MultiWii Mega documentation
Contents
1. 3 E 3 3V 12C 5V 12 Serial 1 MultiWii pins Extend I O for more motors servos and analog devices USB LEDs Onboard FTDI Power LED Status LED ATmega2560 2960000 50 GNO Tx 13453 5 A um 45 A MH e GND B pw RazUU e p ALARM atc Stable Tie 2 EX I Alarm LED 4 d menus P O sa LI l d 2 EN S TUBAE X2 3 Tx2 N P MPUG6050 HMC5883L MS5611 01BA01 zInnovworks A MultiWii Mega ATmega2560 o Motor in CCW FRONT QO Motor in CW 3 3 AH 5 Servo TRICOPTER dt QUAD QUAD X X8 2 HEXA BICOPTER 2 Sensor Config For users of MultiWii 2 1 or later define define define define detine define define define f define define e define detfine define define define uncomment MultiWiiMega on the list CRIUS SE Crus MultiWii SE OPENLRSv2MULTI OpenLRS v2 Multi Rc Receiver board including 1703205 and ADXL345 BOARD 1 with MPU68050 HMC5883L MS baro BOARD PROTO2. MAG ORIENTATION ROTATION 180 4 GYRO ADDR 0 68 zInnovworks 2 2 GPS configuration For our MTK3329 GPS Module Firmware 115200bps 10Hz tweak the code as below APM Config h For BlackVortex just set PIRATES SENSOR BOARD as PIRATES BLACKVORTEX GPS will be selected automatically define GPS PROTOCOL GPS PROTOCOL NONE without GPS GPS PROTOCOL NMEA GPS PROTOCOL SIRF GPS PROTOCOL VBLOX lt lt lt Select this for UBLOX LEA 6 CRIUS GPS boards and others GPS PROTOCOL 1 GPS PROTOCOL BLACKVORTEX GPS PROTOCOL AUTO auto select GPS 4 SERIALO 115200 Console port define SERIAL2 115200 GPS define SERIAL3 57600 Telemetry MAVLINK port Other GPS Module setting please contact your supplier for more information 2 3 Frame Config The default frame configuration as below if you have different frame type changes the macro definition 1 FRAME CONFIG QUAD FRAME QUAD FRAME TRI FRAME HEXA FRAME YG FRAME FRAME QUAD FRAME HELI FRAME 4 FRAME ORIENTATION FRAME PLUS FRAME X FRAME V FRAME
3. me m v 1 les o TXI GND ATmega2560 Y Itt 111711 GNO STABLE LELE TX2 55611 01 01 zInnovworks A MegaPirate o Motor in CCW FRONT Cam eo Motor in CW Y6 E Servo TRICOPTER TRICOPTER QUAD QUAD X HEXA HEXA X OCTO OCTO X zInnovworks 2 Tweak the code 2 1 Select Sensor Board and Sensor Config APM Config h Select your sensor board 4 PIRATES SENSOR BOARD PIRATES ALLINONE PIRATES FFIMU PIRATES FREEIMU PIRATES BLACKVORTEX PIRATES FREEIMU 4 ff FreeIMU 0 4 1 with MPUBODO 55611 and 58831 PIRATES DROTEK 10DOF MPU MPUBOOO MSS611 and 58831 PIRATES CRIUS AIO PRO V1 Crius AllInDne Pro vl config h 1 CONFIG HARDWARE HARDWARE PIRATES ifndef LED SEQUENCER 4 LED SEQUENCER DISABLED endi 1 PIRATES SENSOR BOARD define PIRATES SENSOR BOARD PIRATES ALLINONE 1 PIRATES SENSOR BOARD PIRATES FREEIMU 4 4 CONFIG IMU IMU MPUBOO0 I2C 4 CONFIG MS5611 I2C 4 ORIENTATION ROTATION 270 4 GYRO 0 68 1 PIRATES SENSOR BOARD PIRATES DROTEK 1000 MPU define CONFIG IMU IMU I2C 4 CONFIG MS5611 I2C 4
4. 2 with MPU6050 slave 3110 MS baro GY 90 Chinese 10 DOF with 13042000 ADXL345 HMCS5883L 085 GY 85 Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC GY 86 Chinese 10 DOF with MPU6050 HMC5883L MS5611 LLC GY 521 Chinese 6 DOF with MPU6050 LLC Innovworks WORKS 1000 H with ITG3200 BMA180 HMC5883 85 available here http www diymulticopter com WORKS with 1703200 189 available here httpi www divmulticopter com PS PET 1800 mega board MINI MULTIWII www bambucopter com MEGA 6050 588 65611 available here http www diymulticopter com Bobs 6DOF V1 BobsQuads 6DOF V1 with ITG3200 4 180 Bobs 9DOF V1 BobsQuads 9DOF V1 with ITG3200 BMAT180 amp HMC5883L Bobs 1800 BMP V1 BobsQuads 10DOF V1 with IT 63200 1 89 58831 18 BMP180 is software compatible witl FL YDUINO MPU CRIUS AIO PRO V1 DESQUAREDODOFV2G0 DEsquared V2 with ITG3200 only DESQUAREDODOF V4 DEsquared V4 with 5050 ADYBIRD MEGAWAP V2 STD available here bttpzZ wwwmultircshop com confirmed by Alex define MEGAWAP V2 ADV define HK MultiWii SE V2 Hobbyking board with MPU6050 HMC5883L BMP085 amp define HK MultiWii 328P Also labeled Hobbybro on the back ITG3205 BMA18 90 085 NMC5583L DSM2 Connector in depen d
5. v0 3 5 MS FREEIMUVOSS5 BMP FreeIMU v0 3 5 FreeIMU v0 4 with MPUBOSO 58831 MS561101BA c same as FREEIMUVvO4 with final MPUGOSO with the right ACC scale HAHOTII the smallest multiwii FC based on MPUGOSO pro micro based proc lt PIPO board from QUADRINO full FC board 8DO Ftbaro board from witespy with BMPOS5 baro lt confirmed by Alex confirmed by Alex confirmed by Alex confirmed by Alex confirmed by Alex confirmed by Alex Or you can define the sensors by adding this below in the config h file MPU6050 Zdefine HMC5883 Zdefine MS561101BA define ORIENTATION X Y Z accADC ROLL accADC PITCH accADC YAW Z define GYRO ORIENTATION X Y Z gyroADC ROLL Y gyroADC PITCH X gyroADC YAW The Multwii Mega have the same sensor configuration as FREEIMU 043 Z define ORIENTATION X Y Z magADC ROLL X magADC PITCH Y magADC YAW Z define MPU6050 2 AUX MASTER undef INTERNAL 12 PULLUPS 3 Battery Monitor Two resistors used to monitoring the battery voltage the schematic as below J13 GND If you use a 3S lipo battery define as below in the file config h battery voltage monitoring EL
6. BAO01 for ALT Hold greater precision than 85 Others Up to 8 motors output Up to 8 input for RC transmitters from 4 to 8 channels 4 Serial ports 1 for PC Mac connection 1 for GPS module 1 for telemetry 2 servos output for 2 axis gimbal system 1 servo output for camera trig 4 Analog 1 for extended devices On board lipo monitor support 3S 4S lipo On board FT232RQ USB to UART converter connect to PC Mac directly with the USB cable 3 3V and 5V I2C for sensors like sonar optical flow sensor board Buzzer low battery indicator control feedback LED indicators power LED status LED stable LED and alarm LED Match the standard of RoHS Dimensions 75 xb 0mm 45x45mm mounting holes hole diameter 3mm Special 4 more digital I O for extend motors or servos up to 10 motors and 3 axis gimbal system 4 more analog 1 0 for extend devices zInnovworks For MultiWii Fans 1 Connect Diagram Power LED USB PC Mac EA Q E X o oo TT uu LED b m STATUS LED 415 L i Wu n WM mmm 3 45 3333333 Motor 7 ax monitor M 8 Diu wapus PEL ouor TFE TEIL ME UL aL 13 aa ev n Yo Ys P i EX 1 LES 6 uf m 1 4 5 DA 2 2 X GND GND L M GND 3 3U SDA SCL D Su SDA SCL TXLRXI GND
7. ESE E E E E E E E E E E E E E E E E E for V BAT monitoring after the resistor divisor we should get 0V 5V 5 0 1023 on analog V BATPIN with R1 33k and R2 51k vbat 0 1023 16 VBATSCALE must be associated with define BUZZER x define VBAT uncomment this line to activate the vbat code define VBATSCALE change this value if readed Battery voltage different than real voltage define VBATLEVEL1 3S 111 14 8 VBATLEVEI2 35 10T7 14 define VBATLEVEL3 35 99 9 9 define VBAT 16 Avoid beeping without any battery If you use a 45 battery define as below the file config h battery voltage monitoring for V BAT monitoring after the resistor divisor we should get 0V 5V 5 0 1023 on analog V with R1 33k and R2 51k vbat 0 1023 185 VBATSCALE must be associated with Xdefine BUZZER define VBAT uncomment this line to activate the vbat code define VBATSCALE A change this value if readed Battery voltage is different than rea
8. en t sensors leave 1t commented if you already checked a specific board above TOC For users of MultiWii 2 0 boards and sensor definitions ELELEE EEEE EE EE E E E E E E E ec elc Combined IMU Boards you please Note stdefine stdefine tdefine stdefine define stdefine stdefine stdefine stdefine define FREEIMUV043 use a specific sensor board submit any correction to this list from Alex I only own some boards for other boards I m not sure the info was gathered via rc forums FFIMUv1 first 8D Ftbaro board from Jussi with 5843 lt FFIMU2 second version of 9DDF baro board from Jussi with HMC5883 lt FREEIMUv1 ff v0 1 amp v0 2 amp v0 3 version of 9DOF board from Fabio FreeIMU v0 3 and v0 3 1 FREEIMUVO35 FreeIMU v0 3 5 no baro FREEIMUVvO3S5 MS FreeIMU
9. l voltage 4 VBATLEVELI 35 148 14 8 4 VBATLEVEI2 35 143 14 define VBATLEVEL3 35 99 9 9 define VBAT 16 Avoid beeping without any battery A current sensor should be used to monitor the battery current please refer to the current sensor s user manual for more details For MegaPirate Fans 1 Connect Diagram Power LED y n E Lh 4 Q B 4 1 7 ma m 6 2 SELG 4 Wn 33333333 N Ld D45 o 044 Hia ey minag i e D Su 0000 Motor 8 E D37w Wa d VA 6ND 3 SDA SCL 65600 ru 3 3V 12C MegaPirate pins Extend 1 0 for more motors servos and analog devices USB LEDs Onboard FTDI LED A 45mm 2000000 XD 5U GNO TX PHR LED STATUS ES 58 rre HII 21112111177 111777171771 Mi 11 45mm B 3 n X il Mu W 25096017 E r4 44 ize MPUG6050 HMC5883L mi 0 24 zInnovworks AXO 5U GNO 0000 PHQ_LED J STATUS LED 3 45 monitor N L a d m GND LII y Q 0 d
10. zInnovworks Getting Started with MultiWii Mega All in one Flight Controller 2 9 6 6 9 6 9 6 O X3 RX3 SV GNO 82 RXO 5U GNO FPHR LED LET 23 N STATUS_LED 52 THROTIS a T 77 4 N N Hx 3 wl TN 22214441154 1411111111111 35 T A sm TX DX 7 h N D A N D6 iii EN 39 3939 132 373 29 010 M STABLE RST 2 D H 0125 TP 0468 E ILL LIII ra he 8 11 AME IN A v 2 s D8 e Ex m c 044 zs m A SCL 1 8 2 5 Qoo 000 000 98i MultiWii and MegaPirate are open source software for multi rotors MultiWii Mega is the hardware installed MultiWii or MegaPirate used to control Multi rotors Special thanks to MultWii and MegaPirate s contributors for their great work Main Features CPU amp software ATmega2560 16MHz 5V MultiWii MegaPirateNG Firmware Supported PC Mac Sensors Acc amp Gyro MPU6050 a real progress for having a perfect stabilization Mag HMC5883L for Heading hold Carefree and some GPS functions Baro MS5611 01
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