611行目から #define FAILSAFE_ALT_MODE // uncomment for descending with constant vario if in Failsafe - use with FAILSAFE and define the FAILSAFE_SLOW_VARIO #define FAILSAFE_SLOW_VARIO 10 // in cm/s - slow desceding speed under SAFETY_ALT, this is default is SAFETY_ALT is not used. - maximum 250!!! #define FAILSAFE_FAST_VARIO 50 // in cm/s - fast desceding speed over SAFETY_ALT, maximum 250!!! #define FAILSAFE_SAFETY_ALT 200 // in cm - safety altitude, where to slow down descending before landing, in cm!!!
#define FAILSAFE_RTH_MODE // if GPS present and ready, copter starts RTH when signal lost. When signal is back, control is back again. #define FAILSAFE_RTH_VARIO 100 // in cm/s - vario for RTH function for failsafe, maximum 250!!! #define FAILSAFE_RTH_ALT 2000 // in cm - minimum RTH altitude for failsafe. If copter is higher than this, it will keep altitude. #define FAILSAFE_RTH_HOME 400 // in cm - home altitude for RTH, copter will descend to this altitude and wait. #define FAILSAFE_RTH_DELAY 8 // in s - safety delay, after reaching HOME altitude, it'll land in FAILSAFE_ALT_MODE when safety delay terminates.
#define FAILSAFE_DETECT_TRESHOLD 985 //Failsafe threshold (in us)
938行目から #define VARIO_ALT_MODE // define ALT HOLD code //#define VARIO_MODE_CHANGE_BEEP // beep if changing between rising/descending - long beep when entering hoover mode, short beep when changing between rising/descending #define ALT_VARIO_MAX 200 // in cm/s - maximum rising/descending vario when full throttle applied - maximum 250!!! #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 50 // in us - deadband of stick around hovering point when in ALT HOLD is active (us in PWM signal) #define ALT_HOLD_THROTTLE_MIDPOINT 1350 // in us - if uncommented, this value is used in ALT_HOLD for throttle stick middle point instead of initialThrottleHold parameter.
#define RTH_ALT_MODE // define RTH custom approach height #define RTH_KEEP_ALT // if the altitude is higher than the RTH_ALT, copter maintains that altitude instead of descending to target - according to Dramida's request #define RTH_VARIO 100 // in cm/s - vario used for reaching target altitudes during RTH - maximum 250!!! #define RTH_ALT 1000 // in cm - altitude during approach #define HOME_ALT 400 // in cm - altitude after reaching home position
//#define WP_ALT_MODE // define WP mode - approach WP altitude with WP vario - USE WITH EZ-GUI and RTH_ALT_MODE #define WP_VARIO 100 // in cm/s - vario used for reaching WP altitude - maximum 250!!!
#define ALT_SAFETY_DEADBAND 150 // deadband for RTH mode and WP mode. In emergency situations control can be get back with throttle stick