#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 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(MMA8451Q)
  #define ACC 1
#else
  #define ACC 0
#endif

#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110)
  #define MAG 1
#else
  #define MAG 0
#endif

#if defined(ITG3200) || defined(ITG3050) || defined(L3G4200D) || defined(MPU6050) || defined(LSM330) || defined(MPU3050) || defined(WMP)
  #define GYRO 1
#else
  #define GYRO 0
#endif

#if defined(BMP085) || 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) && !defined(NRF24_RX)
  #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)
  #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(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, 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

#ifdef NRF24_RX
  #if (!defined(PROMINI))
    #error "Currently nRF24 RX is only supported for ATmega328P"
  #endif
  #if (!defined(QUADX) && !defined(QUADP) && !defined(Y4) && !defined(TRI))
    #error "Currently nRF24 RX is only supported for QUADX, QUADP, Y4 or TRI configurations"
  #endif
#endif

#endif /* DEF_H_ */
