Dúvida na configuração da MultiWii pro ?

Caros amigos estou quase finalizando minha montagem do QUAD com a MULTWII pro da HK, agora

chegou na fase mais importante que é a configuração no Arduino do arquivo APM_config.h abri esse arquivo e não sei quais linhas descometar  para minha configuração, meu setup é o original com GPS que vem da placa e o arquivo original é esse abaixo:

—————————————————————————————————————————————

Meu APM_Config.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __ARDUCOPTER_APMCONFIG_H__
#define __ARDUCOPTER_APMCONFIG_H__ 
// Example config file. Take a look at config.h. Any term define there can be overridden by defining it here.

// Fast PWM 490Hz enabled by default (490 Hz can be changed in the APM Planner)
// In order to use an old PWM generator (for slow ESC), uncomment this line
//#define INSTANT_PWM ENABLED

// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_ALLINONE
/*
PIRATES_ALLINONE
PIRATES_FFIMU
PIRATES_FREEIMU
PIRATES_BLACKVORTEX
PIRATES_FREEIMU_4 // New FreeIMU 0.4.1 with MPU6000, MS5611 and 5883L
PIRATES_DROTEK_10DOF_MPU // MPU6000, MS5611 and 5883L
PIRATES_CRIUS_AIO_PRO_V1    // Crius AllInOne Pro v1
*/

// RC configuration
// Uncomment if you uses PPM Sum signal from receiver
//#define SERIAL_PPM ENABLED

#define TX_CHANNEL_SET TX_mwi
/*
TX_set1 //Graupner/Spektrum PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,CAMPITCH,CAMROLL
TX_standard //standard  PPM layout Robbe/Hitec/Sanwa ROLL,PITCH,THROTTLE,YAW,MODE,AUX2,CAMPITCH,CAMROLL
TX_set2 //some Hitec/Sanwa/others PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
TX_mwi //MultiWii layout ROLL,THROTTLE,PITCH,YAW,AUX1,AUX2,CAMPITCH,CAMROLL
*/

// Select your baro sensor
#define CONFIG_BARO AP_BARO_BMP085_PIRATES
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/

// Warning: COPTER_LEDS is not compatible with LED_SEQUENCER, so enable only one option
#define COPTER_LEDS ENABLED     // New feature coming from ArduCopter
//#define LED_SEQUENCER ENABLED   // Old Oleg’s LED Sequencer, see leds.pde for more info

#define MAX_SONAR_RANGE 400

#define OSD_PROTOCOL OSD_PROTOCOL_NONE
/*
OSD_PROTOCOL_NONE
OSD_PROTOCOL_SYBERIAN
OSD_PROTOCOL_REMZIBI  // Read more at: http://www.rcgroups.com/forums/showthread.php?t=921467
*/

// For BlackVortex, just set PIRATES_SENSOR_BOARD as PIRATES_BLACKVORTEX, GPS will be selected automatically
#define GPS_PROTOCOL GPS_PROTOCOL_NONE
/*
GPS_PROTOCOL_NONE without GPS
GPS_PROTOCOL_NMEA
GPS_PROTOCOL_SIRF
GPS_PROTOCOL_UBLOX     <<< Select this for UBLOX LEA-6 (CRIUS GPS boards and others)
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_BLACKVORTEX
GPS_PROTOCOL_AUTO auto select GPS
*/

#define SERIAL0_BAUD 115200 // Console port 
#define SERIAL2_BAUD 38400 // GPS port
#define SERIAL3_BAUD 57600 // Telemetry (MAVLINK) port

// New in 2.0.43, but unused in MegairateNG
// MPNG: Piezo uses AN5 pin in ArduCopter, we uses AN5 for CLI switch
#define PIEZO DISABLED
#define PIEZO_LOW_VOLTAGE DISABLED
#define PIEZO_ARMING DISABLED

#define FRAME_CONFIG QUAD_FRAME
/*
QUAD_FRAME
TRI_FRAME
HEXA_FRAME
Y6_FRAME
OCTA_FRAME
OCTA_QUAD_FRAME
HELI_FRAME
*/

#define FRAME_ORIENTATION X_FRAME
/*
PLUS_FRAME
X_FRAME
V_FRAME
*/

# define CH7_OPTION CH7_DO_NOTHING
/*
CH7_DO_NOTHING
CH7_SET_HOVER
CH7_FLIP
CH7_SIMPLE_MODE
CH7_RTL
CH7_AUTO_TRIM
CH7_ADC_FILTER (experimental)
CH7_SAVE_WP
*/

//#define RATE_ROLL_I 0.18
//#define RATE_PITCH_I 0.18
//#define MOTORS_JD880
//#define MOTORS_JD850

// agmatthews USERHOOKS
// the choice of function names is up to the user and does not have to match these
// uncomment these hooks and ensure there is a matching function un your “UserCode.pde” file
//#define USERHOOK_FASTLOOP userhook_FastLoop();
#define USERHOOK_50HZLOOP userhook_50Hz();
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();
//#define USERHOOK_SLOWLOOP userhook_SlowLoop();
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();
#define USERHOOK_INIT userhook_init();

// the choice of includeed variables file (*.h) is up to the user and does not have to match this one
// Ensure the defined file exists and is in the arducopter directory
#define USERHOOK_VARIABLES “UserVariables.h”

// to enable, set to 1
// to disable, set to 0
#define AUTO_THROTTLE_HOLD 1

#define LOGGING_ENABLED DISABLED

// Custom channel config – Expert Use Only.
// this for defining your own MOT_n to CH_n mapping.
// Overrides defaults (for APM1 or APM2) found in config_channels.h
// MOT_n variables are used by the Frame mixing code. You must define
// MOT_1 through MOT_m where m is the number of motors on your frame.
// CH_n variables are used for RC output. These can be CH_1 through CH_8,
// and CH_10 or CH_12. 
// Sample channel config. Must define all MOT_ chanels used by
// your FRAME_TYPE.
// #define CONFIG_CHANNELS CHANNEL_CONFIG_CUSTOM
// #define MOT_1 CH_6
// #define MOT_2 CH_3
// #define MOT_3 CH_2
// #define MOT_4 CH_5
// #define MOT_5 CH_1
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8

// ************** EXPERIMENTAL FEATURES *****************

// Alt hold with accelerometer
#define ACCEL_ALT_HOLD 0 // disabled by default, work in progress

#define INERTIAL_NAV DISABLED

#if INERTIAL_NAV == ENABLED
#define ALT_HOLD_P 3
#define ALT_HOLD_I 0
#define ALT_HOLD_IMAX 300

// RATE control
#define THROTTLE_P 5 //
#define THROTTLE_I 0.4 //
#define THROTTLE_D 0.0 //

#define LOITER_P 0.50
#define LOITER_I 0.0
#define LOITER_RATE_P 5 //
#define LOITER_RATE_I 0.1 // Wind control
#define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif

// Enabling this will use the GPS lat/long coordinate to get the compass declination
//#define AUTOMATIC_DECLINATION ENABLED

// Enable Jeb Madgwick sensor fusion algo
//#define QUATERNION_ENABLE ENABLED

//#define CLI_ENABLED DISABLED

//#define FAILSAFE

#endif //__ARDUCOPTER_APMCONFIG_H__

————————————————————————————————————————————–

gostaria de apelar para boa vontade de vocês mais uma vez 🙂

obrigado a todos