/************************ Moving Average Gyros **********************************/
#define MMGYRO // Active Moving Average Function for Gyros
#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector

I still have some tinkering before achieving perfect Acro mode and then I'll move on to Level mode. I have a feeling that configuring Level mode might be a serious prop eater. I assume that I dont have to change the gyro PIDs once they are good while configuring Level mode?

Might pay to wait for the photo's but sounds like u have some vibration getting through to the sensors if you have to enable the moving average. All mine I have setup without any low pass filters or using the moving average ... checkout the vibration.. I use a siesmic app on my iPhone.. plug in one motor at a time .. props off and a bit of bluetak to balance the motor .. then balance the props then check balance with prop on. There's some good YouTube out there. Forgot to ask have you set the throttle end points for the esc's?
If you get pass through setup - going to level should make it more stable as long as the sensors are correct and minimal vibration. Minimising the vibration is the hardest .. pid tuning is then a lot of testing. Its well worth it

I was looking at this board on HK, as well as other MWC's. This may be a stupid question, but will these MWC boards work out of the box? Or do I have to download a software program to program them? I was thinking of putting together a 330 size quad as a fun little side project.

Originally Posted by NCC1701D

I was looking at this board on HK, as well as other MWC's. This may be a stupid question, but will these MWC boards work out of the box? Or do I have to download a software program to program them? I was thinking of putting together a 330 size quad as a fun little side project.

Some people claim that they run this MWC board out of the box from HK. I have a hard time believing this but some people are just lucky. But hey - this removes the fun out of MWC which is in my opinion the hard work you put into it, uploading code, debugging, testing, picking up the pieces of the props scattered across the floor/ground, and ultimately (maybe) see it fly in a stable and decent way

Justk1w1: Yes, I should do a proper rework of my motors/props in terms of balancing.

@xardinen the recent dev code have this board already supported so you dont have to tinker much about the defines. im flying my mini h quad with stock pids except for P which is at 2.8. my quad is quite heavy as you can see in the pix but still hovers at mid stick and is very stable.

balsa and hardwood sticks
1811-2000 motors
10a multistar esc
HK 328p fcb
hk 5030 props with theraband o-rings on stock propsavers
FS 6ch Rx
900mah 3s lipo

17 cm motor 2 motor

6-7minutes of flight time.

Have this FC and it works good on my 250mm M2M DIY mini quad. P is at 2.0, D at 20, and I left unchanged.



One thing I noticed is that Digital PIN8 is not connected anywhere and the connector labeled BUZZ is actually connected with PIN9. I cut trace between the connectors and hardwired PIN8 to BUZZ connector to enable me to use the MW buzzer capability.