User Manual

If this is true and NAV_CONTROLS_HEADING is true too, then the copter will turn its TAIL
toward the home point during RTH.
#define NAV_SET_TAKEOFF_HEADING true
If this is true, then the copter, once it arrived to home point, will turn its head to the same
direction where it was pointed at arming,
Additional GPS settings
GPS Filtering
Since GPS positioning is not 100% precise, there is always a small random error in the
coordinates that are given by the GPS receiver. This “noise” can make PosHold twitchy. To
overcome this twitch and sudden attitude changes caused by GPS inaccuracy, there is a 5
element moving average filter. Which filters the coordinates that are given by the GPS receiver.
Use it only if you have a 10Hz update rate.
To enable GPS filtering, set the #define GPS_FILTERING true
Low speed D term cancelation
During position hold, the control loop’s D term can induce errors when copter is moving slowly.
To cancel D term when speed is below .5m/s set the #define GPS_LOW_SPEED_F_FILTER
true.
Waypoint radius
If the distance between the copter and the active waypoint is less than this value, then the
waypoint (home point) is considered reached.
You can set the waypoint radius at #define GPS_WP_RADIUS, the value is in cm.
The following four defines are currently (r33) is in the MultiWii.ino. They will be moved to
config.h in the upcoming releases.
Minimum navigational speed
You can set the minimum speed what is used while navigating. This will be the target speed
when copter is arrives to the waypoint (home point). The value is in cm/sec
#define NAV_SPEED_MIN 100
Maximum navigational speed
You can set the maximum speed for navigation. The value is in cm/sec. I recommend to lower it
to 200cm/sec first, then increase it later.
#define NAV_SPEED_MAX 400