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#ifndef CONFIG_H_
#define CONFIG_H_

    #define QUADX
    #define MINTHROTTLE 1200 // (*) (**)
    #define MAXTHROTTLE 2000
    #define MINCOMMAND  1000
    #define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP
    #define PID_CONTROLLER 1
    #define YAW_DIRECTION 1
    #define ONLYARMWHENFLAT //prevent the copter from arming when the copter is tilted

    #define ALLOW_ARM_DISARM_VIA_TX_YAW
    #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms

    //#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_INVERT { -1, 1 }    // Change direction om flapperons { Wing1, Wing2 }
   
    #define YAW_COLL_PRECOMP 10           
    #define YAW_COLL_PRECOMP_DEADBAND 120
    #define COLLECTIVE_PITCH      THROTTLE
    #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
    #define YAWMOTOR                 0       // If a motor is used as YAW Set to 1 else set to 0.
    #define SERVO_NICK   { +10, -10,  0 }
    #define SERVO_LEFT   { +10, +5, +10 } 
    #define SERVO_RIGHT  { +10, +5, -10 } 

    /* Limit Maximum controll for Roll & Nick  in 0-100% */
    #define CONTROL_RANGE   { 100, 100 }      //  { ROLL,PITCH }
      #define SBUS_MID_OFFSET 988 //SBUS Mid-Point at 1500

    #define SERIAL0_COM_SPEED 115200
    #define SERIAL1_COM_SPEED 115200
    #define SERIAL2_COM_SPEED 115200
    #define SERIAL3_COM_SPEED 115200
    #define NEUTRALIZE_DELAY 100000

    #define FAILSAFE_DELAY     10                     // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example
    #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
    #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
    
    #define FAILSAFE_DETECT_TRESHOLD  98

    #define GPS_BAUD   57600       // GPS_BAUD will override SERIALx_COM_SPEED for the selected port
    #define GPS_LED_INDICATOR

// copter faces toward the navigation point, maghold must be enabled for it
#define NAV_CONTROLS_HEADING       1    //(**)
// true - copter comes in with tail first
#define NAV_TAIL_FIRST             0    //(**)
// true - when copter arrives to home position it rotates it's head to takeoff direction
#define NAV_SET_TAKEOFF_HEADING    1    //(**)

#define MAG_DECLINATION  4.02f   //(**)

// Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
#define GPS_LEAD_FILTER               //(**)
#define GPS_WP_RADIUS              100      //(**)
#define SAFE_WP_DISTANCE           500      //(**)

//Maximu allowable navigation altitude (in meters) automatic altitude control will not go above this height
#define MAX_NAV_ALTITUDE           100     //(**)

// minimum speed when approach waypoint
#define NAV_SPEED_MIN              100    // cm/sec //(**)
// maximum speed to reach between waypoints
#define NAV_SPEED_MAX              400    // cm/sec //(**)
// Slow down to zero when reaching waypoint (same as NAV_SPEED_MIN = 0)
#define NAV_SLOW_NAV               0      //(**)
// Weight factor of the crosstrack error in navigation calculations (do not touch)
#define CROSSTRACK_GAIN            .4     //(**)
// Maximum allowable banking than navigation outputs
#define NAV_BANK_MAX 3000                 //(**)

//Defines the RTH altitude. 0 means keep current alt during RTH (in meters)
#define RTH_ALTITUDE               15        //(**)
//Wait to reach RTH alt before start moving to home (0-no, 1-yes)
#define WAIT_FOR_RTH_ALT           1         //(**)

//Navigation engine will takeover BARO mode control
#define NAV_TAKEOVER_BARO          1         //(**)

//Throttle stick input will be ignored  (only in BARO)
#define IGNORE_THROTTLE            1         //(**)
#define FENCE_DISTANCE      600

//This governs the descent speed during landing. 100 is equals approc 50cm/sec
#define LAND_SPEED          100
      #define LCD_SERIAL_PORT 0    // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board

      #define LCD_MENU_PREV 'p'
      #define LCD_MENU_NEXT 'n'
      #define LCD_VALUE_UP 'u'
      #define LCD_VALUE_DOWN 'd'

      #define LCD_MENU_SAVE_EXIT 's'
      #define LCD_MENU_ABORT 'x'
    #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 VBATLEVEL_WARN1 107 // (*) (**) 10,7V
    #define VBATLEVEL_WARN2  99 // (*) (**) 9.9V
    #define VBATLEVEL_CRIT   93 // (*) (**) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
    #define NO_VBAT          16 // Avoid beeping without any battery
    #define VBAT_OFFSET       0 // offset in 0.1Volts, gets added to voltage value  - useful for zener diodes

    #define VBAT_CELLS_NUM 0 // set this to the number of cells you monitor via analog pins
    #define VBAT_CELLS_PINS {A0, A1, A2, A3, A4, A5 } // set this to the sequence of analog pins
    #define VBAT_CELLS_OFFSETS {0, 50, 83, 121, 149, 177 } // in 0.1 volts, gets added to voltage value  - useful for zener diodes
    #define VBAT_CELLS_DIVS { 75, 122,  98, 18, 30, 37 } // divisor for proportional part according to resistors - larger value here gives smaller voltage

    #define PSENSORNULL 510 /* (*) hard only: set to analogRead() value for zero current; for I=0A my sensor
                                   gives 1/2 Vss; that is approx 2.49Volt; */
    #define PINT2mA 132     
    #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE    50

    #define BOARD_NAME "MultiWii   V-.--"

    #define NO_FLASH_CHECK
  #define VBAT_PRESCALER 16 // set this to 8 if vbatscale would exceed 255
    #define MIDRC 1500
    #define SERVO_RFR_50HZ
    #define MEGA_HW_PWM_SERVOS
    #define SERVO_RFR_RATE  50    // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4
    //#define SERVO_PIN5_RFR_RATE  200    // separate yaw pwm rate.
    #define ESC_CALIB_LOW  MINCOMMAND
    #define ESC_CALIB_HIGH 2000

    #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  967// to step to next telemetry page 967 <=> 3s
    #define PSENSOR_SMOOTH 16           // len of averaging vector for smoothing the PSENSOR readings; should be power of 2; set to 1 to disable
    #define VBAT_SMOOTH 16              // len of averaging vector for smoothing the VBAT readings; should be power of 2; set to 1 to disable
    #define RSSI_SMOOTH 16              // len of averaging vector for smoothing the RSSI readings; should be power of 2; set to 1 to disable

  #define DISABLE_POWER_PIN

#endif /* CONFIG_H_ */