Silverware is a firmware for some micro quadcopters, which adds features not normally present on the original firmwares. Most useful of these is acro mode, but also the ability to change settings for custom builds, or to adapt to personal preferences.

Why use silverware:

• already tuned for supported quads
• learn acro mode risking a $20 quadcopter, not a $150 one
• try something new

Because of differences between boards, installation is covered by a rcgroups post. For linux instructions use the install.md file.

Configuration options are placed mostly in file “config.h” . This covers many flight settings, like maximum rate in acro mode, max angle in level mode, as well as switch assignments. Hardware settings can be found in file “hardware.h”, they mainly don't need changing as they cover fixed things such as radio pins and leds. A small amount of other settings exist in other files.

Pids are set in the “pid.c” file for acro mode. For level mode, acro pids are used, plus the level pids in file “angle_pid.c”

By default, certain sequences, which we call gestures, are used to activate some features, or issue commands. For example, the gesture Down - Down - Down would be accomplished by moving the pitch stick down 3 times in a short time.

Gesture list:

Down - Down - Down: Accelerometer calibration / Save pids if changed

Left - Left - Down: acro mode
Right - Right - Down : level mode

Up - Down - Up: Cycle pid term to the next ( P - I - D )
Up - Down - Down: Cycle pid axis to be changed ( Roll/Pitch - Yaw )
Up - Down - Left: Decrease the selected value
Up - Down - Right: Increase the selected value

Further information can be found in the silverware wiki

http://sirdomsen.diskstation.me/dokuwiki/doku.php?id=start