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docs:config.h [2017/10/31 07:16]
silverxxx 		docs:config.h [2017/10/31 11:50] (current)
silverxxx
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-==== Config.h settings ====+====== Config.h settings ======
  
-Settings found in config.h are used for customizing quadcopter flight settings and a number of software settings.+Settings found in config.h are used for customizing the quadcopter's flight settings and a number of software settings. It's not neccesary to change most options, mainly rate and channels as they are a matter of preference.
  
-==== Flight control settings ==== +==== Rate ====
- +
-This settings comprise of rate control, high and low, expo, if needed to be performed by quad itself ( for stock tx) and switch config, mainly for level mode switching. +
- +
-=== Rate ===+
  
 The rate is changed by the following lines in config.h file. The unit is degrees / second. The number is the rotation rate at max stick deflection, for example 360 would perform a full turn in 1 second. The rate is changed by the following lines in config.h file. The unit is degrees / second. The number is the rotation rate at max stick deflection, for example 360 would perform a full turn in 1 second.
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 </code> </code>
  
-=== Switches (auxiliary channels) ===+==== Expo ==== 
 + 
 +Normally, expo would be set in the transmitter, but if required it can also be set in software 
 + 
 +<code> 
 +//#define DISABLE_EXPO 
 + 
 +#define EXPO_XY 0.3 
 +#define EXPO_YAW 0.3 
 +</code> 
 + 
 +Range is 0.0 - 1.0, where zero is linear. Higher numbers are less sensitive near center, values 0.6 - 0.8 are commonly used ( 60% - 80% ) 
 + 
 +==== Switches (auxiliary channels) ====
  
 Switches/buttons are used to control functions such as level/acro mode change, dual rates and flips. Switches/buttons are used to control functions such as level/acro mode change, dual rates and flips.
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 // level / acro mode switch // level / acro mode switch
  
-// CH_FLIP - 0 - flip +// CH_FLIP - flip 
-// CH_EXPERT - 1 - expert +// CH_EXPERT - expert 
-// CH_HEADFREE - 2 - headfree +// CH_HEADFREE - headfree 
-// CH_RTH - 3 - headingreturn +// CH_RTH - headingreturn 
-// CH_AUX1 - 4 - AUX1 ( gestures <<v and>>v) +// CH_AUX1 - AUX1 ( gestures <<v and>>v) 
-// CH_PIT_TRIM - 6 - Pitch trims +// CH_PIT_TRIM - Pitch trims ***1** 
-// CH_RLL_TRIM - 7 - Roll trims +// CH_RLL_TRIM - Roll trims ***1** 
-// CH_THR_TRIM - 8 - Throttle trims +// CH_THR_TRIM - Throttle trims ***1** 
-// CH_YAW_TRIM - 9 - Yaw trims +// CH_YAW_TRIM - Yaw trims ***1** 
-// CH_INV 10 - Inverted mode +// CH_INV - Inverted mode 
-// CH_VID 7 - +// CH_VID 
-// CH_PIC 8 - +// CH_PIC 
-// CH_ON - 10 - on always +// CH_ON - on always 
-// CH_OFF - 11 - off always +// CH_OFF - off always 
-//+
 // devo can use DEVO_CHAN_5 - DEVO_CHAN_10 // devo can use DEVO_CHAN_5 - DEVO_CHAN_10
  
 #define RATES CH_EXPERT #define RATES CH_EXPERT
- 
 #define LEVELMODE CH_AUX1 #define LEVELMODE CH_AUX1
- 
 #define STARTFLIP CH_OFF #define STARTFLIP CH_OFF
 +#define LEDS_ON CH_FLIP
  
-#define LEDS_ON CH_FLIP+// ***1**  available only when #define USE_STOCK_TX is set
 </code> </code>
  
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 Available channels depend on the //radio protocol// selected, the ones described are for Bayang protocol ( recomended ) Available channels depend on the //radio protocol// selected, the ones described are for Bayang protocol ( recomended )
- +=== Stock tx ===
-**Stock tx**+
  
 The trim buttons do not do anything in the stock tx. To use the trims for controlling a function, set the function channel to the trim (such as CH_PIT_TRIM - pitch trims) and enable "#define USE_STOCK_TX" The trim buttons do not do anything in the stock tx. To use the trims for controlling a function, set the function channel to the trim (such as CH_PIT_TRIM - pitch trims) and enable "#define USE_STOCK_TX"
  
 //Do not enable "**#define USE_STOCK_TX**" if you want to use a devo or tx module and the trims are set as a function!// //Do not enable "**#define USE_STOCK_TX**" if you want to use a devo or tx module and the trims are set as a function!//
- +=== Devo tx ===
-**Devo tx**+
  
 Silverware supports setting a channel number as found in DeviationTX:<font 14px/inherit;;inherit;;inherit>DEVO_CHAN_5 - DEVO_CHAN_10 for use with deviaton tx or with nrf_multipro module.</font> Silverware supports setting a channel number as found in DeviationTX:<font 14px/inherit;;inherit;;inherit>DEVO_CHAN_5 - DEVO_CHAN_10 for use with deviaton tx or with nrf_multipro module.</font>
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 For the multimodule, use MULTI_CHAN_5 for channel 5, for example. For the multimodule, use MULTI_CHAN_5 for channel 5, for example.
  
-==== Other settings ==== +==== Auto throttle feature ====
- +
-**Auto throttle feature:**+
  
 The auto throttle will keep a constant upwards thrust as the quad leans in one direction. Used in level mode, usually. The auto throttle will keep a constant upwards thrust as the quad leans in one direction. Used in level mode, usually.
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 </code> </code>
  
-**Lower throttle feature**+==== Lower throttle feature ====
  
-With this option enabled, the quadcopter will lower the throttle in order to maintain better control near full throttle. Without it (default) the quadcopter will usually lean slightly in one direction at full throttle, as there may not be enough control ability. (the motors can't increase over maximum).+With this option enabled, the quadcopter will lower the throttle in order to maintain better control near full throttle. Without it (default) the quadcopter will usually lean slightly in one direction at full throttle, as there may not be enough control ability. ( at least one motor is producing maximum thrust ). The throttle is lowered by an amount as such that the motors are no longer maxed.
  
-Usually, other firmwares have this option on, but in silverware, it is optional, because it results in a loss of thrust at full throttle, which small brushed quads most certainly can do without.+Usually, other firmwares have this option enabled, but in silverware it is optional, because it results in a loss of thrust at full throttle, which small brushed quads most certainly can do without.
  
-An opposite option, increase thrust, is of use when throttle is near zero, and will improve control in such situations.+An opposite option, increase thrust, is of use when throttle is near zero, and will improve control in such situations. The increase throttle option should be used with care while tuning quadcopters, as oscillation could result in continuous ascend.
  
-The "type 3" mix is more useful with brushless builds, it's instant acting, but it also has the largest throttle loss.+The "type 3" mix is more useful with brushless builds, it's instant acting, but it also has the largest throttle loss (or increase ).
  
 <code> <code>
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 </code> </code>
  
-\\ +==== Throttle transient compensation ====
-**Throttle transient compensation feature**+
  
 The TTCF feature improves throttle response of the quadcopter. The curve has been measured for 6mm motors, and it may not work the same with other motors. The factor can be adjusted also by adding the line to config.h. With this feature on, the quadcopter will react faster to throttle changes. The TTCF feature improves throttle response of the quadcopter. The curve has been measured for 6mm motors, and it may not work the same with other motors. The factor can be adjusted also by adding the line to config.h. With this feature on, the quadcopter will react faster to throttle changes.
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 </code> </code>
  
-**Gyro lpf filter (software)**+==== Gyro lpf filter (software) ====
  
 The software lpf filter is a custom gyro filter, additional to the hardware filter which is present in the gyro device. The hardware filter is set around 43Hz by default, but for additional vibration removal, a software filter can be added. The software lpf filter is a custom gyro filter, additional to the hardware filter which is present in the gyro device. The hardware filter is set around 43Hz by default, but for additional vibration removal, a software filter can be added.
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 </code> </code>
  
-**Gyro lpf filter (hardware)**+==== Gyro lpf filter (hardware) ====
  
 The hardware gyro lpf filter is part of the gyro integrated circuit. It's setting changes the frequency of the internal filter. The internal filter also has a latency which may affect pid P and D terms. A lower latency may be better, however vibration will limit the usefulness of higher gyro frequencies. The "0" setting should be avoided. The hardware gyro lpf filter is part of the gyro integrated circuit. It's setting changes the frequency of the internal filter. The internal filter also has a latency which may affect pid P and D terms. A lower latency may be better, however vibration will limit the usefulness of higher gyro frequencies. The "0" setting should be avoided.
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 </code> </code>
  
-**Motor filter feature**+==== Motor filter feature ====
  
 There are 2 motor filtering options, a hanning 3 tap filter which reduces very high frequencies only, and a 1st order low pass filter that uses a coefficient as a setting. The motor filter has effects on pid tuning similar to those of the gyro low pass filters. There are 2 motor filtering options, a hanning 3 tap filter which reduces very high frequencies only, and a 1st order low pass filter that uses a coefficient as a setting. The motor filter has effects on pid tuning similar to those of the gyro low pass filters.
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 #define BOLDCLASH_716MM_24K #define BOLDCLASH_716MM_24K
 </code> </code>
 +
 +==== Other settings ====
 +
 +There are a number of other settings in config.h, as well as in some other files. They are less common, and not described in this document. Additionally, some settings may change in the future, keep in mind this document is not updated as often as the code.
  
  
docs/config.h.1509430612.txt.gz · Last modified: 2017/10/31 07:16 by silverxxx

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