doc/html/MultiWii__2__4_2MultiWii_2def_8h_source.html

#ifndef DEF_H_

#define DEF_H_


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

/***************             test configurations                   ********************/

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

#if COPTERTEST == 1

  #define QUADP

  #define WMP

#elif COPTERTEST == 2

  #define FLYING_WING

  #define WMP

  #define BMA020

  #define FAILSAFE

  #define LCD_CONF

  #define LCD_TEXTSTAR

  #define VBAT

  #define POWERMETER_SOFT

#elif COPTERTEST == 3

  #define TRI

  #define FREEIMUv035_MS

  #define BUZZER

  #define VBAT

  #define POWERMETER_HARD

  #define LCD_CONF

  #define LCD_CONF_AUX

  #define LCD_VT100

  #define LCD_TELEMETRY

  #define LCD_TELEMETRY_STEP "01245"

  #define LOG_VALUES 1

  #define SUPPRESS_BARO_ALTHOLD

  #define VARIOMETER 12

#elif COPTERTEST == 4

  #define QUADX

  #define CRIUS_SE

  #define SPEKTRUM 2048

  #define LED_RING

  #define GPS_SERIAL 2

  #define NMEA

  #define LOG_VALUES 2

  #define LOG_PERMANENT

  #define LOG_PERMANENT_SERVICE_LIFETIME 36000

#elif COPTERTEST == 5

  #define HELI_120_CCPM

  #define CRIUS_LITE

  #undef DISABLE_POWER_PIN

  #define RCAUXPIN8

  #define OLED_I2C_128x64

  #define LCD_TELEMETRY

  #define LOG_VALUES 3

  #define DEBUG

  #undef SERVO_RFR_50HZ

  #define SERVO_RFR_160HZ

  #define VBAT

  #define POWERMETER_SOFT

  #define MMGYRO 10

  #define MMGYROVECTORLENGTH 15

  #define GYRO_SMOOTHING {45, 45, 50}

  #define INFLIGHT_ACC_CALIBRATION

  #define LOG_PERMANENT

  #define LOG_PERMANENT_SHOW_AT_STARTUP

  #define LOG_PERMANENT_SHOW_AT_L

  #define LOG_PERMANENT_SERVICE_LIFETIME 36000

  #define GOVERNOR_P 0

  #define GOVERNOR_D 10

  #define YAW_COLL_PRECOMP 15

  #define YAW_COLL_PRECOMP_DEADBAND 130

  #define VOLTAGEDROP_COMPENSATION

#elif COPTERTEST == 6

  #define HEX6H

  #define DIYFLYING_MAGE_V1

  #define BUZZER

  #define RCOPTIONSBEEP // ca. 80byte

  #define ARMEDTIMEWARNING 480 // 8 min = 480seconds

  #define VBAT

  #define VOLTAGEDROP_COMPENSATION

  #define MEGA_HW_PWM_SERVOS

  #define SERVO_RFR_RATE  300    // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode

  #define LOG_VALUES 1

  #define DEBUG

  #define MULTIPLE_CONFIGURATION_PROFILES

  #define DISPLAY_FONT_DSIZE

  #define OLED_DIGOLE

  #define LCD_CONF

#elif COPTERTEST == 7

  #define HELI_120_CCPM

  #define YAW_COLL_PRECOMP 15

  #define YAW_COLL_PRECOMP_DEADBAND 130

  #define NANOWII

  #define FORCE_ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = X; imu.accADC[PITCH]  =  Y; imu.accADC[YAW]  =  Z;}

  #define FORCE_GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;}

  #define A32U4_4_HW_PWM_SERVOS

  #define SERVO_RFR_RATE  200    // 200 for graupner is ok

  #define SERVO_PIN5_RFR_RATE  165    // In Hz, you can set it from 20 to 400Hz, used only in HW PWM mode for mega and 32u4

  #define SPEKTRUM 1024

  #define BUZZER

  #define RCOPTIONSBEEP // ca. 80byte

  #define VBAT

  #define LOG_VALUES 1

  #define DISPLAY_FONT_DSIZE

  #define OLED_DIGOLE

  #define LCD_CONF

  #define LCD_TELEMETRY

  #define LCD_TELEMETRY_AUTO "1"

  #define LCD_TELEMETRY_STEP "F14$5R"

  #define LOG_PERMANENT

  #define LOG_PERMANENT_SHOW_AFTER_CONFIG

  #define SUPPRESS_OTHER_SERIAL_COMMANDS

  #define SUPPRESS_DEFAULTS_FROM_GUI

  #define NO_FLASH_CHECK

  #define DEBUG_FREE

#elif COPTERTEST == 8

  #define BI

  #define ITG3200

  #define PID_CONTROLLER 2

  #define ESC_CALIB_CANNOT_FLY

#elif COPTERTEST == 9

  #define AIRPLANE

  #define FREEIMUv035

  #define POWERMETER_HARD

  #define WATTS

  #define VBAT

  #define VBAT_CELLS

  #define VBAT_CELLS_NUM 3

  #define VBAT_CELLS_PINS {A0, A1, A2 }

  #define VBAT_CELLS_OFFSETS {0, 50, 83 }

  #define VBAT_CELLS_DIVS { 75, 122,  98 }

#elif COPTERTEST == 10

  #define Y6

  #define CRIUS_AIO_PRO

  #define LCD_LCD03S

  #define SERIAL0_COM_SPEED 9600

  #define LCD_CONF

#elif defined(COPTERTEST)

  #error "*** this test is not yet defined"

#endif


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

/***************             Proc specific definitions             ********************/

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

// Proc auto detection

#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)

  #define PROMINI

#endif

#if defined(__AVR_ATmega32U4__) || defined(TEENSY20)

  #define PROMICRO

#endif

#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)

  #define MEGA

#endif


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

/***************             motor and servo numbers               ********************/

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

#define SERVO_RATES      {30,30,100,100,100,100,100,100}


#if defined (AIRPLANE) || defined(FLYING_WING)

  #define FIXEDWING

#endif


#if defined(HELI_120_CCPM) || defined(HELI_90_DEG)

  #define HELICOPTER

#endif


#if defined(BI) || defined(TRI) || defined(FIXEDWING) || defined(HELICOPTER) || defined(SINGLECOPTER)|| defined(DUALCOPTER)

  #define COPTER_WITH_SERVO

#endif


#if defined(COPTER_WITH_SERVO) || defined(SERVO_TILT) || defined(GIMBAL) || defined(CAMTRIG) || defined(SERVO_MIX_TILT)

  #define SERVO

#endif


#if defined(DYNBALANCE)

  #define DYNBAL 1

#else

  #define DYNBAL 0

#endif

#if defined(FLAPS)

  #define FLAP 1

#else

  #define FLAP 0

#endif


#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)

  #define TRI_SERVO  4

#else

  #define TRI_SERVO  6

#endif


#if defined(GIMBAL)

  #define NUMBER_MOTOR     0

  #define PRI_SERVO_FROM   1 // use servo from 1 to 2

  #define PRI_SERVO_TO     2

#elif defined(FLYING_WING)

  #define PRI_SERVO_FROM   4

  #if defined (USE_THROTTLESERVO)

    #define NUMBER_MOTOR   0

    #define PRI_SERVO_TO   8 // use servo from 4,5 and 8

  #else

    #define NUMBER_MOTOR   1

    #define PRI_SERVO_TO   5 // use servo from 4 to 5

  #endif

#elif defined(SINGLECOPTER)

  #define NUMBER_MOTOR     1

  #define PRI_SERVO_FROM   4 // use servo from 4 to 7

  #define PRI_SERVO_TO     7

#elif defined(DUALCOPTER)

  #define NUMBER_MOTOR     2

  #define PRI_SERVO_FROM   5 // use servo from 5 to 6

  #define PRI_SERVO_TO     6

#elif defined(AIRPLANE)

  #if defined (USE_THROTTLESERVO)

    #define NUMBER_MOTOR   0

    #define PRI_SERVO_TO   8

  #else

    #define NUMBER_MOTOR   1

    #define PRI_SERVO_TO   7

  #endif

  #if defined(FLAPS)

    #define PRI_SERVO_FROM   3 // use servo from 3 to 8

    #undef CAMTRIG             // Disable Camtrig on A2

  #else

    #define PRI_SERVO_FROM   4 // use servo from 4 to 8

  #endif

#elif defined(BI)

  #define NUMBER_MOTOR     2

  #define PRI_SERVO_FROM   5 // use servo from 5 to 6

  #define PRI_SERVO_TO     6

#elif defined(TRI)

  #define NUMBER_MOTOR     3

  #define PRI_SERVO_FROM   TRI_SERVO // use only servo 6 (or 4 with Mega HW PWM)

  #define PRI_SERVO_TO     TRI_SERVO

#elif defined(QUADP) || defined(QUADX) || defined(Y4)|| defined(VTAIL4)

  #define NUMBER_MOTOR     4

#elif defined(Y6) || defined(HEX6) || defined(HEX6X) || defined(HEX6H)

  #define NUMBER_MOTOR     6

#elif defined(OCTOX8) || defined(OCTOFLATP) || defined(OCTOFLATX)

  #define NUMBER_MOTOR     8

#elif defined(HELICOPTER)

  #define PRI_SERVO_FROM   4

  #ifdef HELI_USE_SERVO_FOR_THROTTLE

    #define NUMBER_MOTOR   0 // use servo to drive throttle output

    #define PRI_SERVO_TO   8 // use servo from 4 to 8

  #else

    #define NUMBER_MOTOR   1 // use motor1 for throttle, DO  NOT SET TO 2, OR IT WILL BURN/DESTROY SERVO7 USED FOR SWASH

    #define PRI_SERVO_TO   7 // use servo from 4 to 7

  #endif

#endif


#if (defined(SERVO_TILT)|| defined(SERVO_MIX_TILT))&& defined(CAMTRIG)

  #define SEC_SERVO_FROM   1 // use servo from 1 to 3

  #define SEC_SERVO_TO     3

#else

  #if defined(SERVO_TILT)|| defined(SERVO_MIX_TILT)

    // if A0 and A1 is taken by motors, we can use A2 and 12 for Servo tilt

    #if defined(A0_A1_PIN_HEX) && (NUMBER_MOTOR == 6) && defined(PROMINI)

      #define SEC_SERVO_FROM   3 // use servo from 3 to 4

      #define SEC_SERVO_TO     4

    #else

      #define SEC_SERVO_FROM   1 // use servo from 1 to 2

      #define SEC_SERVO_TO     2

    #endif

  #endif

  #if defined(CAMTRIG)

    #define SEC_SERVO_FROM   3 // use servo 3

    #define SEC_SERVO_TO     3

  #endif

#endif


#if defined(SIRIUS_AIR) || defined(SIRIUS_AIR_GPS)

  #define RCAUX2PIND17

#endif


/**************************   atmega328P (Promini)  ************************************/

#if defined(PROMINI)

  #if !defined(MONGOOSE1_0)

    #define LEDPIN_PINMODE             pinMode (13, OUTPUT);

    #define LEDPIN_TOGGLE              PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)

    #define LEDPIN_OFF                 PORTB &= ~(1<<5);

    #define LEDPIN_ON                  PORTB |= (1<<5);

  #endif

  #if !defined(RCAUXPIN8)

    #if !defined(MONGOOSE1_0)

      #define BUZZERPIN_PINMODE          pinMode (8, OUTPUT);

      #if NUMBER_MOTOR >4

        #undef PILOTLAMP

      #endif

      #if defined PILOTLAMP && NUMBER_MOTOR <5

        #define    PL_PIN_ON            PORTB |= 1;

        #define    PL_PIN_OFF           PORTB &= ~1;

      #else

        #define BUZZERPIN_ON            PORTB |= 1;

        #define BUZZERPIN_OFF           PORTB &= ~1;

      #endif

    #endif

  #else

    #define BUZZERPIN_PINMODE          ;

    #define BUZZERPIN_ON               ;

    #define BUZZERPIN_OFF              ;

    #define RCAUXPIN

  #endif

  #if !defined(RCAUXPIN12) && !defined(DISABLE_POWER_PIN)

    #define POWERPIN_PINMODE           pinMode (12, OUTPUT);

    #define POWERPIN_ON                PORTB |= 1<<4;

    #define POWERPIN_OFF               PORTB &= ~(1<<4); //switch OFF WMP, digital PIN 12

  #else

    #define POWERPIN_PINMODE           ;

    #define POWERPIN_ON                ;

    #define POWERPIN_OFF               ;

  #endif

  #if defined(RCAUXPIN12)

    #define RCAUXPIN

  #endif

  #define I2C_PULLUPS_ENABLE         PORTC |= 1<<4; PORTC |= 1<<5;   // PIN A4&A5 (SDA&SCL)

  #define I2C_PULLUPS_DISABLE        PORTC &= ~(1<<4); PORTC &= ~(1<<5);

  #if !defined(MONGOOSE1_0)

    #define PINMODE_LCD                pinMode(0, OUTPUT);

    #define LCDPIN_OFF                 PORTD &= ~1; //switch OFF digital PIN 0

    #define LCDPIN_ON                  PORTD |= 1;

    #define STABLEPIN_PINMODE          ;

    #define STABLEPIN_ON               ;

    #define STABLEPIN_OFF              ;

  #endif

  #define PPM_PIN_INTERRUPT          attachInterrupt(0, rxInt, RISING); //PIN 0

  #define RX_SERIAL_PORT             0

  //RX PIN assignment inside the port //for PORTD

  #define THROTTLEPIN                2

  #define ROLLPIN                    4

  #define PITCHPIN                   5

  #define YAWPIN                     6

  #define AUX1PIN                    7

  #define AUX2PIN                    0 // optional PIN 8 or PIN 12

  #define AUX3PIN                    1 // unused

  #define AUX4PIN                    3 // unused


  #define PCINT_PIN_COUNT            5

  #define PCINT_RX_BITS              (1<<2),(1<<4),(1<<5),(1<<6),(1<<7)

  #define PCINT_RX_PORT              PORTD

  #define PCINT_RX_MASK              PCMSK2

  #define PCIR_PORT_BIT              (1<<2)

  #define RX_PC_INTERRUPT            PCINT2_vect

  #define RX_PCINT_PIN_PORT          PIND

  #define V_BATPIN                   A3    // Analog PIN 3

  #define PSENSORPIN                 A2    // Analog PIN 2


  #if defined(A0_A1_PIN_HEX) || (NUMBER_MOTOR > 6)

    #define SOFT_PWM_1_PIN_HIGH        PORTC |= 1<<0;

    #define SOFT_PWM_1_PIN_LOW         PORTC &= ~(1<<0);

    #define SOFT_PWM_2_PIN_HIGH        PORTC |= 1<<1;

    #define SOFT_PWM_2_PIN_LOW         PORTC &= ~(1<<1);

  #else

    #define SOFT_PWM_1_PIN_HIGH        PORTD |= 1<<5;

    #define SOFT_PWM_1_PIN_LOW         PORTD &= ~(1<<5);

    #define SOFT_PWM_2_PIN_HIGH        PORTD |= 1<<6;

    #define SOFT_PWM_2_PIN_LOW         PORTD &= ~(1<<6);

  #endif

  #define SOFT_PWM_3_PIN_HIGH        PORTC |= 1<<2;

  #define SOFT_PWM_3_PIN_LOW         PORTC &= ~(1<<2);

  #define SOFT_PWM_4_PIN_HIGH        PORTB |= 1<<4;

  #define SOFT_PWM_4_PIN_LOW         PORTB &= ~(1<<4);


  #define SERVO_1_PINMODE            pinMode(A0,OUTPUT); // TILT_PITCH - WING left

  #define SERVO_1_PIN_HIGH           PORTC |= 1<<0;

  #define SERVO_1_PIN_LOW            PORTC &= ~(1<<0);

  #define SERVO_2_PINMODE            pinMode(A1,OUTPUT); // TILT_ROLL  - WING right

  #define SERVO_2_PIN_HIGH           PORTC |= 1<<1;

  #define SERVO_2_PIN_LOW            PORTC &= ~(1<<1);

  #define SERVO_3_PINMODE            pinMode(A2,OUTPUT); // CAM TRIG  - alt TILT_PITCH

  #define SERVO_3_PIN_HIGH           PORTC |= 1<<2;

  #define SERVO_3_PIN_LOW            PORTC &= ~(1<<2);

  #if !defined(MONGOOSE1_0)

    #define SERVO_4_PINMODE            pinMode(12,OUTPUT); // new       - alt TILT_ROLL

    #define SERVO_4_PIN_HIGH           PORTB |= 1<<4;

    #define SERVO_4_PIN_LOW            PORTB &= ~(1<<4);

  #endif

  #define SERVO_5_PINMODE            pinMode(11,OUTPUT); // BI LEFT

  #define SERVO_5_PIN_HIGH           PORTB |= 1<<3;

  #define SERVO_5_PIN_LOW            PORTB &= ~(1<<3);

  #define SERVO_6_PINMODE            pinMode(3,OUTPUT);  // TRI REAR - BI RIGHT

  #define SERVO_6_PIN_HIGH           PORTD|= 1<<3;

  #define SERVO_6_PIN_LOW            PORTD &= ~(1<<3);

  #define SERVO_7_PINMODE            pinMode(10,OUTPUT); // new

  #define SERVO_7_PIN_HIGH           PORTB |= 1<<2;

  #define SERVO_7_PIN_LOW            PORTB &= ~(1<<2);

  #define SERVO_8_PINMODE            pinMode(9,OUTPUT); // new

  #define SERVO_8_PIN_HIGH           PORTB |= 1<<1;

  #define SERVO_8_PIN_LOW            PORTB &= ~(1<<1);

#endif


/**************************  atmega32u4 (Promicro)  ***********************************/

#if defined(PROMICRO)

  #if defined(MICROWII)

    #define A32U4ALLPINS

  #endif

  #if !defined(TEENSY20)

    #define LEDPIN_PINMODE             //

    #define LEDPIN_TOGGLE              PIND |= 1<<5;     //switch LEDPIN state (Port D5)

    #if !defined(PROMICRO10)

      #define LEDPIN_OFF                 PORTD |= (1<<5);

      #define LEDPIN_ON                  PORTD &= ~(1<<5);

    #else

      #define LEDPIN_OFF                PORTD &= ~(1<<5);

      #define LEDPIN_ON                 PORTD |= (1<<5);

    #endif

  #else

    #define LEDPIN_PINMODE           DDRD |= (1<<6);

    #define LEDPIN_OFF               PORTD &= ~(1<<6);

    #define LEDPIN_ON                PORTD |= (1<<6);

    #define LEDPIN_TOGGLE            PIND |= 1<<6;     //switch LEDPIN state (Port D6)

  #endif

  #if defined(D8BUZZER)

    #define BUZZERPIN_PINMODE          DDRB |= (1<<4);

    #if defined PILOTLAMP

      #define    PL_PIN_ON            PORTB |= 1<<4;

      #define    PL_PIN_OFF           PORTB &= ~(1<<4);

    #else

      #define BUZZERPIN_ON               PORTB |= 1<<4;

      #define BUZZERPIN_OFF              PORTB &= ~(1<<4);

    #endif


  #elif defined(A32U4ALLPINS)

    #define BUZZERPIN_PINMODE          DDRD |= (1<<4);

    #if defined PILOTLAMP

      #define    PL_PIN_ON    PORTD |= 1<<4;

      #define    PL_PIN_OFF   PORTD &= ~(1<<4);

    #else

      #define BUZZERPIN_ON               PORTD |= 1<<4;

      #define BUZZERPIN_OFF              PORTD &= ~(1<<4);

    #endif

  #else

    #define BUZZERPIN_PINMODE          DDRD |= (1<<3);

    #if defined PILOTLAMP

      #define    PL_PIN_ON    PORTD |= 1<<3;

      #define    PL_PIN_OFF   PORTD &= ~(1<<3);

    #else

      #define BUZZERPIN_ON               PORTD |= 1<<3;

      #define BUZZERPIN_OFF              PORTD &= ~(1<<3);

    #endif

  #endif

  #define POWERPIN_PINMODE           //

  #define POWERPIN_ON                //

  #define POWERPIN_OFF               //

  #define I2C_PULLUPS_ENABLE         PORTD |= 1<<0; PORTD |= 1<<1;   // PIN 2&3 (SDA&SCL)

  #define I2C_PULLUPS_DISABLE        PORTD &= ~(1<<0); PORTD &= ~(1<<1);

  #define PINMODE_LCD                DDRD |= (1<<2);

  #define LCDPIN_OFF                 PORTD &= ~1;

  #define LCDPIN_ON                  PORTD |= 1;

  #define STABLEPIN_PINMODE          ;

  #define STABLEPIN_ON               ;

  #define STABLEPIN_OFF              ;

  #define PPM_PIN_INTERRUPT          DDRE &= ~(1 << 6);PORTE |= (1 << 6); EICRB |= (1 << ISC61)|(1 << ISC60); EIMSK |= (1 << INT6);

  #if !defined(RX_SERIAL_PORT)

    #define RX_SERIAL_PORT           1

  #endif

  #define USB_CDC_TX                 3

  #define USB_CDC_RX                 2


  //soft PWM Pins

  #define SOFT_PWM_1_PIN_HIGH        PORTD |= 1<<4;

  #define SOFT_PWM_1_PIN_LOW         PORTD &= ~(1<<4);

  #define SOFT_PWM_2_PIN_HIGH        PORTF |= 1<<5;

  #define SOFT_PWM_2_PIN_LOW         PORTF &= ~(1<<5);

  #if !defined(A32U4ALLPINS)

    #define SOFT_PWM_3_PIN_HIGH        PORTF |= 1<<7;

    #define SOFT_PWM_3_PIN_LOW         PORTF &= ~(1<<7);

    #define SOFT_PWM_4_PIN_HIGH        PORTF |= 1<<6;

    #define SOFT_PWM_4_PIN_LOW         PORTF &= ~(1<<6);

    #define SW_PWM_P3                  A1

    #define SW_PWM_P4                  A0

  #else

    #define SOFT_PWM_3_PIN_HIGH        PORTF |= 1<<4;

    #define SOFT_PWM_3_PIN_LOW         PORTF &= ~(1<<4);

    #define SOFT_PWM_4_PIN_HIGH        PORTF |= 1<<5;

    #define SOFT_PWM_4_PIN_LOW         PORTF &= ~(1<<5);

    #define SW_PWM_P3                  A2

    #define SW_PWM_P4                  A3

  #endif


  // Servos

  #define SERVO_1_PINMODE   DDRF |= (1<<7); // A0

  #define SERVO_1_PIN_HIGH  PORTF|= 1<<7;

  #define SERVO_1_PIN_LOW   PORTF &= ~(1<<7);

  #define SERVO_2_PINMODE   DDRF |= (1<<6); // A1

  #define SERVO_2_PIN_HIGH  PORTF |= 1<<6;

  #define SERVO_2_PIN_LOW   PORTF &= ~(1<<6);

  #define SERVO_3_PINMODE   DDRF |= (1<<5); // A2

  #define SERVO_3_PIN_HIGH  PORTF |= 1<<5;

  #define SERVO_3_PIN_LOW   PORTF &= ~(1<<5);

  #if !defined(A32U4ALLPINS)

    #define SERVO_4_PINMODE   DDRD |= (1<<4); // 4

    #define SERVO_4_PIN_HIGH  PORTD |= 1<<4;

    #define SERVO_4_PIN_LOW   PORTD &= ~(1<<4);

  #else

    #define SERVO_4_PINMODE   DDRF |= (1<<4); // A3

    #define SERVO_4_PIN_HIGH  PORTF |= 1<<4;

    #define SERVO_4_PIN_LOW   PORTF &= ~(1<<4);

  #endif

  #define SERVO_5_PINMODE   DDRC |= (1<<6); // 5

  #define SERVO_5_PIN_HIGH  PORTC|= 1<<6;

  #define SERVO_5_PIN_LOW   PORTC &= ~(1<<6);

  #define SERVO_6_PINMODE   DDRD |= (1<<7); // 6

  #define SERVO_6_PIN_HIGH  PORTD |= 1<<7;

  #define SERVO_6_PIN_LOW   PORTD &= ~(1<<7);

  #define SERVO_7_PINMODE   DDRB |= (1<<6); // 10

  #define SERVO_7_PIN_HIGH  PORTB |= 1<<6;

  #define SERVO_7_PIN_LOW   PORTB &= ~(1<<6);

  #define SERVO_8_PINMODE   DDRB |= (1<<5); // 9

  #define SERVO_8_PIN_HIGH  PORTB |= 1<<5;

  #define SERVO_8_PIN_LOW   PORTB &= ~(1<<5);


  //Standart RX

  #define THROTTLEPIN                  3

  #if defined(A32U4ALLPINS)

    #define ROLLPIN                    6

    #define PITCHPIN                   2

    #define YAWPIN                     4

    #define AUX1PIN                    5

  #else

    #define ROLLPIN                    4

    #define PITCHPIN                   5

    #define YAWPIN                     2

    #define AUX1PIN                    6

  #endif

  #define AUX2PIN                      7

  #define AUX3PIN                      1 // unused

  #define AUX4PIN                      0 // unused

  #if !defined(RCAUX2PIND17)

    #define PCINT_PIN_COUNT          4

    #define PCINT_RX_BITS            (1<<1),(1<<2),(1<<3),(1<<4)

  #else

    #define PCINT_PIN_COUNT          5 // one more bit (PB0) is added in RX code

    #define PCINT_RX_BITS            (1<<1),(1<<2),(1<<3),(1<<4),(1<<0)

  #endif

  #define PCINT_RX_PORT                PORTB

  #define PCINT_RX_MASK                PCMSK0

  #define PCIR_PORT_BIT                (1<<0)

  #define RX_PC_INTERRUPT              PCINT0_vect

  #define RX_PCINT_PIN_PORT            PINB


  #if !defined(A32U4ALLPINS) && !defined(TEENSY20)

    #define V_BATPIN                  A3    // Analog PIN 3

  #elif defined(A32U4ALLPINS)

    #define V_BATPIN                  A4    // Analog PIN 4

  #else

    #define V_BATPIN                  A2    // Analog PIN 3

  #endif

  #if !defined(TEENSY20)

    #define PSENSORPIN                A2    // Analog PIN 2

  #else

    #define PSENSORPIN                A2    // Analog PIN 2

  #endif

#endif


/**************************  all the Mega types  ***********************************/

#if defined(MEGA)

  #define LEDPIN_PINMODE             pinMode (13, OUTPUT);pinMode (30, OUTPUT);

  #define LEDPIN_TOGGLE              PINB  |= (1<<7); PINC  |= (1<<7);

  #define LEDPIN_ON                  PORTB |= (1<<7); PORTC |= (1<<7);

  #define LEDPIN_OFF                 PORTB &= ~(1<<7);PORTC &= ~(1<<7);

  #define BUZZERPIN_PINMODE          pinMode (32, OUTPUT);

  #if defined PILOTLAMP

    #define    PL_PIN_ON    PORTC |= 1<<5;

    #define    PL_PIN_OFF   PORTC &= ~(1<<5);

  #else

    #define BUZZERPIN_ON               PORTC |= 1<<5;

    #define BUZZERPIN_OFF              PORTC &= ~(1<<5);

  #endif


  #if !defined(DISABLE_POWER_PIN)

    #define POWERPIN_PINMODE           pinMode (37, OUTPUT);

    #define POWERPIN_ON                PORTC |= 1<<0;

    #define POWERPIN_OFF               PORTC &= ~(1<<0);

  #else

    #define POWERPIN_PINMODE           ;

    #define POWERPIN_ON                ;

    #define POWERPIN_OFF               ;

  #endif

  #define I2C_PULLUPS_ENABLE         PORTD |= 1<<0; PORTD |= 1<<1;       // PIN 20&21 (SDA&SCL)

  #define I2C_PULLUPS_DISABLE        PORTD &= ~(1<<0); PORTD &= ~(1<<1);

  #define PINMODE_LCD                pinMode(0, OUTPUT);

  #define LCDPIN_OFF                 PORTE &= ~1; //switch OFF digital PIN 0

  #define LCDPIN_ON                  PORTE |= 1;

  #define STABLEPIN_PINMODE          pinMode (31, OUTPUT);

  #define STABLEPIN_ON               PORTC |= 1<<6;

  #define STABLEPIN_OFF              PORTC &= ~(1<<6);

  #if defined(PPM_ON_THROTTLE)

    //configure THROTTLE PIN (A8 pin) as input witch pullup and enabled PCINT interrupt

    #define PPM_PIN_INTERRUPT        DDRK &= ~(1<<0); PORTK |= (1<<0);  PCICR |= (1<<2); PCMSK2 |= (1<<0);

  #else

    #define PPM_PIN_INTERRUPT        attachInterrupt(4, rxInt, RISING);  //PIN 19, also used for Spektrum satellite option

  #endif

  #if !defined(RX_SERIAL_PORT)

    #define RX_SERIAL_PORT           1

  #endif

  //RX PIN assignment inside the port //for PORTK

  #define THROTTLEPIN                0  //PIN 62 =  PIN A8

  #define ROLLPIN                    1  //PIN 63 =  PIN A9

  #define PITCHPIN                   2  //PIN 64 =  PIN A10

  #define YAWPIN                     3  //PIN 65 =  PIN A11

  #define AUX1PIN                    4  //PIN 66 =  PIN A12

  #define AUX2PIN                    5  //PIN 67 =  PIN A13

  #define AUX3PIN                    6  //PIN 68 =  PIN A14

  #define AUX4PIN                    7  //PIN 69 =  PIN A15

  #define V_BATPIN                   A0    // Analog PIN 0

  #define PSENSORPIN                 A2    // Analog PIN 2

  #define PCINT_PIN_COUNT            8

  #define PCINT_RX_BITS              (1<<2),(1<<4),(1<<5),(1<<6),(1<<7),(1<<0),(1<<1),(1<<3)

  #define PCINT_RX_PORT              PORTK

  #define PCINT_RX_MASK              PCMSK2

  #define PCIR_PORT_BIT              (1<<2)

  #define RX_PC_INTERRUPT            PCINT2_vect

  #define RX_PCINT_PIN_PORT          PINK


  #define SERVO_1_PINMODE            pinMode(34,OUTPUT);pinMode(44,OUTPUT); // TILT_PITCH - WING left

  #define SERVO_1_PIN_HIGH           PORTC |= 1<<3;PORTL |= 1<<5;

  #define SERVO_1_PIN_LOW            PORTC &= ~(1<<3);PORTL &= ~(1<<5);

  #define SERVO_2_PINMODE            pinMode(35,OUTPUT);pinMode(45,OUTPUT); // TILT_ROLL  - WING right

  #define SERVO_2_PIN_HIGH           PORTC |= 1<<2;PORTL |= 1<<4;

  #define SERVO_2_PIN_LOW            PORTC &= ~(1<<2);PORTL &= ~(1<<4);

  #define SERVO_3_PINMODE            pinMode(33,OUTPUT); pinMode(46,OUTPUT); // CAM TRIG  - alt TILT_PITCH

  #define SERVO_3_PIN_HIGH           PORTC |= 1<<4;PORTL |= 1<<3;

  #define SERVO_3_PIN_LOW            PORTC &= ~(1<<4);PORTL &= ~(1<<3);

  #define SERVO_4_PINMODE            pinMode (37, OUTPUT);pinMode(7,OUTPUT); // new       - alt TILT_ROLL

  #define SERVO_4_PIN_HIGH           PORTC |= 1<<0; PORTH |= 1<<4;

  #define SERVO_4_PIN_LOW            PORTC &= ~(1<<0);PORTH &= ~(1<<4);


  #define SERVO_5_PINMODE            pinMode(6,OUTPUT);                      // BI LEFT

  #define SERVO_5_PIN_HIGH           PORTH |= 1<<3;

  #define SERVO_5_PIN_LOW            PORTH &= ~(1<<3);

  #define SERVO_6_PINMODE            pinMode(2,OUTPUT);                      // TRI REAR - BI RIGHT

  #define SERVO_6_PIN_HIGH           PORTE |= 1<<4;

  #define SERVO_6_PIN_LOW            PORTE &= ~(1<<4);

  #define SERVO_7_PINMODE            pinMode(5,OUTPUT);                      // new

  #define SERVO_7_PIN_HIGH           PORTE |= 1<<3;

  #define SERVO_7_PIN_LOW            PORTE &= ~(1<<3);

  #define SERVO_8_PINMODE            pinMode(3,OUTPUT);                      // new

  #define SERVO_8_PIN_HIGH           PORTE |= 1<<5;

  #define SERVO_8_PIN_LOW            PORTE &= ~(1<<5);

#endif


// special defines for the Mongose IMU board

// note: that may be moved to the IMU Orientations because this are board defines .. not Proc


#if defined(MONGOOSE1_0)  // basically it's a PROMINI without some PINS => same code as a PROMINI board except PIN definition

                          // note: to avoid too much dubble code there are now just the differencies

  // http://www.multiwii.com/forum/viewtopic.php?f=6&t=627

  #define LEDPIN_PINMODE             pinMode (4, OUTPUT);

  #define LEDPIN_TOGGLE              PIND |= 1<<4;     //switch LEDPIN state (digital PIN 13)

  #define LEDPIN_OFF                 PORTD &= ~(1<<4);

  #define LEDPIN_ON                  PORTD |= (1<<4);

  #define SPEK_BAUD_SET              UCSR0A  = (1<<U2X0); UBRR0H = ((F_CPU  / 4 / 115200 -1) / 2) >> 8; UBRR0L = ((F_CPU  / 4 / 115200 -1) / 2);

  #define RX_SERIAL_PORT             0


  /* Unavailable pins on MONGOOSE1_0 */

  #define BUZZERPIN_PINMODE          ; // D8

  #define BUZZERPIN_ON               ;

  #define BUZZERPIN_OFF              ;

  #define POWERPIN_PINMODE           ; // D12

  #define POWERPIN_ON                ;

  #define POWERPIN_OFF               ;

  #define STABLEPIN_PINMODE          ; //

  #define STABLEPIN_ON               ;

  #define STABLEPIN_OFF              ;

  #define PINMODE_LCD                ; //

  #define LCDPIN_OFF                 ;

  #define LCDPIN_ON                  ;


  #define SERVO_4_PINMODE            ;                   // Not available

  #define SERVO_4_PIN_HIGH           ;

  #define SERVO_4_PIN_LOW            ;

#endif


/**********************   Sort the Servos for the most ideal SW PWM     ************************/

// this define block sorts the above slected servos to be in a simple order from 1 - (count of total servos)

// its pretty fat but its the best way i found to get less compiled code and max speed in the ISR without loosing its flexibility

#if (PRI_SERVO_FROM == 1) || (SEC_SERVO_FROM == 1)

  #define LAST_LOW SERVO_1_PIN_LOW

  #define SERVO_1_HIGH SERVO_1_PIN_HIGH

  #define SERVO_1_LOW SERVO_1_PIN_LOW

  #define SERVO_1_ARR_POS  0

#endif

#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)

  #undef LAST_LOW

  #define LAST_LOW SERVO_2_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_2_PIN_HIGH

    #define SERVO_1_LOW SERVO_2_PIN_LOW

    #define SERVO_1_ARR_POS 1

  #else

    #define SERVO_2_HIGH SERVO_2_PIN_HIGH

    #define SERVO_2_LOW SERVO_2_PIN_LOW

    #define SERVO_2_ARR_POS 1

  #endif

#endif

#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)

  #undef LAST_LOW

  #define LAST_LOW SERVO_3_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_3_PIN_HIGH

    #define SERVO_1_LOW SERVO_3_PIN_LOW

    #define SERVO_1_ARR_POS 2

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_3_PIN_HIGH

    #define SERVO_2_LOW SERVO_3_PIN_LOW

    #define SERVO_2_ARR_POS 2

  #else

    #define SERVO_3_HIGH SERVO_3_PIN_HIGH

    #define SERVO_3_LOW SERVO_3_PIN_LOW

    #define SERVO_3_ARR_POS 2

  #endif

#endif

#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)

  #undef LAST_LOW

  #define LAST_LOW SERVO_4_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_4_PIN_HIGH

    #define SERVO_1_LOW SERVO_4_PIN_LOW

    #define SERVO_1_ARR_POS 3

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_4_PIN_HIGH

    #define SERVO_2_LOW SERVO_4_PIN_LOW

    #define SERVO_2_ARR_POS 3

  #elif !defined(SERVO_3_HIGH)

    #define SERVO_3_HIGH SERVO_4_PIN_HIGH

    #define SERVO_3_LOW SERVO_4_PIN_LOW

    #define SERVO_3_ARR_POS 3

  #else

    #define SERVO_4_HIGH SERVO_4_PIN_HIGH

    #define SERVO_4_LOW SERVO_4_PIN_LOW

    #define SERVO_4_ARR_POS 3

  #endif

#endif

#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)

  #undef LAST_LOW

  #define LAST_LOW SERVO_5_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_5_PIN_HIGH

    #define SERVO_1_LOW SERVO_5_PIN_LOW

    #define SERVO_1_ARR_POS 4

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_5_PIN_HIGH

    #define SERVO_2_LOW SERVO_5_PIN_LOW

    #define SERVO_2_ARR_POS 4

  #elif !defined(SERVO_3_HIGH)

    #define SERVO_3_HIGH SERVO_5_PIN_HIGH

    #define SERVO_3_LOW SERVO_5_PIN_LOW

    #define SERVO_3_ARR_POS 4

  #elif !defined(SERVO_4_HIGH)

    #define SERVO_4_HIGH SERVO_5_PIN_HIGH

    #define SERVO_4_LOW SERVO_5_PIN_LOW

    #define SERVO_4_ARR_POS 4

  #else

    #define SERVO_5_HIGH SERVO_5_PIN_HIGH

    #define SERVO_5_LOW SERVO_5_PIN_LOW

    #define SERVO_5_ARR_POS 4

  #endif

#endif

#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)

  #undef LAST_LOW

  #define LAST_LOW SERVO_6_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_6_PIN_HIGH

    #define SERVO_1_LOW SERVO_6_PIN_LOW

    #define SERVO_1_ARR_POS 5

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_6_PIN_HIGH

    #define SERVO_2_LOW SERVO_6_PIN_LOW

    #define SERVO_2_ARR_POS 5

  #elif !defined(SERVO_3_HIGH)

    #define SERVO_3_HIGH SERVO_6_PIN_HIGH

    #define SERVO_3_LOW SERVO_6_PIN_LOW

    #define SERVO_3_ARR_POS 5

  #elif !defined(SERVO_4_HIGH)

    #define SERVO_4_HIGH SERVO_6_PIN_HIGH

    #define SERVO_4_LOW SERVO_6_PIN_LOW

    #define SERVO_4_ARR_POS 5

  #elif !defined(SERVO_5_HIGH)

    #define SERVO_5_HIGH SERVO_6_PIN_HIGH

    #define SERVO_5_LOW SERVO_6_PIN_LOW

    #define SERVO_5_ARR_POS 5

  #else

    #define SERVO_6_HIGH SERVO_6_PIN_HIGH

    #define SERVO_6_LOW SERVO_6_PIN_LOW

    #define SERVO_6_ARR_POS 5

  #endif

#endif

#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)

  #undef LAST_LOW

  #define LAST_LOW SERVO_7_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_7_PIN_HIGH

    #define SERVO_1_LOW SERVO_7_PIN_LOW

    #define SERVO_1_ARR_POS 6

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_7_PIN_HIGH

    #define SERVO_2_LOW SERVO_7_PIN_LOW

    #define SERVO_2_ARR_POS 6

  #elif !defined(SERVO_3_HIGH)

    #define SERVO_3_HIGH SERVO_7_PIN_HIGH

    #define SERVO_3_LOW SERVO_7_PIN_LOW

    #define SERVO_3_ARR_POS 6

  #elif !defined(SERVO_4_HIGH)

    #define SERVO_4_HIGH SERVO_7_PIN_HIGH

    #define SERVO_4_LOW SERVO_7_PIN_LOW

    #define SERVO_4_ARR_POS 6

  #elif !defined(SERVO_5_HIGH)

    #define SERVO_5_HIGH SERVO_7_PIN_HIGH

    #define SERVO_5_LOW SERVO_7_PIN_LOW

    #define SERVO_5_ARR_POS 6

  #elif !defined(SERVO_6_HIGH)

    #define SERVO_6_HIGH SERVO_7_PIN_HIGH

    #define SERVO_6_LOW SERVO_7_PIN_LOW

    #define SERVO_6_ARR_POS 6

  #else

    #define SERVO_7_HIGH SERVO_7_PIN_HIGH

    #define SERVO_7_LOW SERVO_7_PIN_LOW

    #define SERVO_7_ARR_POS 6

  #endif

#endif

#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)

  #undef LAST_LOW

  #define LAST_LOW SERVO_8_PIN_LOW

  #if !defined(SERVO_1_HIGH)

    #define SERVO_1_HIGH SERVO_8_PIN_HIGH

    #define SERVO_1_LOW SERVO_8_PIN_LOW

    #define SERVO_1_ARR_POS 7

  #elif !defined(SERVO_2_HIGH)

    #define SERVO_2_HIGH SERVO_8_PIN_HIGH

    #define SERVO_2_LOW SERVO_8_PIN_LOW

    #define SERVO_2_ARR_POS 7

  #elif !defined(SERVO_3_HIGH)

    #define SERVO_3_HIGH SERVO_8_PIN_HIGH

    #define SERVO_3_LOW SERVO_8_PIN_LOW

    #define SERVO_3_ARR_POS 7

  #elif !defined(SERVO_4_HIGH)

    #define SERVO_4_HIGH SERVO_8_PIN_HIGH

    #define SERVO_4_LOW SERVO_8_PIN_LOW

    #define SERVO_4_ARR_POS 7

  #elif !defined(SERVO_5_HIGH)

    #define SERVO_5_HIGH SERVO_8_PIN_HIGH

    #define SERVO_5_LOW SERVO_8_PIN_LOW

    #define SERVO_5_ARR_POS 7

  #elif !defined(SERVO_6_HIGH)

    #define SERVO_6_HIGH SERVO_8_PIN_HIGH

    #define SERVO_6_LOW SERVO_8_PIN_LOW

    #define SERVO_6_ARR_POS 7

  #elif !defined(SERVO_7_HIGH)

    #define SERVO_7_HIGH SERVO_8_PIN_HIGH

    #define SERVO_7_LOW SERVO_8_PIN_LOW

    #define SERVO_7_ARR_POS 7

  #else

    #define SERVO_8_HIGH SERVO_8_PIN_HIGH

    #define SERVO_8_LOW SERVO_8_PIN_LOW

    #define SERVO_8_ARR_POS 7

  #endif

#endif


#if ( defined(MEGA) && defined(MEGA_HW_PWM_SERVOS) ) || (defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS))

  #undef SERVO_1_HIGH                                    // No software PWM's if we use hardware MEGA PWM or promicro hardware pwm

  #define HW_PWM_SERVOS

#endif


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

/***************      IMU Orientations and Sensor definitions      ********************/

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


//please submit any correction to this list.

#if defined(FFIMUv1)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5843

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(FFIMUv2)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  = -Z;}

#endif


#if defined(FREEIMUv1)

  #define ITG3200

  #define ADXL345

  #define HMC5843

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X;  imu.magADC[PITCH] =  Y; imu.magADC[YAW]  = -Z;}

  #define ADXL345_ADDRESS 0x53

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(FREEIMUv03)

  #define ITG3200

  #define ADXL345 // this is actually an ADXL346 but that's just the same as ADXL345

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define ADXL345_ADDRESS 0x53

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(FREEIMUv035) || defined(FREEIMUv035_MS) || defined(FREEIMUv035_BMP)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #if defined(FREEIMUv035_MS)

    #define MS561101BA

  #elif defined(FREEIMUv035_BMP)

    #define BMP085

  #endif

#endif


#if defined(FREEIMUv04)

 #define FREEIMUv043

#endif


#if defined(MultiWiiMega)

 #define FREEIMUv043

#endif


#if defined(FREEIMUv043)  || defined(MICROWII)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(NANOWII)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  =  X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  // move motor 7 & 8 to pin 4 & A2

  #undef SOFT_PWM_3_PIN_HIGH

  #undef SOFT_PWM_3_PIN_LOW

  #undef SOFT_PWM_4_PIN_HIGH

  #undef SOFT_PWM_4_PIN_LOW

  #undef SW_PWM_P3

  #undef SW_PWM_P4

  #define SOFT_PWM_3_PIN_HIGH        PORTD |= 1<<4;

  #define SOFT_PWM_3_PIN_LOW         PORTD &= ~(1<<4);

  #define SOFT_PWM_4_PIN_HIGH        PORTF |= 1<<5;

  #define SOFT_PWM_4_PIN_LOW         PORTF &= ~(1<<5);

  #define SW_PWM_P3                  4

  #define SW_PWM_P4                  A2

  #define HWPWM6

  // move servo 3 & 4 to pin 13 & 11

  #undef SERVO_3_PINMODE

  #undef SERVO_3_PIN_HIGH

  #undef SERVO_3_PIN_LOW

  #undef SERVO_4_PINMODE

  #undef SERVO_4_PIN_HIGH

  #undef SERVO_4_PIN_LOW

  #define SERVO_3_PINMODE   DDRC |= (1<<7); // 13

  #define SERVO_3_PIN_HIGH  PORTC |= 1<<7;

  #define SERVO_3_PIN_LOW   PORTC &= ~(1<<7);

  #define SERVO_4_PINMODE   DDRB |= (1<<7); // 11

  #define SERVO_4_PIN_HIGH  PORTB |= 1<<7;

  #define SERVO_4_PIN_LOW   PORTB &= ~(1<<7);

  // use pin 4 as status LED output if we have no octo

  #if !defined(OCTOX8) && !defined(OCTOFLATP) && !defined(OCTOFLATX)

    #undef LEDPIN_PINMODE

    #undef LEDPIN_TOGGLE

    #undef LEDPIN_OFF

    #undef LEDPIN_ON

    #define LEDPIN_PINMODE             DDRD |= (1<<4);            //D4 to output

    #define LEDPIN_TOGGLE              PIND |= (1<<5)|(1<<4);     //switch LEDPIN state (Port D5) & pin D4

    #define LEDPIN_OFF                 PORTD |= (1<<5); PORTD &= ~(1<<4);

    #define LEDPIN_ON                  PORTD &= ~(1<<5); PORTD |= (1<<4);

  #endif

#endif


#if defined(PIPO)

  #define L3G4200D

  #define ADXL345

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] =  Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  =  Z;}

  #define ADXL345_ADDRESS 0x53

#endif


#if defined(QUADRINO)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(QUADRINO_ZOOM)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define STABLEPIN_PINMODE pinMode (A2, OUTPUT);

  #define STABLEPIN_ON PORTC |= (1<<2);

  #define STABLEPIN_OFF PORTC &= ~(1<<2);

#endif


#if defined(QUADRINO_ZOOM_MS)

  #define ITG3200

  #define BMA180

  #define MS561101BA

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define STABLEPIN_PINMODE pinMode (A2, OUTPUT);

  #define STABLEPIN_ON PORTC |= (1<<2);

  #define STABLEPIN_OFF PORTC &= ~(1<<2);

#endif


#if defined(ALLINONE)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define BMA180_ADDRESS 0x41

#endif


#if defined(AEROQUADSHIELDv2) // to confirm

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5843

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] =  Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define GYRO_ADDRESS 0X69

#endif


#if defined(ATAVRSBIN1)

  #define ITG3200

  #define BMA020        //Actually it's a BMA150, but this is a drop in replacement for the discountinued BMA020

  #define AK8975

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] =  Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = -Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  =  Z;}

#endif


#if defined(SIRIUS)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(SIRIUSGPS)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = -X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  =  Z;}

#endif


#if defined(SIRIUS600)

  #define WMP

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(SIRIUS_AIR)

  #define MPU6050

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = X; imu.accADC[PITCH]  =  Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #define HWPWM6

#endif


#if defined(SIRIUS_AIR_GPS)

  #define MPU6050

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = X; imu.accADC[PITCH]  =  Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  -X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}   //normal Sirius MAG on top is X Y -Z

  #undef INTERNAL_I2C_PULLUPS

  #define HWPWM6

#endif


#if defined(SIRIUS_MEGAv5_OSD)

  #define ITG3050

  #define BMA280

  #define MS561101BA

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  =  -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] =  -Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  =  -X; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(MINIWII)

  #define ITG3200

  #define BMA180

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

#endif


#if defined(CITRUSv2_1)

  #define ITG3200

  #define ADXL345

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(CHERRY6DOFv1_0)

  #define MPU6050

  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(DROTEK_10DOF) || defined(DROTEK_10DOF_MS)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define GYRO_ADDRESS 0X69

  #if defined(DROTEK_10DOF_MS)

    #define MS561101BA

  #elif defined(DROTEK_10DOF)

    #define BMP085

  #endif

#endif


#if defined(DROTEK_6DOFv2)

  #define ITG3200

  #define BMA180

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  =  X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #define GYRO_ADDRESS 0X69

#endif


#if defined(DROTEK_6DOF_MPU)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  =  X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #define MPU6050_ADDRESS 0x69

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(DROTEK_10DOF_MPU)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  -Y; imu.magADC[PITCH]  = X; imu.magADC[YAW]  = -Z;}

  #define MPU6050_ADDRESS 0X69

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(FLYDUINO_MPU)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = X; imu.accADC[PITCH] = Y; imu.accADC[YAW] = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] = X; imu.gyroADC[YAW] = -Z;}

#endif


#if defined(MONGOOSE1_0)

  #define ITG3200

  #define ADXL345

  #define BMP085

  #define HMC5883

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = -Y; imu.gyroADC[PITCH] =  X; imu.gyroADC[YAW] = -Z;}

  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[ROLL]  =  Y; imu.accADC[PITCH]  =  X; imu.accADC[YAW]  =  Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = -X; imu.magADC[PITCH]  = -Y; imu.magADC[YAW]  = -Z;}

  #define ADXL345_ADDRESS 0x53

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(CRIUS_LITE)

  #define ITG3200

  #define ADXL345

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

#endif


#if defined(CRIUS_SE)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(CRIUS_SE_v2_0)

  #define MPU6050

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(BOARD_PROTO_1)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MS561101BA_ADDRESS 0x76

  #define STABLEPIN_PINMODE pinMode (A2, OUTPUT);

  #define STABLEPIN_ON PORTC |= (1<<2);

  #define STABLEPIN_OFF PORTC &= ~(1<<2);

#endif


#if defined(BOARD_PROTO_2)

  #define MPU6050

  #define MAG3110

  #define MS561101BA

  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[ROLL]  = -Y; imu.accADC[PITCH]  = -X; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(Y, X, Z) {imu.gyroADC[ROLL] =  X; imu.gyroADC[PITCH] = -Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  =  Z;}

  #define MPU6050_I2C_AUX_MASTER

  #define MS561101BA_ADDRESS 0x76

  #define STABLEPIN_PINMODE pinMode (A2, OUTPUT);

  #define STABLEPIN_ON PORTC |= (1<<2);

  #define STABLEPIN_OFF PORTC &= ~(1<<2);

#endif


#if defined(GY_80)

  #define L3G4200D

  #define ADXL345

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #define ADXL345_ADDRESS 0x53

#endif


#if defined(GY_85)

  #define ITG3200

  #define ADXL345

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #define ADXL345_ADDRESS 0x53

#endif


#if defined(GY_86)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(GY_88)

  #define MPU6050

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(GY_521)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(INNOVWORKS_10DOF)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = X; imu.magADC[PITCH]  = Y; imu.imu.[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(INNOVWORKS_6DOF)

  #define ITG3200

  #define BMA180

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(PROTO_DIY)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = X; imu.accADC[PITCH]  = Y; imu.accADC[YAW]  = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = X; imu.gyroADC[PITCH] = Y; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = X; imu.magADC[PITCH]  = Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #define STABLEPIN_ON               PORTC &= ~(1<<6);

  #define STABLEPIN_OFF              PORTC |= 1<<6;

#endif


#if defined(IOI_MINI_MULTIWII)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL] = -Y; imu.magADC[PITCH] = X; imu.magADC[YAW] = -Z;}

#endif


#if defined(Bobs_6DOF_V1)

  #define ITG3200

  #define BMA180

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(Bobs_9DOF_V1)

  #define ITG3200

  #define BMA180

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(Bobs_10DOF_BMP_V1)

  #define ITG3200

  #define BMA180

  #define BMP085  // Bobs 10DOF uses the BMP180 - BMP085 and BMP180 are software compatible

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  Y; imu.magADC[PITCH]  = -X; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_IC2_PULLUPS

#endif


#if defined(HK_MultiWii_SE_V2 )

  #define MPU6050

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z){imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(HK_MultiWii_328P )

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z){imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(CRIUS_AIO_PRO)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

  #define I2C_SPEED 400000L         //400kHz fast mode

  //servo pins on AIO board is at pins 44,45,46, then release pins 33,34,35 for other usage

  //eg. pin 33 on AIO can be used for LEDFLASHER output

  #define SERVO_1_PINMODE            pinMode(44,OUTPUT);        // TILT_PITCH

  #define SERVO_1_PIN_HIGH           PORTL |= 1<<5;

  #define SERVO_1_PIN_LOW            PORTL &= ~(1<<5);

  #define SERVO_2_PINMODE            pinMode(45,OUTPUT);        // TILT_ROLL

  #define SERVO_2_PIN_HIGH           PORTL |= 1<<4;

  #define SERVO_2_PIN_LOW            PORTL &= ~(1<<4);

  #define SERVO_3_PINMODE            pinMode(46,OUTPUT);        // CAM TRIG

  #define SERVO_3_PIN_HIGH           PORTL |= 1<<3;

  #define SERVO_3_PIN_LOW            PORTL &= ~(1<<3);

#endif


#if defined(LADYBIRD)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  #define MINTHROTTLE 1050

  #define MAXTHROTTLE 2000

  #define EXT_MOTOR_32KHZ

  #define VBAT

  #define VBATSCALE       54

  #define VBATLEVEL_WARN1 10

  #define VBATLEVEL_WARN2 10

  #define VBATLEVEL_CRIT  10

  #define NO_VBAT         10

  #define MOTOR_STOP

#endif


#if defined(MEGAWAP_V2_STD)

  #define ITG3200

  #define BMA180

  #define HMC5883

  #define BMP085

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

#endif


#if defined(MEGAWAP_V2_ADV)

  #define MPU6050

  #define HMC5883

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(RCNet_FC_GPS)

  #define RCNet_FC

  #define HMC5883

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  -X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = Z;}

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

  #define GPS_SERIAL 2

  #define GPS_BAUD   115200

  #define UBLOX

#endif


#if defined(RCNet_FC)

  #define MPU6050

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

  //servo pins on RCNet FC board are at pins 38,39,40

  #define SERVO_1_PINMODE            pinMode(40,OUTPUT);        // TILT_PITCH

  #define SERVO_1_PIN_HIGH           PORTL |= 1<<5;

  #define SERVO_1_PIN_LOW            PORTL &= ~(1<<5);

  #define SERVO_2_PINMODE            pinMode(39,OUTPUT);        // TILT_ROLL

  #define SERVO_2_PIN_HIGH           PORTL |= 1<<4;

  #define SERVO_2_PIN_LOW            PORTL &= ~(1<<4);

  #define SERVO_3_PINMODE            pinMode(38,OUTPUT);        // CAM TRIG

  #define SERVO_3_PIN_HIGH           PORTL |= 1<<3;

  #define SERVO_3_PIN_LOW            PORTL &= ~(1<<3);

#endif


#if defined(FLYDU_ULTRA)

  #define ITG3200

  #define MMA8451Q

  #define MS561101BA

  #define MAG3110


  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  =  X; imu.accADC[PITCH] = Y; imu.accADC[YAW]  = Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  = -Y; imu.magADC[PITCH] = X; imu.magADC[YAW]  = Z;}


  #define GPS_SERIAL 2

  #define GPS_BAUD   57600

  #define MTK_BINARY19

  #define INIT_MTK_GPS

#endif


#if defined(MultiWii_32U4_SE)

  #define MPU6050

  #define HMC5883

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #define MS561101BA

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(MultiWii_32U4_SE_no_baro)

  #define MPU6050

  #define HMC5883

  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(Flyduino9DOF)

  #define MPU6050

  #define HMC5883

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(Nano_Plane)

  #define LSM330

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(OPENLRSv2MULTI)

  #define ITG3200

  #define ADXL345

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define ADXL345_ADDRESS 0x53


  #define SDO_pin A0

  #define SDI_pin A1

  #define SCLK_pin A2

  #define IRQ_pin 2

  #define nSel_pin 4

  #define IRQ_interrupt 0


  #define  nIRQ_1 (PIND & 0x04)==0x04 //D2

  #define  nIRQ_0 (PIND & 0x04)==0x00 //D2


  #define  nSEL_on PORTD |= 0x10 //D4

  #define  nSEL_off PORTD &= 0xEF //D4


  #define  SCK_on PORTC |= 0x04 //C2

  #define  SCK_off PORTC &= 0xFB //C2


  #define  SDI_on PORTC |= 0x02 //C1

  #define  SDI_off PORTC &= 0xFD //C1


  #define  SDO_1 (PINC & 0x01) == 0x01 //C0

  #define  SDO_0 (PINC & 0x01) == 0x00 //C0


  //#### Other interface pinouts ###

  #define GREEN_LED_pin 13

  #define RED_LED_pin A3


  #define Red_LED_ON  PORTC |= _BV(3);

  #define Red_LED_OFF  PORTC &= ~_BV(3);


  #define Green_LED_ON  PORTB |= _BV(5);

  #define Green_LED_OFF  PORTB &= ~_BV(5);


  #define NOP() __asm__ __volatile__("nop")


  #define RF22B_PWRSTATE_READY    01

  #define RF22B_PWRSTATE_TX        0x09

  #define RF22B_PWRSTATE_RX       05

  #define RF22B_Rx_packet_received_interrupt   0x02

  #define RF22B_PACKET_SENT_INTERRUPT  04

  #define RF22B_PWRSTATE_POWERDOWN  00


#endif


#if defined(DESQUARED6DOFV2GO)

  #define ITG3200

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(DESQUARED6DOFV4)

  #define MPU6050

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(OSEPPGYRO)

  #define MPU3050

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


#if defined(DIYFLYING_MAGE_V1)

  #define MPU6050 // gyro+acc

  #define BMP085  // baro

  #define HMC5883 // mag

  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}

  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}

  #undef INTERNAL_I2C_PULLUPS

#endif


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

/***************              Sensor Type definitions              ********************/

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


#if defined(ADXL345) || defined(BMA020) || defined(BMA180) || defined(BMA280) || defined(MMA7455) || defined(ADCACC) || defined(LIS3LV02) || defined(LSM303DLx_ACC) || defined(MPU6050) || defined(LSM330) || defined(LSM9DS0) || defined(MMA8451Q)

  #define ACC 1

#else

  #define ACC 0

#endif


#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) || defined(LSM9DS0)

  #define MAG 1

#else

  #define MAG 0

#endif


#if defined(ITG3200) || defined(ITG3050) || defined(L3G4200D) || defined(MPU6050) || defined(LSM330) || defined(LSM9DS0) || defined(MPU3050) || defined(WMP)

  #define GYRO 1

#else

  #define GYRO 0

#endif


#if defined(BMP085) || defined(BME280) || defined(MS561101BA)

  #define BARO 1

#else

  #define BARO 0

#endif


#if defined(GPS_SERIAL)  || defined(I2C_GPS)

  #define GPS 1

#else

  #define GPS 0

#endif


#if defined(USE_MSP_WP)

  #define NAVCAP 1

#else

  #define NAVCAP 0

#endif


#if defined(SRF02) || defined(SRF08) || defined(SRF10) || defined(SRC235) || defined(I2C_GPS_SONAR)

  #define SONAR 1

#else

  #define SONAR 0

#endif


#if defined(EXTENDED_AUX_STATES)

  #define EXTAUX 1

#else

  #define EXTAUX 0

#endif


#if defined(RX_RSSI_CHAN)

  #define RX_RSSI

#endif


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

/***************      Multitype decleration for the GUI's          ********************/

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

#if defined(TRI)

  #define MULTITYPE 1

#elif defined(QUADP)

  #define MULTITYPE 2

#elif defined(QUADX)

  #define MULTITYPE 3

#elif defined(BI)

  #define MULTITYPE 4

  #define SERVO_RATES      {30,30,100,100,0,1,100,100}

#elif defined(GIMBAL)

  #define MULTITYPE 5

#elif defined(Y6)

  #define MULTITYPE 6

#elif defined(HEX6)

  #define MULTITYPE 7

#elif defined(FLYING_WING)

  #define MULTITYPE 8

  #define SERVO_RATES      {30,30,100,0,1,100,100,100}

#elif defined(Y4)

  #define MULTITYPE 9

#elif defined(HEX6X)

  #define MULTITYPE 10

#elif defined(OCTOX8)

  #define MULTITYPE 11   //the JAVA GUI is the same for all 8 motor configs

#elif defined(OCTOFLATP)

  #define MULTITYPE 12   //12  for MultiWinGui

#elif defined(OCTOFLATX)

  #define MULTITYPE 13   //13  for MultiWinGui

#elif defined(AIRPLANE)

  #define MULTITYPE 14

  #define SERVO_RATES      {30,30,100,100,-100,100,100,100}

#elif defined (HELI_120_CCPM)

  #define MULTITYPE 15

#elif defined (HELI_90_DEG)

  #define MULTITYPE 16

  #define SERVO_RATES      {30,30,100,-100,-100,100,100,100}

#elif defined(VTAIL4)

  #define MULTITYPE 17

#elif defined(HEX6H)

  #define MULTITYPE 18

#elif defined(SINGLECOPTER)

  #define MULTITYPE 21

  #define SERVO_RATES      {30,30,100,0,1,0,1,100}

#elif defined(DUALCOPTER)

  #define MULTITYPE 20

#endif


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

/***************          Some unsorted "chain" defines            ********************/

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


#if defined (AIRPLANE) || defined(HELICOPTER)|| defined(SINGLECOPTER)|| defined(DUALCOPTER) && defined(PROMINI)

  #if defined(D12_POWER)

    #define SERVO_4_PINMODE            ;  // D12

    #define SERVO_4_PIN_HIGH           ;

    #define SERVO_4_PIN_LOW            ;

  #else

    #undef POWERPIN_PINMODE

    #undef POWERPIN_ON

    #undef POWERPIN_OFF

    #define POWERPIN_PINMODE           ;

    #define POWERPIN_ON                ;

    #define POWERPIN_OFF               ;

  #endif

#endif


#if defined(POWERMETER_HARD) || defined(POWERMETER_SOFT)

  #define POWERMETER

  #define PLEVELSCALE 50 // step size you can use to set alarm

  #define PLEVELDIVSOFT 100000

  #define PLEVELDIV 36000

#endif


#if defined PILOTLAMP

  #define    PL_CHANNEL OCR0B  //use B since A can be used by camstab

  #define    PL_ISR TIMER0_COMPB_vect

  #define    PL_INIT   TCCR0A=0;TIMSK0|=(1<<OCIE0B);PL_CHANNEL=PL_IDLE;PilotLamp(PL_GRN_OFF);PilotLamp(PL_BLU_OFF);PilotLamp(PL_RED_OFF);PilotLamp(PL_BZR_OFF);

  #define    BUZZERPIN_ON PilotLamp(PL_BZR_ON);

  #define    BUZZERPIN_OFF PilotLamp(PL_BZR_OFF);

  #define    PL_GRN_ON    25    // 100us

  #define    PL_GRN_OFF   50    // 200us

  #define    PL_BLU_ON    75    // 300us

  #define    PL_BLU_OFF   100    // 400us

  #define    PL_RED_ON    125    // 500us

  #define    PL_RED_OFF   150    // 600us

  #define    PL_BZR_ON    175    // 700us

  #define    PL_BZR_OFF   200    // 800us

  #define    PL_IDLE      125    // 100us

#endif


#if defined(PILOTLAMP)

  #define BUZZER

#endif


//all new Special RX's must be added here

//this is to avoid confusion :)

#if !defined(SERIAL_SUM_PPM) && !defined(SPEKTRUM) && !defined(SBUS) && !defined(SUMD)

  #define STANDARD_RX

#endif


#if defined(SPEKTRUM) || defined(SBUS) || defined(SUMD)

  #define SERIAL_RX

#endif


// Spektrum Satellite

#define BIND_CAPABLE 0  //Used for Spektrum today; can be used in the future for any RX type that needs a bind and has a MultiWii module.

#if defined(SPEKTRUM) || defined(SPEK_BIND_NANO)

  #define SPEK_FRAME_SIZE 16

  #if (SPEKTRUM == 1024)

    #define SPEK_CHAN_SHIFT  2       // Assumes 10 bit frames, that is 1024 mode.

    #define SPEK_CHAN_MASK   0x03    // Assumes 10 bit frames, that is 1024 mode.

    #define SPEK_DATA_SHIFT          // Assumes 10 bit frames, that is 1024 mode.

    #define SPEK_BIND_PULSES 3

  #endif

  #if (SPEKTRUM == 2048)

    #define SPEK_CHAN_SHIFT  3       // Assumes 11 bit frames, that is 2048 mode.

    #define SPEK_CHAN_MASK   0x07    // Assumes 11 bit frames, that is 2048 mode.

    #define SPEK_DATA_SHIFT >> 1     // Assumes 11 bit frames, that is 2048 mode.

    #define SPEK_BIND_PULSES 5

  #endif

  #if defined(SPEK_BIND)

    #define BIND_CAPABLE 1

    /*#if !defined(SPEK_BIND_GROUND)

      #define SPEK_BIND_GROUND 4

    #endif  */

    #if !defined(SPEK_BIND_POWER)

      #define SPEK_BIND_POWER  5

    #endif

    #if !defined(SPEK_BIND_DATA)

      #define SPEK_BIND_DATA   6

    #endif

  #endif

#endif


#if defined(SBUS)

  #define RC_CHANS 18

#elif defined(SPEKTRUM) || defined(SERIAL_SUM_PPM)

  #define RC_CHANS 12

#else

  #define RC_CHANS 8

#endif


#if !(defined(DISPLAY_2LINES)) && !(defined(DISPLAY_MULTILINE))

  #if (defined(LCD_VT100)) || (defined(OLED_I2C_128x64) || defined(OLED_DIGOLE) )

    #define DISPLAY_MULTILINE

  #else

    #define DISPLAY_2LINES

  #endif

#endif


#if (defined(LCD_VT100))

  #if !(defined(MULTILINE_PRE))

    #define MULTILINE_PRE 6

  #endif

  #if !(defined(MULTILINE_POST))

    #define MULTILINE_POST 9

  #endif

  #if !(defined(DISPLAY_COLUMNS))

    #define DISPLAY_COLUMNS 40

  #endif

#elif (defined(OLED_I2C_128x64) && defined(DISPLAY_FONT_DSIZE))

  #if !(defined(MULTILINE_PRE))

    #define MULTILINE_PRE 1

  #endif

  #if !(defined(MULTILINE_POST))

    #define MULTILINE_POST 3

  #endif

  #if !(defined(DISPLAY_COLUMNS))

    #define DISPLAY_COLUMNS 21

  #endif

#elif (defined(OLED_I2C_128x64))

  #if !(defined(MULTILINE_PRE))

    #define MULTILINE_PRE 3

  #endif

  #if !(defined(MULTILINE_POST))

    #define MULTILINE_POST 5

  #endif

  #if !(defined(DISPLAY_COLUMNS))

    #define DISPLAY_COLUMNS 21

  #endif

#elif (defined(OLED_DIGOLE) && defined(DISPLAY_FONT_DSIZE))

  #if !(defined(MULTILINE_PRE))

    #define MULTILINE_PRE 2

  #endif

  #if !(defined(MULTILINE_POST))

    #define MULTILINE_POST 3

  #endif

#elif (defined(OLED_DIGOLE))

  #if !(defined(MULTILINE_PRE))

    #define MULTILINE_PRE 3

  #endif

  #if !(defined(MULTILINE_POST))

    #define MULTILINE_POST 4

  #endif

  #if !(defined(DISPLAY_COLUMNS))

    #define DISPLAY_COLUMNS 21

  #endif

#endif


#if !(defined(DISPLAY_COLUMNS))

  #define DISPLAY_COLUMNS 16

#endif


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

/***************               override defaults                   ********************/

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


  /***************               pin assignments ?  ********************/

  #ifdef OVERRIDE_V_BATPIN

    #undef V_BATPIN

    #define V_BATPIN OVERRIDE_V_BATPIN

  #endif

  #ifdef OVERRIDE_PSENSORPIN

    #undef PSENSORPIN

    #define PSENSORPIN OVERRIDE_PSENSORPIN

  #endif

  #ifdef OVERRIDE_LEDPIN_PINMODE

    #undef LEDPIN_PINMODE

    #undef LEDPIN_TOGGLE

    #undef LEDPIN_OFF

    #undef LEDPIN_ON

    #define LEDPIN_PINMODE OVERRIDE_LEDPIN_PINMODE

    #define LEDPIN_TOGGLE  OVERRIDE_LEDPIN_TOGGLE

    #define LEDPIN_OFF     OVERRIDE_LEDPIN_OFF

    #define LEDPIN_ON      OVERRIDE_LEDPIN_ON

  #endif

  #ifdef OVERRIDE_BUZZERPIN_PINMODE

    #undef BUZZERPIN_PINMODE

    #undef BUZZERPIN_ON

    #undef BUZZERPIN_OFF

    #define BUZZERPIN_PINMODE OVERRIDE_BUZZERPIN_PINMODE

    #define BUZZERPIN_ON      OVERRIDE_BUZZERPIN_ON

    #define BUZZERPIN_OFF     OVERRIDE_BUZZERPIN_OFF

  #endif


  /*********  sensors orientation - possibly overriding board defaults  *****/

  #ifdef FORCE_GYRO_ORIENTATION

    #undef GYRO_ORIENTATION

    #define GYRO_ORIENTATION FORCE_GYRO_ORIENTATION

  #endif

  #ifdef FORCE_ACC_ORIENTATION

    #undef ACC_ORIENTATION

    #define ACC_ORIENTATION FORCE_ACC_ORIENTATION

  #endif

  #ifdef FORCE_MAG_ORIENTATION

    #undef MAG_ORIENTATION

    #define MAG_ORIENTATION FORCE_MAG_ORIENTATION

  #endif


  /*********  servo rates                                               *****/

  #ifdef FORCE_SERVO_RATES

    #undef SERVO_RATES

    #define SERVO_RATES FORCE_SERVO_RATES

  #endif

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

/***************               Error Checking Section              ********************/

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


#ifndef NUMBER_MOTOR

        #error "NUMBER_MOTOR is not set, most likely you have not defined any type of multicopter"

#endif


#if (defined(LCD_DUMMY) || defined(LCD_SERIAL3W) || defined(LCD_TEXTSTAR) || defined(LCD_VT100) || defined(LCD_TTY) || defined(LCD_ETPP) || defined(LCD_LCD03) || defined(LCD_LCD03S) || defined(OLED_I2C_128x64) ) || defined(OLED_DIGOLE)

  #define HAS_LCD

#endif


#if (defined(LCD_CONF) || defined(LCD_TELEMETRY)) && !(defined(HAS_LCD) )

  #error "LCD_CONF or LCD_TELEMETRY defined, and choice of LCD not defined.  Uncomment one of LCD_SERIAL3W, LCD_TEXTSTAR, LCD_VT100, LCD_TTY or LCD_ETPP, LCD_LCD03, LCD_LCD03S, OLED_I2C_128x64, OLED_DIGOLE"

#endif


#if defined(POWERMETER_SOFT) && !(defined(VBAT))

  #error "to use powermeter, you must also define and configure VBAT"

#endif


#if defined(WATTS) && !(defined(POWERMETER_HARD)) && !(defined(VBAT))

  #error "to compute WATTS, you must also define and configure both POWERMETER_HARD and VBAT"

#endif


#if defined(LCD_TELEMETRY_AUTO) && !(defined(LCD_TELEMETRY))

  #error "to use automatic telemetry, you MUST also define and configure LCD_TELEMETRY"

#endif


#if defined(LCD_TELEMETRY_STEP) && !(defined(LCD_TELEMETRY))

  #error "to use single step telemetry, you MUST also define and configure LCD_TELEMETRY"

#endif


#if defined(A32U4_4_HW_PWM_SERVOS) && !(defined(HELI_120_CCPM))

  #error "for your protection: A32U4_4_HW_PWM_SERVOS was not tested with your coptertype"

#endif


#if GPS && !defined(NMEA) && !defined(UBLOX) && !defined(MTK_BINARY16) && !defined(MTK_BINARY19) && !defined(INIT_MTK_GPS) && !defined(I2C_GPS)

  #error "when using GPS you must specify the protocol NMEA, UBLOX..."

#endif


#if defined(NUNCHUK) || \

    defined( MPU6050_LPF_256HZ) || defined(MPU6050_LPF_188HZ)  || defined( MPU6050_LPF_98HZ) || defined( MPU6050_LPF_42HZ) || \

    defined( MPU6050_LPF_20HZ)  || defined( MPU6050_LPF_10HZ)  || defined( MPU6050_LPF_5HZ)  || \

    defined( ITG3200_LPF_256HZ) || defined( ITG3200_LPF_188HZ) || defined( ITG3200_LPF_98HZ) || defined( ITG3200_LPF_42HZ) || \

    defined( ITG3200_LPF_20HZ)  || defined( ITG3200_LPF_10HZ)

  #error "you use one feature that is no longer supported or has undergone a name change"

#endif


#endif /* DEF_H_ */