From c526d2f3b996b0cbb0d0ab598f99b926c4d47518 Mon Sep 17 00:00:00 2001
From: timecop <timecop@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Tue, 20 Mar 2012 14:54:26 +0000
Subject: [PATCH] renamed orient to align for sensor orientation implemented
 battery cell count auto detect (DJI, you can steal this source from me for
 your next product). automatically finds 2S..6S battery, and sets warning
 voltage accordingly added new battery config -related stuff in cli, min/max
 cell voltage for non-lipo users. Defaults for lipo are 4.3V/cell (max) and
 3.3V/cell (min). added pid setting stuff into cli from nicodh added 'status'
 command to cli to print out system info. added build date/time to 'version'
 in cli, to track down stupid users. config version bumped, settings are
 cleared again. refactored battery voltage stuff a bit, and got rid of 3
 levels of warnings. don't see any benefit at all.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@121 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 baseflight.uvopt   |  160 +-
 baseflight.uvproj  |   10 -
 obj/baseflight.hex | 4643 +++++++++++++++++++++++---------------------
 src/board.h        |    2 +-
 src/cli.c          |   47 +-
 src/config.c       |    4 +-
 src/drv_adxl345.c  |    2 +-
 src/drv_mpu3050.c  |    2 +-
 src/drv_mpu6050.c  |    6 +-
 src/main.c         |    6 +-
 src/mw.c           |   33 +-
 src/mw.h           |   13 +-
 src/sensors.c      |   34 +-
 13 files changed, 2612 insertions(+), 2350 deletions(-)

diff --git a/baseflight.uvopt b/baseflight.uvopt
index 07c3ee0daa..aec8cdd9a1 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -161,9 +161,24 @@
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           <Number>0</Number>
           <Type>0</Type>
+          <LineNumber>29</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134222936</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\src/main.c\29</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
           <LineNumber>58</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134242932</Address>
+          <Address>134243320</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -173,12 +188,27 @@
           <ExecCommand></ExecCommand>
           <Expression>\\baseflight\src/drv_mpu6050.c\58</Expression>
         </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>66</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134232692</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\src/sensors.c\66</Expression>
+        </Bp>
       </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tri_yaw_middle,0x0A</ItemText>
+          <ItemText>tri_yaw_middle</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -507,8 +537,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>1</CurrentLine>
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+      <CurrentLine>78</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\cli.c</PathWithFileName>
       <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@@ -519,10 +549,10 @@
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       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -549,8 +579,8 @@
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -563,8 +593,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>266</TopLine>
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+      <TopLine>271</TopLine>
+      <CurrentLine>302</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mixer.c</PathWithFileName>
       <FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@@ -575,10 +605,10 @@
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -589,10 +619,10 @@
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-      <TopLine>235</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -605,7 +635,7 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>43</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\serial.c</PathWithFileName>
@@ -619,8 +649,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\board.h</PathWithFileName>
       <FilenameWithoutPath>board.h</FilenameWithoutPath>
@@ -633,8 +663,8 @@
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       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>159</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
@@ -652,10 +682,10 @@
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+      <TopLine>33</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_adc.c</PathWithFileName>
       <FilenameWithoutPath>drv_adc.c</FilenameWithoutPath>
@@ -666,7 +696,7 @@
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-      <ColumnNumber>31</ColumnNumber>
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@@ -694,10 +724,10 @@
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       <TopLine>13</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_hmc5883l.c</PathWithFileName>
       <FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
@@ -708,10 +738,10 @@
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       <tvExp>0</tvExp>
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-      <ColumnNumber>19</ColumnNumber>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -724,8 +754,8 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@@ -736,10 +766,10 @@
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       <tvExp>0</tvExp>
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-      <ColumnNumber>5</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_pwm.c</PathWithFileName>
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@@ -750,10 +780,10 @@
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-      <PathWithFileName>.\src\drv_mpu6050.h</PathWithFileName>
-      <FilenameWithoutPath>drv_mpu6050.h</FilenameWithoutPath>
+      <PathWithFileName>.\src\drv_mpu6050.c</PathWithFileName>
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@@ -823,7 +839,7 @@
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diff --git a/baseflight.uvproj b/baseflight.uvproj
index a37435e76a..fe51547583 100755
--- a/baseflight.uvproj
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
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+:109670000112130805021820E20322403A020812E0
+:10968000043A040812083A0808120C22105A04205E
+:109690001908392019083920190829201E342C01ED
+:1096A0004040041334081B4038041A3C04192119A3
+:1096B00034011B3BA24A6941380C0102030406072E
+:0C96C00008090204067529106914410015
 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index 63acf0ab15..14884baa22 100755
--- a/src/board.h
+++ b/src/board.h
@@ -37,7 +37,7 @@ typedef struct sensor_t
 {
     sensorInitFuncPtr init;
     sensorReadFuncPtr read;
-    sensorReadFuncPtr orient;
+    sensorReadFuncPtr align;
 } sensor_t;
 
 #define digitalHi(p, i)     { p->BSRR = i; }
diff --git a/src/cli.c b/src/cli.c
index a798ad036d..27e1e53a05 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -10,8 +10,12 @@ static void cliHelp(char *cmdline);
 static void cliMixer(char *cmdline);
 static void cliSave(char *cmdline);
 static void cliSet(char *cmdline);
+static void cliStatus(char *cmdline);
 static void cliVersion(char *cmdline);
 
+// from sensors.c
+extern uint8_t batteryCellCount;
+
 // buffer
 static char cliBuffer[32];
 static uint8_t bufferIndex = 0;
@@ -46,6 +50,7 @@ const clicmd_t cmdTable[] = {
     { "mixer", "mixer name or list", cliMixer },
     { "save", "save and reboot", cliSave },
     { "set", "name=value or blank for list", cliSet },
+    { "status", "show system status", cliStatus },
     { "version", "", cliVersion },
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
@@ -74,6 +79,8 @@ const clivalue_t valueTable[] = {
     { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
     { "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
     { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
+    { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
+    { "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
     { "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
@@ -82,6 +89,18 @@ const clivalue_t valueTable[] = {
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
     { "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
     { "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
+    { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
+    { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
+    { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
+    { "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200},
+    { "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200},
+    { "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200},
+    { "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200},
+    { "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200},
+    { "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200},
+    { "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200},
+    { "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200},
+    { "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200},
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
@@ -365,9 +384,31 @@ static void cliSet(char *cmdline)
     }
 }
 
+static void cliStatus(char *cmdline)
+{
+    char buf[16];
+    uartPrint("System Uptime: ");
+    itoa(millis() / 1000, buf, 10);
+    uartPrint(buf);
+    uartPrint(" seconds, Voltage: ");
+    itoa(vbat, buf, 10);
+    uartPrint(buf);
+    uartPrint(" * 0.1V (");
+    itoa(batteryCellCount, buf, 10);
+    uartPrint(buf);
+    uartPrint("S battery)\r\n");
+    uartPrint("Cycle Time: ");
+    itoa(cycleTime, buf, 10);
+    uartPrint(buf);
+    uartPrint(", I2C Errors: ");
+    itoa(i2cGetErrorCounter(), buf, 10);
+    uartPrint(buf);
+    uartPrint("\r\n");
+}
+
 static void cliVersion(char *cmdline)
 {
-    uartPrint("Afro32 CLI version 2.0-pre3");
+    uartPrint("Afro32 CLI version 2.0-pre3 " __DATE__ " / " __TIME__);
 }
 
 void cliProcess(void)
@@ -380,8 +421,8 @@ void cliProcess(void)
 
     while (uartAvailable()) {
         uint8_t c = uartRead();
-
         if (c == '\t' || c == '?') {
+            // do tab completion
             const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
             int i = bufferIndex;
             for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
@@ -406,7 +447,7 @@ void cliProcess(void)
             if (!bufferIndex || pstart != pend) {
                 /* Print list of ambiguous matches */
                 uartPrint("\r\033[K");
-                for (cmd = pstart;cmd <= pend;cmd++) {
+                for (cmd = pstart; cmd <= pend; cmd++) {
                     uartPrint(cmd->name);
                     uartWrite('\t');
                 }
diff --git a/src/config.c b/src/config.c
index 1c617fdee3..7f9c37c751 100755
--- a/src/config.c
+++ b/src/config.c
@@ -8,7 +8,7 @@
 config_t cfg;
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 5;
+static uint8_t checkNewConf = 6;
 
 void readEEPROM(void)
 {
@@ -103,6 +103,8 @@ void checkFirstTime(bool reset)
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
     cfg.powerTrigger1 = 0;
     cfg.vbatscale = 110;
+    cfg.vbatmaxcellvoltage = 43;
+    cfg.vbatmincellvoltage = 33;
 
     // Radio/ESC
     cfg.deadband = 0;
diff --git a/src/drv_adxl345.c b/src/drv_adxl345.c
index db9a28f943..3b14ca2f62 100755
--- a/src/drv_adxl345.c
+++ b/src/drv_adxl345.c
@@ -30,7 +30,7 @@ bool adxl345Detect(sensor_t *acc)
         
     acc->init = adxl345Init;
     acc->read = adxl345Read;
-    acc->orient = adxl345Align;
+    acc->align = adxl345Align;
     return true;
 }
 
diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c
index 348958874e..22a5c3001a 100755
--- a/src/drv_mpu3050.c
+++ b/src/drv_mpu3050.c
@@ -41,7 +41,7 @@ bool mpu3050Detect(sensor_t *gyro)
 
     gyro->init = mpu3050Init;
     gyro->read = mpu3050Read;
-    gyro->orient = mpu3050Align;
+    gyro->align = mpu3050Align;
 
     return true;
 }
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index dc627d9f91..6031b63004 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -28,15 +28,15 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
     if (!ack)
         return false;
     
-    if (sig != 0x68)
+    if (sig != MPU6050_ADDRESS)
         return false;
 
     acc->init = mpu6050AccInit;
     acc->read = mpu6050AccRead;
-    acc->orient = mpu6050AccAlign;
+    acc->align = mpu6050AccAlign;
     gyro->init = mpu6050GyroInit;
     gyro->read = mpu6050GyroRead;
-    gyro->orient = mpu6050GyroAlign;
+    gyro->align = mpu6050GyroAlign;
 
     return true;
 }
diff --git a/src/main.c b/src/main.c
index 32f906f26f..54e400dd4f 100755
--- a/src/main.c
+++ b/src/main.c
@@ -24,7 +24,7 @@ int main(void)
     // We have these sensors
     sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
 
-    mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
+    mixerInit(); // this will set useServo var depending on mixer type
     pwmInit(feature(FEATURE_PPM), useServo, feature(FEATURE_DIGITAL_SERVO));
 
     LED1_ON;
@@ -44,6 +44,10 @@ int main(void)
     sensorsAutodetect();
     imuInit(); // Mag is initialized inside imuInit
 
+    // Check battery type/voltage
+    if (feature(FEATURE_VBAT))
+        batteryInit();
+
     previousTime = micros();
     calibratingG = 400;
 #if defined(POWERMETER)
diff --git a/src/mw.c b/src/mw.c
index d292126afe..883302138b 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -79,6 +79,8 @@ uint32_t pAlarm;         // we scale the eeprom value from [0:255] to this value
 // uint8_t powerTrigger1 = 0;       
 uint16_t powerValue = 0; // last known current
 uint16_t intPowerMeterSum, intPowerTrigger1;
+uint8_t batteryCellCount = 3;   // cell count
+uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
 
 void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
 {
@@ -159,6 +161,7 @@ void annexCode(void)
         rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
         rcCommand[PITCH] = rcCommand_PITCH;
     }
+
 #if defined(POWERMETER_HARD)
     if (!(++psensorTimer % PSENSORFREQ)) {
         pMeterRaw = analogRead(PSENSORPIN);
@@ -180,15 +183,15 @@ void annexCode(void)
             vbatRawArray[(ind++) % 8] = adcGetBattery();
             for (i = 0; i < 8; i++)
                 vbatRaw += vbatRawArray[i];
-            vbat = (((vbatRaw / 8) * 3.3f) / 4095) * cfg.vbatscale;       // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
+            vbat = batteryAdcToVoltage(vbatRaw / 8);
         }
         if (rcOptions[BOXBEEPERON]) {       // unconditional beeper on via AUXn switch 
             buzzerFreq = 7;
-        } else if (((vbat > VBATLEVEL1_3S)
+        } else if (((vbat > batteryWarningVoltage)
     #if defined(POWERMETER)
                     && ((pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0))
     #endif
-                   ) || (NO_VBAT > vbat))   // ToLuSe
+                   ) || (vbat < cfg.vbatmincellvoltage))
         {                           //VBAT ok AND powermeter ok, buzzer off
             buzzerFreq = 0;
             buzzerState = 0;
@@ -197,12 +200,8 @@ void annexCode(void)
         } else if (pMeter[PMOTOR_SUM] > pAlarm) {   // sound alarm for powermeter
             buzzerFreq = 4;
     #endif
-        } else if (vbat > VBATLEVEL2_3S)
-            buzzerFreq = 1;
-        else if (vbat > VBATLEVEL3_3S)
-            buzzerFreq = 2;
-        else
-            buzzerFreq = 4;
+        } else
+            buzzerFreq = 4; // low battery
         if (buzzerFreq) {
             if (buzzerState && (currentTime > buzzerTime + 250000)) {
                 buzzerState = 0;
@@ -268,19 +267,19 @@ void annexCode(void)
     }
 #endif
 
-#if GPS
-    static uint32_t GPSLEDTime;
-    if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
-        GPSLEDTime = currentTime + 150000;
-        LEDPIN_TOGGLE;
+    if (sensors(SENSOR_GPS)) {
+        static uint32_t GPSLEDTime;
+        if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
+            GPSLEDTime = currentTime + 150000;
+            LED1_TOGGLE;
+        }
     }
-#endif
 }
 
 uint16_t readRawRC(uint8_t chan)
 {
     uint16_t data;
-    
+
     failsafeCnt = 0;
     data = pwmRead(rcChannel[chan]);
     if (data < 750 || data > 2250)
@@ -294,7 +293,7 @@ void computeRC(void)
     static int16_t rcData4Values[8][4], rcDataMean[8];
     static uint8_t rc4ValuesIndex = 0;
     uint8_t chan, a;
-    
+
 #if defined(SBUS)
     readSBus();
 #endif
diff --git a/src/mw.h b/src/mw.h
index cb35a7925d..df3cf07a1c 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -50,15 +50,8 @@
 #define CAM_TIME_HIGH 1000   // the duration of HIGH state servo expressed in ms
 #define CAM_TIME_LOW 1000    // the duration of LOW state servo expressed in ms
 
-/* for V BAT monitoring
-   after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
-   with R1=33k and R2=51k
-   vbat = [0;1023]*16/VBATSCALE */
+/* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
-#define VBATLEVEL1_3S 107 // 10,7V
-#define VBATLEVEL2_3S 103 // 10,3V
-#define VBATLEVEL3_3S 99  // 9.9V
-#define NO_VBAT       16 // Avoid beeping without any battery
 
 // Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
 //#define MMGYRO                         // Active Moving Average Function for Gyros
@@ -155,6 +148,8 @@ typedef struct config_t {
     uint8_t activate2[CHECKBOXITEMS];
     uint8_t powerTrigger1;                  // trigger for alarm based on power consumption
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
+    uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
+    uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
     
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
@@ -248,6 +243,8 @@ void getEstimatedAltitude(void);
 
 // Sensors
 void sensorsAutodetect(void);
+void batteryInit(void);
+uint16_t batteryAdcToVoltage(uint16_t src);
 void ACC_getADC(void);
 void Baro_update(void);
 void Gyro_getADC(void);
diff --git a/src/sensors.c b/src/sensors.c
index 8776e80de0..bd9ba14543 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -13,6 +13,8 @@ extern int16_t AccInflightCalibrationArmed;
 extern uint16_t AccInflightCalibrationMeasurementDone;
 extern uint16_t AccInflightCalibrationSavetoEEProm;
 extern uint16_t AccInflightCalibrationActive;
+extern uint16_t batteryWarningVoltage;
+extern uint8_t batteryCellCount;
 
 sensor_t acc;                   // acc access functions
 sensor_t gyro;                  // gyro access functions
@@ -45,6 +47,34 @@ void sensorsAutodetect(void)
     gyro.init();
 }
 
+uint16_t batteryAdcToVoltage(uint16_t src)
+{
+    // calculate battery voltage based on ADC reading
+    // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
+    return (((src) * 3.3f) / 4095) * cfg.vbatscale;
+}
+
+void batteryInit(void)
+{
+    uint8_t i;
+    uint32_t voltage = 0;
+
+    for (i = 0; i < 32; i++) {
+        voltage += adcGetBattery();
+        delay(10);
+    }
+
+    voltage = batteryAdcToVoltage((uint16_t)(voltage / 32));
+
+    // autodetect cell count, going from 2S..6S
+    for (i = 2; i < 6; i++) {
+    	if (voltage < i * cfg.vbatmaxcellvoltage)
+    	    break;
+    }
+    batteryCellCount = i;
+    batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
+}
+
 static void ACC_Common(void)
 {
     static int32_t a[3];
@@ -132,7 +162,7 @@ static void ACC_Common(void)
 void ACC_getADC(void)
 {
     acc.read(accADC);
-    acc.orient(accADC);
+    acc.align(accADC);
 
     ACC_Common();
 }
@@ -237,7 +267,7 @@ void Gyro_getADC(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
     gyro.read(gyroADC);
-    gyro.orient(gyroADC);
+    gyro.align(gyroADC);
 
     GYRO_Common();
 }