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  • Multiwii_32U4_SE Manual: Setup and Configuration of the All-in-One Flight Controller

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    Hugo Almeida
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    Multiwii_32U4_SE is an All-In-One Flight-Controller usable for all sizes of Multirotor helicopters. It is equipped with a microcontroller, a 3-axis gyroscope (GYRO), an accelerometer (ACC) and a barometer (BARO) an atmel 8-bit microcontroller (mcu),the ATMEGA32U4, is used on the 32u4_SE.

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    Micro Wii Manaual

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    Multiwii_32U4_SE is an All-In-One Flight-Controller usable for all sizes of Multirotor helicopters. It is equipped with a microcontroller, a 3-axis gyroscope (GYRO), an accelerometer (ACC) and a barometer (BARO) an atmel 8-bit microcontroller (mcu),the ATMEGA32U4, is used on the 32u4_SE.

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    Download as PDF, TXT or read online from Scribd
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    288 views7 pages

    Multiwii_32U4_SE Manual: Setup and Configuration of the All-in-One Flight Controller

    Uploaded by

    Hugo Almeida
    Multiwii_32U4_SE is an All-In-One Flight-Controller usable for all sizes of Multirotor helicopters. It is equipped with a microcontroller, a 3-axis gyroscope (GYRO), an accelerometer (ACC) and a barometer (BARO) an atmel 8-bit microcontroller (mcu),the ATMEGA32U4, is used on the 32u4_SE.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    of 7

    Multiwii_32U4_SEManual

    Rev01
    1.Introduction
    TheMultiwii_32U4_SEisanAllInOneFlightController(FC),usableforallsizesof Multirotor helicopters.Itisequippedwithamicrocontroller,a3axisgyroscope (GYRO), a3axisaccelerometer(ACC),a3axismagnetometer(MAG)andabarometer(BARO).. TheFCwasdevelopedforusewiththemultiWiisoftware(www.multiwii.com)from Alexandre Debus aka.AlexInParis anditsupportsallflightconditions. AnAtmel AVR8bitmicrocontroller(MCU),the ATMEGA32U4,isusedonthe32U4_SE. ThisMCUhas6highresolutionPWM(ESCsignal)outputs,anonchipUSBinterface (so,noneedforaFTDIadapter)andtheabilitytoreadthesignalsofvariousRXtypes.
    GND 3.3V SCL SDA MiniUSB

    3.3V GND Signal(RX)

    A5 A4 A3 A2 A1 A0 D4 D13 D11 D6 D5 D10 D9 D12

    Output

    GND RAW

    THR ROLL PITCH YAW AUX1 AUX2 Input

    TXO RXI 5V GND

    2~3SLipo

    2.PowerSupply
    YourMultiWii_32U4_SEhastwopowersupplies: 5VUBEC,connectedtooutput LiPo,connectedtoLiPo 2S3S TheoutputswerealwayssuppliedviaanESCBECoranexternalUBEC! Attention:Usethe32U4_SEwith23SLiPos only!

    5VUBEConly

    3.ConnectaRX
    NormalRX YoucanuseastandardRXwith4channels.Becauseofthesensorsusedandthe Variousflightmodesavailable,a6channelRXisrecommended. Youonlyneedtoconnectallthreewiresforthethrottlechannel(signalandpower (+/)).Forallotherchannelsonlythesignalwiresareneeded.Thiswillsimplifyyour wiringandalsosavesomeweight.
    AUX2 AUX1

    NormalRX

    RUDD PITCH ROLL THR

    PPMsumRX WithaPPMsumRXyoucanuseupto8channels(atthetimeofwriting)withonly onesinglepatchwire.

    PPMRX

    + s
    PPM

    Spektrum Satellite ASpektrum satellitereceiveroutputsallchannelsofthetransmitterover aserial interface(UART).WiththeuseofaSpektrum satelliteyoucanuseupto8channels (aswithaPPMSumreceiver).Inaddition,itisquitesmalland lightweight.

    Spektrum Satellite

    3.3V GND RX

    4.ConnecttheESC's
    TheMultiWii_32U4_SEwasdesignedtoprovideupto8ESCconnectionsplusupto5 additionalservos(maximum,butdependsfromtheconfigurationandtheonboard resourcesused!).Theimageshowsthemotorspositionsandspindirections. ESCconnections 5VESCBEC GND

    ESC

    Servoconnections 5VESCBEC GND

    Servo

    CW CCW

    Bi

    95

    10

    Tri 10
    6

    9 13 5
    Y6

    10 11

    11 Quad+

    6
    10

    5 69 9

    QuadX 6 10

    Hex6X 6 10
    13

    Hex6+ 11

    Octo X 11 10

    11 5
    9

    6
    5

    10
    9

    13
    5

    13

    A3

    A2

    5.Copterinstallation
    WheninstallingtheMultiWii_32U4_SEitisbestplacedatthecenterofyour multicopter.

    6.MultiWii Firmware&upload
    TheMultiWii_32U4_SEisspeciallydesignedfortheusewithMultiWii TheLeonardoissupportedwiththelatestArduino version.(1.0.1orlater). The32U4_SEusesthesamesensors(andaxisorientation)asthepopularFreeIMUv043. Toactivatethesensorsyouneedtouncommentthe'#defineFREEIMUv043'.

    '#define FREEIMUv043

    #define A32U4ALLPINS

    Tomakeuseofthefullpotentialofthe32U4_SEyouneedtouncommentthe '#defineA32U4ALLPINS'.

    7.Externalsensors
    YoumayconnectanyI2Csensortothe32U4_SEthatissupportedbythesoftware. ButasGYRO,ACC,MAGandBAROwerepresentonthe32U4_SEtheonlyaddition mightbeanexternalI2CGPSmodule. ATTENTION: TheexternalI2Cbusofthe32U4_SEmay onlybeusedwith3.3Vsensors!

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