////////////////////////////////////////////////////////////////////////////////
// Use board orientation to change the mounting direction of the board.
// The following 6 orientations have the board parallel with the ground.
// Note: For UDB3 and older versions of UDB, Y arrow points to the front, GPS connector is on the front.
//       For UDB4, X arrow points to the front, GPS connectors are on the front.
// ORIENTATION_FORWARDS:  Component-side up,   GPS connector front
// ORIENTATION_BACKWARDS: Component-side up,   GPS connector back
// ORIENTATION_INVERTED:  Component-side down, GPS connector front
// ORIENTATION_FLIPPED:   Component-side down, GPS connector back
// ORIENTATION_YAWCW:     Component-side up,   GPS connector to the right
// ORIENTATION_YAWCCW:    Component-side up,   GPS connector to the left
// 
// The following 2 orientations are "knife edge" mountings
// ORIENTATION_ROLLCW: Rick's picture #9, board rolled 90 degrees clockwise,
//              from point of view of the pilot
// ORIENTATION_ROLLCW180: Rick's pitcure #11, board rolled 90 degrees clockwise,
//              from point of view of the pilot, then rotate the board 180 around the Z axis of the plane,
//              so that the GPS connector points toward the tail of the plane
#define BOARD_ORIENTATION                                       ORIENTATION_FORWARDS

// Choose your airframe type:
//    AIRFRAME_STANDARD		 	Elevator, and Ailerons and/or Rudder control
//    AIRFRAME_VTAIL			Ailerons(optional), and Elevator and Rudder as V-tail controls
//    AIRFRAME_DELTA			Aileron and Elevator as Elevons, and Rudder(optional)
// (Note that although AIRFRAME_HELI is also recognized, the code for this airframe type is not ready.)
#define AIRFRAME_TYPE						AIRFRAME_STANDARD

// Set this value to your GPS type.  (Set to GPS_STD, GPS_UBX_2HZ, GPS_UBX_4HZ, GPS_MTEK, or GPS_NMEA)
#define GPS_TYPE						GPS_STD

// Roll, Pitch, and Yaw Stabilization
// Set any of these to 0 to disable the stabilization in that axis, using that control surface.
#define ROLL_STABILIZATION_AILERONS				1
#define ROLL_STABILIZATION_RUDDER				0
#define PITCH_STABILIZATION					1
#define YAW_STABILIZATION_RUDDER				1
#define YAW_STABILIZATION_AILERON				1

// Aileron and Rudder Navigation
// Set either of these to 0 to disable use of that control surface for navigation.
#define AILERON_NAVIGATION					1
#define RUDDER_NAVIGATION					1

// Wind Gain Adjustment
// This is an option for modulating the navigation gains in flight
// to maintain a constant turn radius in heavy winds in waypoint mode.
// Define WIND_GAIN_ADJUSTMENT as 1 to turn this feature on.
#define WIND_GAIN_ADJUSTMENT					0

// Altitude Hold
// Use altitude hold in stabilized mode?  In waypoint mode?
// Each of these settings can be AH_NONE, AH_FULL, or AH_PITCH_ONLY
//  - In waypoint mode, the target altitude is defined by the waypoints or logo program.
//  - In stabilized mode, when ALTITUDEHOLD_STABILIZED is set to AH_PITCH_ONLY, the target
// altitude is whatever altitude the plane was at when switched into stabilized mode.
//  - In stabilized mode, when ALTITUDEHOLD_STABILIZED is set to AH_FULL, the target
// altitude is determined by the position of the throttle stick on the transmitter.
// NOTE: even when set to AH_NONE, MatrixPilot will still try to stabilize pitch as long
// as PITCH_STABILIZATION is set to 1 above, but will not aim for any specific altitude.
#define ALTITUDEHOLD_STABILIZED					AH_FULL
#define ALTITUDEHOLD_WAYPOINT					AH_FULL

// Speed Control
// If you define SPEED_CONTROL to be 1, MatrixPilot will take air speed into account
// in the altitude controls, and will trim the throttle and pitch to maintain air speed.
// Define DESIRED_SPEED to be the air speed that you want, in meters/second.
#define SPEED_CONTROL						0
#define DESIRED_SPEED						10.00 // meters/second

// Inverted flight
// Set these to 1 to enable stabilization of inverted flight in stabilized and/or waypoint modes.
#define INVERTED_FLIGHT_STABILIZED_MODE				0
#define INVERTED_FLIGHT_WAYPOINT_MODE				0

// Hovering
// Set these to 1 to enable stabilization of hovering in stabilized and/or waypoint modes.
#define HOVERING_STABILIZED_MODE				0
#define HOVERING_WAYPOINT_MODE					0

Note: As of MatrixPilot 3.0, Dead Reckoning and Wind Estimation are automatically enabled.

// Camera Stabilization
// To enable, set this value to 1, and assign one or more of the CAMERA_*_OUTPUT_CHANNELS below.
#define USE_CAMERA_STABILIZATION				0

// Define MAG_YAW_DRIFT to be 1 to use magnetometer for yaw drift correction.
// Otherwise, if set to 0 the GPS will be used.
// If you select this option, you also need to set magnetometer options in
// the magnetometerOptions.h file, including declination and magnetometer type.
#define MAG_YAW_DRIFT						0

// Racing Mode
// Setting RACING_MODE to 1 will keep the plane at a set throttle value while in waypoint mode.
// RACING_MODE_WP_THROTTLE is the throttle value to use, and should be set between 0.0 and 1.0.
// Racing performance can be improved by disabling cross tracking for your waypoints.
#define RACING_MODE						0
#define RACING_MODE_WP_THROTTLE					1.0

// Set this to 1 if you want the UAV Dev Board to fly your plane without a radio transmitter or
// receiver. (Totally autonomous.)  This is just meant for debugging.  It is not recommended that
// you actually use this since there is no automatic landing code yet, and you'd have no manual
// control to fall back on if things go wrong.  It may not even be legal in your area.
#define NORADIO							0

////////////////////////////////////////////////////////////////////////////////
// Configure Input and Output Channels
//
// For setups with an external Rx device: 
//   Use a single PPM input connection from the RC receiver to the UDB on RC input channel PPM_IC. 
//   The 8 standard output channels remain unaffected. 
//   For UDB4 and UDB5 boards: 
//     2 additional output channels are available on pins RA4 and RA1. 
//   For AUAV3 boards: 
//     support for additional output channels may be developed upon request 
// 
// For UDB4 boards:
// Use a single PPM input connection from the RC receiver to the UDB on RC input channel 1.
// The 8 standard output channels remain unaffected.  2 additional output channels are available 
// on pins RA4 and RA1.
// 
// For all boards:
// If you're not sure, leave USE_PPM_INPUT set to 0.
// PPM_NUMBER_OF_CHANNELS is the number of channels sent on the PWM signal.  This is
// often different from the NUM_INPUTS value below, and should usually be left at 8.
#define USE_PPM_INPUT						0
#define PPM_NUMBER_OF_CHANNELS					8
#define PPM_SIGNAL_INVERTED					0
#define PPM_ALT_OUTPUT_PINS					0

// NUM_INPUTS: 
// If using PWM inputs (parallel Rx connections), set to the number of cables connected, 1-8 
// If using PPM inputs (serial Rx connection), set to the number of Rx channels, up to PPM_NUMBER_OF_CHANNELS 
// If using LRS library (integrated SPI tranceiver), set to the number of Rx channels, up to 16 
#define NUM_INPUTS						5

// Channel numbers for each input.
// Use as is, or edit to match your setup.
//   - If you're set up to use Rudder Navigation (like MatrixNav), then you may want to swap
//     the aileron and rudder channels so that rudder is CHANNEL_1, and aileron is 5.
#define THROTTLE_INPUT_CHANNEL					CHANNEL_3
#define AILERON_INPUT_CHANNEL					CHANNEL_1
#define ELEVATOR_INPUT_CHANNEL					CHANNEL_2
#define RUDDER_INPUT_CHANNEL					CHANNEL_5
#define MODE_SWITCH_INPUT_CHANNEL				CHANNEL_4
#define CAMERA_PITCH_INPUT_CHANNEL				CHANNEL_UNUSED
#define CAMERA_YAW_INPUT_CHANNEL				CHANNEL_UNUSED
#define CAMERA_MODE_INPUT_CHANNEL				CHANNEL_UNUSED
#define OSD_MODE_SWITCH_INPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_A_INPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_B_INPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_C_INPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_D_INPUT_CHANNEL				CHANNEL_UNUSED


// NUM_OUTPUTS:
//   NOTE: If USE_PPM_INPUT is enabled above, up to 9 outputs are available.)
// For UDB4 boards: Set to 3-8 (or up to 10 using pins RA4 and RA1.)
// For AUAV3 boards:  Set to 3-8 (or up to 11 using pins RE1, RA6 and RA7.)
//                               (this needs developing, so contact the list) #define NUM_OUTPUTS						4

// Channel numbers for each output
// Use as is, or edit to match your setup.
//   - Only assign each channel to one output purpose
//   - If you don't want to use an output channel, set it to CHANNEL_UNUSED
//   - If you're set up to use Rudder Navigation (like MatrixNav), then you may want to swap
//     the aileron and runner channels so that rudder is CHANNEL_1, and aileron is 5.
// 
// NOTE: If your board is powered from your ESC through the throttle cable, make sure to
// connect THROTTLE_OUTPUT_CHANNEL to one of the built-in Outputs (1, 2, or 3) to make
// sure your board gets power.
// 
#define THROTTLE_OUTPUT_CHANNEL					CHANNEL_3
#define AILERON_OUTPUT_CHANNEL					CHANNEL_1
#define ELEVATOR_OUTPUT_CHANNEL					CHANNEL_2
#define RUDDER_OUTPUT_CHANNEL					CHANNEL_4
#define AILERON_SECONDARY_OUTPUT_CHANNEL			CHANNEL_UNUSED
#define CAMERA_PITCH_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define CAMERA_YAW_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define TRIGGER_OUTPUT_CHANNEL					CHANNEL_UNUSED
#define PASSTHROUGH_A_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_B_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_C_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_D_OUTPUT_CHANNEL				CHANNEL_UNUSED

// Servo Reversing Configuration
// For any of these that evaluate to 1, that servo will be sent reversed controls.
// Note that your servo reversing settings here should match what you set on your transmitter.
#define AILERON_CHANNEL_REVERSED				0
#define ELEVATOR_CHANNEL_REVERSED				0
#define RUDDER_CHANNEL_REVERSED					0
#define AILERON_SECONDARY_CHANNEL_REVERSED		0 // Hardcoded to be unreversed, since we have only 3 switches.
#define THROTTLE_CHANNEL_REVERSED				0 // Set to 1 to hardcode a channel to be reversed
#define CAMERA_ROLL_CHANNEL_REVERSED			0
#define CAMERA_PITCH_CHANNEL_REVERSED			0
#define CAMERA_YAW_CHANNEL_REVERSED				0

// Set this to 1 if you need to switch the left and right elevon or vtail surfaces
#define ELEVON_VTAIL_SURFACES_REVERSED			 0

// Mode Switch is ideally controlled by a 3-position switch on your transmitter.
// Often the Flap channel will be controlled by a 3-position switch.
// These are the thresholds for the cutoffs between low and middle, and between middle and high.
// Normal signals should fall within about 2000 - 4000.
#define MODE_SWITCH_THRESHOLD_LOW				2600
#define MODE_SWITCH_THRESHOLD_HIGH				3400

// Setting MODE_SWITCH_TWO_POSITION to 1,  allows a two state mode switch on the transmitter to be used
// to create three flight modes. When switch is "Down" the plane always reverts to Manual. When "Up",
// the plane moves to Stabilized". If the user is in stabilized ("Up"), and then the user toggles
// the switch to Down, Up, Down, Up, then the plane moves to autonomous.
// Each toggle must be achieved with a limited time period ( 1/2 a second ) and not faster than 1/40th of a second.
// When in Autonomous, a move to "Down" puts the switch state  back to Manual. And a futher move to "Up", will put the
// switch state back in stabilized. The important design concept is that Manual position is always Manual state immediately.
// Stabilized position is Stabilized mode unless you try  hard to reach Autonomous mode.
// Set MODE_SWITCH_TWO_POSITION to 0 for a normal three position mode switch.   
#define MODE_SWITCH_TWO_POSITION				0

// The Failsafe Channel is the RX channel that is monitored for loss of signal
// Make sure this is set to a channel you actually have plugged into the UAV Dev Board!
// 
// For a receiver that remembers a failsafe value for when it loses the transmitter signal,
// like the Spektrum AR6100, you can program the receiver's failsafe value to a value below
// the normal low value for that channel.  Then set the FAILSAFE_INPUT_MIN value to a value
// between the receiver's programmed failsafe value and the transmitter's normal lowest
// value for that channel.  This way the firmware can detect the difference between a normal
// signal, and a lost transmitter.
//
// FAILSAFE_INPUT_MIN and _MAX define the range within which we consider the radio on.
// Normal signals should fall within about 2000 - 4000.
#define FAILSAFE_INPUT_CHANNEL					THROTTLE_INPUT_CHANNEL
#define FAILSAFE_INPUT_MIN					1500
#define FAILSAFE_INPUT_MAX					4500

// FAILSAFE_TYPE controls the UDB's behavior when in failsafe mode due to loss of transmitter
// signal.  (Set to FAILSAFE_RTL or FAILSAFE_MAIN_FLIGHTPLAN.)
// 
// When using FAILSAFE_RTL (Return To Launch), the UDB will begin following the RTL flight plan
// as defined near the bottom of the waypoints.h or flightplan-logo.h files.  By default, this
// is set to return to a point above the location where the UDB was powered up, and to loiter there.
// See the waypoints.h or flightplan-logo.h files for info on modifying this behavior.
// 
// When set to FAILSAFE_MAIN_FLIGHTPLAN, the UDB will instead follow the main flight plan as
// defined in either waypoints.h or flightplan-logo.h.  If the UDB was already in waypoint mode
// when it lost signal, the plane will just continue following the main flight plan without
// starting them over.  And if the transmitter is still in waypoint mode when the UDB sees it
// again, the UDB will still continue following the main flight plan without restarting.  If
// the UDB loses signal while not in waypoint mode, it will start the main flight plan from the
// beginning.
#define FAILSAFE_TYPE						FAILSAFE_RTL

// When FAILSAFE_HOLD is set to 1, then once Failsafe has engaged, and you have subsequently
// regained your RC TX-RX connection, you will need to manually change the Mode Switch in order
// to exit Failsafe mode.  This avoids the situation where your plane flies in and out of range,
// and keeps switching into and out of Failsafe mode, which depending on your configuration,
// could be confusing and/or dangerous.
#define FAILSAFE_HOLD						0

// Serial Output Format (Can be SERIAL_NONE, SERIAL_DEBUG, SERIAL_ARDUSTATION, SERIAL_UDB,
// SERIAL_UDB_EXTRA,SERIAL_MAVLINK, SERIAL_CAM_TRACK, or SERIAL_OSD_REMZIBI)
// This determines the format of the output sent out the spare serial port.
// Note that SERIAL_OSD_REMZIBI only works with a ublox GPS.
// SERIAL_UDB_EXTRA will add additional telemetry fields to those of SERIAL_UDB.
// SERIAL_UDB_EXTRA can be used with the OpenLog without characters being dropped.
// SERIAL_UDB_EXTRA may result in dropped characters if used with the XBEE wireless transmitter.
// SERIAL_CAM_TRACK is used to output location data to a 2nd UDB, which will target its camera at this plane.
// SERIAL_MAVLINK is a bi-directional binary format for use with QgroundControl, HKGCS or MAVProxy (Ground Control Stations.)
// SERIAL_MAVLINK is only supported on the UDB4 to ensure that sufficient RAM is available.
// Note that SERIAL_MAVLINK defaults to using a baud rate of 57600 baud (other formats default to 19200)

#define SERIAL_OUTPUT_FORMAT				SERIAL_NONE

// MAVLink requires an aircraft Identifier (I.D) as it is deaigned to control multiple aircraft
// Each aircraft in the sky will need a unique I.D. in the range from 0-255
#define MAVLINK_SYSID					55

// On Screen Display
// USE_OSD enables the OSD system.  Customize the OSD Layout in the osd_layout.h file.
#define USE_OSD						0

// NUM_ANALOG_INPUTS: Set to 0, 1, or 2
//   1 enables Radio In 1 as an analog Input
//   2 also enables Radio In 2 as another analog Input
//   NOTE: Can only be set this higher than 0 if USE_PPM_INPUT is enabled above.
#define NUM_ANALOG_INPUTS					0

// Channel numbers for each analog input
//   - Only assign each channel number to one analog sensor
//   - If you don't want to use an output channel, set it to CHANNEL_UNUSED
//   - Only 2 analog inputs are available, so you can't use all the defined analog
//     sensors at once
// 
// ANALOG_CURRENT_INPUT_CHANNEL and ANALOG_VOLTAGE_INPUT_CHANNEL let you plug in and
// use this Voltage/Current sensor board from SparkFun:
//    http://www.sparkfun.com/products/9028
// Just plug the ground and signal lines of the chosen current input channel into the
// ground and current outputs of the current sensor, and the signal line of the chosen
// voltage input channel to the voltage output from the current sensor.  Values for
// instantaneous current, voltage, and mAh used will become available for use with the
// OSD layout.
// 
// ANALOG_RSSI_INPUT_CHANNEL lets you connect your RC Receiver's RSSI output to your
// UDB, in order to see the RC signal strength on your OSD.  Just plug RSSI and ground
// from your Receiver to Input2's signal and ground on your UDB.  If you use this feature,
// you'll also need to set up the RSSI_MIN_SIGNAL_VOLTAGE and RSSI_MAX_SIGNAL_VOLTAGE
// to match your Receiver's RSSI format.  Note that some receivers use a higher voltage to 
// represent a lower signal strength, so you may need to set MIN higher than MAX.

#define ANALOG_CURRENT_INPUT_CHANNEL				CHANNEL_UNUSED
#define ANALOG_VOLTAGE_INPUT_CHANNEL				CHANNEL_UNUSED
#define ANALOG_RSSI_INPUT_CHANNEL				CHANNEL_UNUSED

// RSSI - RC Receiver signal strength
#define RSSI_MIN_SIGNAL_VOLTAGE					0.5             // Voltage when RSSI should show 0%
#define RSSI_MAX_SIGNAL_VOLTAGE					3.3             // Voltage when RSSI should show 100%

// Trigger Action
// Use the trigger to do things like drop an item at a certain waypoint, or take a photo every
// N seconds during certain waypoint legs.

// TRIGGER_TYPE can be set to TRIGGER_TYPE_NONE, TRIGGER_TYPE_SERVO, or TRIGGER_TYPE_DIGITAL.
// If using TRIGGER_TYPE_SERVO, set the TRIGGER_OUTPUT_CHANNEL above to choose which output channel
// receives trigger events, and set the TRIGGER_SERVO_LOW and TRIGGER_SERVO_HIGH values below.
// If using TRIGGER_TYPE_DIGITAL, the trigger will be on pin RE4.  In this case make sure to set
// NUM_OUTPUTS to be less than 6 to avoid a conflict between digital output and servo output on
// that pin.

// TRIGGER_ACTION can be: TRIGGER_PULSE_HIGH, TRIGGER_PULSE_LOW, TRIGGER_TOGGLE, or TRIGGER_REPEATING
// The trigger action output is always either low or high.  In servo mode, low and high are servo
// values set below.  In digital mode, low and high are 0V and 5V on pin RE4.
// The action is triggered when starting on a waypoint leg that includes the F_TRIGGER flag (see the
// waypoints.h file).
// If set to TRIGGER_PULSE_HIGH or TRIGGER_PULSE_LOW, then the output will pulse high or low for the
// number of milliseconds set by TRIGGER_PULSE_DURATION.
// If set to TRIGGER_TOGGLE, the output will just switch from high to low, or low to high each time
// the action is triggered.
// If set to TRIGGER_REPEATING, then during any waypoint leg with F_TRIGGER set, high pulses will be
// sent every TRIGGER_REPEAT_PERIOD milliseconds.

// Note, durations in milliseconds are rounded down to the nearest 25ms.

#define TRIGGER_TYPE						TRIGGER_TYPE_NONE
#define TRIGGER_ACTION						TRIGGER_PULSE_HIGH
#define TRIGGER_SERVO_LOW					2000
#define TRIGGER_SERVO_HIGH					4000
#define TRIGGER_PULSE_DURATION					250
#define TRIGGER_REPEAT_PERIOD					4000

// SERVOSAT limits servo throw by controlling pulse width saturation.
// set it to 1.0 if you want full servo throw, otherwise set it to the portion that you want
#define SERVOSAT						1.0

// Aileron/Roll Control Gains
// ROLLKP is the proportional gain
// ROLLKD is the derivative (gyro) gain
// YAWKP_AILERON is the proportional feedback gain for ailerons in response to yaw error
// YAWKD_AILERON is the derivative feedback gain for ailerons in response to yaw rotation
// AILERON_BOOST is the additional gain multiplier for the manually commanded aileron deflection
#define ROLLKP							0.20
#define ROLLKD							0.05
#define YAWKP_AILERON						0.10
#define YAWKD_AILERON						0.05
#define AILERON_BOOST						1.00

// Elevator/Pitch Control Gains
// PITCHGAIN is the pitch stabilization gain, typically around 0.125
// PITCHKD feedback gain for pitch damping, around 0.0625
// RUDDER_ELEV_MIX is the degree of elevator adjustment for rudder and banking
// AILERON_ELEV_MIX is the degree of elevator adjustment for aileron
// ELEVATOR_BOOST is the additional gain multiplier for the manually commanded elevator deflection
#define PITCHGAIN						0.10
#define PITCHKD							0.04
#define RUDDER_ELEV_MIX						0.20
#define ROLL_ELEV_MIX						0.05
#define ELEVATOR_BOOST						0.50

// Neutral pitch angle of the plane (in degrees) when flying inverted
// Use this to add extra "up" elevator while the plane is inverted, to avoid losing altitude.
#define INVERTED_NEUTRAL_PITCH	 				8.0

// Rudder/Yaw Control Gains
// YAWKP_RUDDER is the proportional feedback gain for rudder navigation
// YAWKD_RUDDER is the yaw gyro feedback gain for the rudder in reponse to yaw rotation
// ROLLKP_RUDDER is the feedback gain for the rudder in response to the current roll angle
// ROLLKD_RUDDER is the feedback gain for the rudder in response to the rate of change roll angle
// MANUAL_AILERON_RUDDER_MIX is the fraction of manual aileron control to mix into the rudder when
// in stabilized or waypoint mode.  This mainly helps aileron-initiated turning while in stabilized.
// RUDDER_BOOST is the additional gain multiplier for the manually commanded rudder deflection
#define YAWKP_RUDDER						0.05
#define YAWKD_RUDDER						0.05
#define ROLLKP_RUDDER						0.06
#define ROLLKD_RUDDER						0.05
#define MANUAL_AILERON_RUDDER_MIX				0.00
#define RUDDER_BOOST						1.00

// Gains for Hovering
// Gains are named based on plane's frame of reference (roll means ailerons)
// HOVER_ROLLKP is the roll-proportional feedback gain applied to the ailerons while navigating a hover
// HOVER_ROLLKD is the roll gyro feedback gain applied to ailerons while stabilizing a hover
// HOVER_PITCHGAIN is the pitch-proportional feedback gain applied to the elevator while stabilizing a hover
// HOVER_PITCHKD is the pitch gyro feedback gain applied to elevator while stabilizing a hover
// HOVER_PITCH_OFFSET is the neutral pitch angle for the plane (in degrees) while stabilizing a hover
// HOVER_YAWKP is the yaw-proportional feedback gain applied to the rudder while stabilizing a hover
// HOVER_YAWKD is the yaw gyro feedback gain applied to rudder while stabilizing a hover
// HOVER_YAW_OFFSET is the neutral yaw angle for the plane (in degrees) while stabilizing a hover
// HOVER_PITCH_TOWARDS_WP is the max angle in degrees to pitch the nose down towards the WP while navigating
// HOVER_NAV_MAX_PITCH_RADIUS is the radius around a waypoint in meters, within which the HOVER_PITCH_TOWARDS_WP
//                            value is proportionally scaled down.
#define HOVER_ROLLKP						0.05
#define HOVER_ROLLKD						0.05
#define HOVER_PITCHGAIN						0.2
#define HOVER_PITCHKD						0.25
#define HOVER_PITCH_OFFSET					0.0	// + leans towards top, - leans towards bottom
#define HOVER_YAWKP						0.2
#define HOVER_YAWKD						0.25
#define HOVER_YAW_OFFSET					0.0
#define HOVER_PITCH_TOWARDS_WP					30.0
#define HOVER_NAV_MAX_PITCH_RADIUS				20

// Camera Stabilization and Targeting
// 
// In Manual Mode the camera is fixed straight ahead.
// In Stabilized Mode, the camera stabilizes in the pitch axis but stabilizes a constant yaw
// relative to the plane's frame of reference.
// In Waypoint Mode, the direction of the camera is driven from a flight camera plan in waypoints.h
// In all three flight modes, if you set CAMERA_*_INPUT_CHANNEL then the transmitter camera controls
// will override the camera stabilisation. This allows a pilot to override the camera stabilization dynamically
// during flight and point the camera at a specific target of interest.
// 
// To save cpu cycles, you will need to pre-compute the tangent of the desired pitch of the camera
// when in stabilized mode. This should be expressed in 2:14 format. 
// Example: You require the camera to be pitched down by 15 degrees from the horizon in stabilized mode.
// Paste the following line into a google search box (without the //)
// tan((( 15 /180 )* 3.1416 ))* 16384
// The result, as an integer, will be 4390. Change the angle, 15, for whatever angle you would like.
// Note that CAM_TAN_PITCH_IN_STABILIZED_MODE should not exceed 32767 (integer overflows to negative).

#define CAM_TAN_PITCH_IN_STABILIZED_MODE  			1433	// 1443 is 5 degrees of pitch. Example: 15 degrees is 4389
#define CAM_YAW_IN_STABILIZED_MODE				0 // in degrees relative to the plane's yaw axis.    Example: 0

// Camera values to set at installation of camera servos
// All number should be integers
#define CAM_PITCH_SERVO_THROW					95	// Camera lens rotation at maximum PWM change (2000 to 4000), in degrees.          
#define CAM_PITCH_SERVO_MAX					85	// Max pitch up that plane can tilt and keep camera level, in degrees.  
#define CAM_PITCH_SERVO_MIN					-22 // Max pitch down that plane can tilt and keep camera level, in degrees. 
#define CAM_PITCH_OFFSET_CENTRED				38 // Offset in degrees of servo that results in a level camera.           
											    // Example: 30 would mean that a centered pitch servo points the camera
												// 30 degrees down from horizontal when looking to the front of the plane.

#define CAM_YAW_SERVO_THROW					350	// Camera yaw movement for maximum yaw PWM change (2000 to 4000) in Degrees. 
#define CAM_YAW_SERVO_MAX					130 // Max positive yaw of camera relative to front of plane in Degrees. 		     
#define CAM_YAW_SERVO_MIN					-130 // Min reverse  yaw of camera relative to front of plane in Degrees.   
#define CAM_YAW_OFFSET_CENTRED					11	// Yaw offset in degrees that results in camera pointing forward. 

// Camera test mode will move the yaw from + 90 degrees to + 90 degrees every 5 seconds. (180 degree turn around)
// That will show whether the CAM_PITCH_SERVO_THROW value is set correctly for your servo.
// Once the camera rotates correctly through 180 degrees, then you can adjust CAM_PITCH_OFFSET_CENTRED to center the camera.
// In Camera test mode, pitch angle changes permanently to 90 degrees down in stabilized mode, and  0 (level) in Manual Mode.

#define CAM_TESTING_OVERIDE					0 // Set to 1 for camera to move to test angles in stabilized mode.
#define CAM_TESTING_YAW_ANGLE			 		90 // e.g. 90 degrees. Will try to swing 90 degrees left, then 90 degrees right
#define CAM_TESTING_PITCH_ANGLE					90 // In degrees.

// Set this to 1 to ignore camera target data from the flightplan, and instead use camera target data coming in on the serial port.
// This data can be generated by another UDB running MatrixPilot, using SERIAL_CAM_TRACK.
// NOTE: When using camera tracking, both UDBs must be set to use the same fixed origin location.
#define CAM_USE_EXTERNAL_TARGET_DATA				0

// Min and Max target heights in meters.  These only apply to stabilized mode.
#define HEIGHT_TARGET_MIN					25.0
#define HEIGHT_TARGET_MAX					100.0

// The range of altitude within which to linearly vary the throttle
// and pitch to maintain altitude.  A bigger value makes altitude hold
// smoother, and is suggested for very fast planes.
#define HEIGHT_MARGIN						20

// Use ALT_HOLD_THROTTLE_MAX when below HEIGHT_MARGIN of the target height.
// Interpolate between ALT_HOLD_THROTTLE_MAX and ALT_HOLD_THROTTLE_MIN
// when within HEIGHT_MARGIN of the target height.
// Use ALT_HOLD_THROTTLE_MIN when above HEIGHT_MARGIN of the target height.
// Throttle values are from 0.0 - 1.0.
#define ALT_HOLD_THROTTLE_MIN					0.35
#define ALT_HOLD_THROTTLE_MAX					1.0

// Use ALT_HOLD_PITCH_MAX when below HEIGHT_MARGIN of the target height.
// Interpolate between ALT_HOLD_PITCH_MAX and ALT_HOLD_PITCH_MIN when
// within HEIGHT_MARGIN of the target height.
// Use ALT_HOLD_PITCH_HIGH when above HEIGHT_MARGIN of the target height.
// Pitch values are in degrees.  Negative values pitch the plane down.
#define ALT_HOLD_PITCH_MIN					-15.0
#define ALT_HOLD_PITCH_MAX					15.0
#define ALT_HOLD_PITCH_HIGH					-15.0

// The throttle will be turned off for an F_LAND waypoint.
// The plane will use the line between the F_LAND waypoint and the previous
// waypoint to define a target glide slope that serves as a ceiling during landing.

// Return To Launch Pitch Down in degrees, a real number.
// this is the real angle in degrees that the nose of the plane will pitch downward during a return to launch.
// it is used to increase speed (and wind penetration) during a return to launch.
// set it to zero if you do not want to use this feature.
// This only takes effect when entering RTL mode, which only happens when the plane loses the transmitter signal.
#define RTL_PITCH_DOWN						0.0

// Hardware In the Loop Simulation
// Only set this to 1 for testing in the simulator.  Do not try to fly with this set to 1!
// See the MatrixPilot wiki for more info on using HILSIM.
// HILSIM_BAUD is the serial speed for communications with the X-Plane plugin.  Default is
// 19200, but 230400 is a good speedy option.  Make sure the X-Plane plugin's Setup file has
// its speed set to match.
#define HILSIM 								0
#define HILSIM_BAUD							19200

// Flight Plan handling
//
// You can define your flightplan either using the Waypoints format, or using LOGO
// Set this to either FP_WAYPOINTS or FP_LOGO
// The Waypoint definitions and options are located in the waypoints.h file.
// The LOGO flight plan definitions and options are located in the flightplan-logo.h file.
#define FLIGHT_PLAN_TYPE						FP_WAYPOINTS

// Vehicle and Pilot Identification

// Once you are flying your plane and swapping flights and telemetry with other's across
// the world, you may like to fill in some of the fields below. This will be embedded in your
// telemetry, and used to make more interesting flights in Google Earth.
// ID_VEHICLE_MODEL_NAME provides indication of what model of plane, quad, car etc you are using
// ID_VEHICLE_REGISTRATION should be short (less than 12 continuous characters with no space
// it will be used in Google Earth as the folder name containing your flights.
// ID_LEAD_PILOT is your lead pilot flight name or alias e.g. "UAV Flight Director"
// ID_DIY_DRONES_URL should be the URL of your member page on DIY Drones.
// That will allow Google Earth viewers of your flights to click straight through to your latest discussions.
// EXAMPLE:-
//#define ID_VEHICLE_MODEL_NAME "Multiplex Twinstar 2"
//#define ID_VEHICLE_REGISTRATION "TW2-PDH-UK"
//#define ID_LEAD_PILOT "Pete Hollands"
//#define ID_DIY_DRONES_URL "http://www.diydrones.com/profile/PeterHollands"
#define ID_VEHICLE_MODEL_NAME "Not Defined"
#define ID_VEHICLE_REGISTRATION "Not Defined"
#define ID_LEAD_PILOT "Not Defined"
#define ID_DIY_DRONES_URL "http://www.diydrones.com"

// Move on to the next waypoint when getting within this distance of the current goal (in meters)
#define WAYPOINT_RADIUS 						25

// Origin Location
// When using relative waypoints, the default is to interpret those waypoints as relative to the
// plane's power-up location.  Here you can choose to use any specific, fixed 3D location as the
// origin point for your relative waypoints.
//
// USE_FIXED_ORIGIN should be 0 to use the power-up location as the origin for relative waypoints.
// Set it to 1 to use a fixed location as the origin, no matter where you power up.
// FIXED_ORIGIN_LOCATION is the location to use as the origin for relative waypoints.  It uses the
// format { X, Y, Z } where:
// X is Logitude in degrees * 10^7
// Y is Latitude in degrees * 10^7
// Z is altitude above sea level, in meters, as a floating point value.
// 
// If you are using waypoints for an autonomous landing, it is a good idea to set the altitude value
// to be the altitude of the landing point, and then express the heights of all of the waypoints with
// respect to the landing point.
// If you are using OpenLog, an easy way to determine the altitude of your landing point is to
// examine the telemetry after a flight, take a look in the .csv file, it will be easy to spot the
// altitude, expressed in meters.

#define USE_FIXED_ORIGIN						0
#define FIXED_ORIGIN_LOCATION						{ -1219950467, 374124664, 30.0 }
									// A point in Baylands Park in Sunnyvale, CA