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NEWBIES GUIDE to setting up and using the CRIUS MWC

MultiWii SE Board Software

By ATXHELI

rev. 04/22/2012

1. Download and unzip the required software:

-Arduino Compiler and Board Flashing Environment:

http://arduino.cc/en/Main/Software

-use the 1.0 version

For Windows:

http://arduino.googlecode.com/files/arduino-1.0-windows.zip

For Mac:

http://arduino.googlecode.com/files/arduino-1.0-macosx.zip

For Linux 32bit:

http://arduino.googlecode.com/files/arduino-1.0-linux.tgz

For Linux 64bit:

http://arduino.googlecode.com/files/arduino-1.0-

linux64.tgz

-Latest MultiWii Software including Configuration Program:

http://code.google.com/p/multiwii/downloads/detail?name=MultiWii_2_0.zi

p&can=2&q=

(Note: if the board has V1.9 preloaded, then use this software package

http://code.google.com/p/multiwii/downloads/detail?name=MultiWii_1_9.zi

p&can=2&q= to get the Configuration program for V1.9, unless you want

to upgrade to V2.0 which has better level and altitude hold operation, then

you will need to compile and load the V2.0 code, see the last section of

this guide)

2. Attach the FTDI USB board to the MultiWii SE board and plug in USB cable

to PC

3. New Hardware dialogs will appear and point to the \drivers\ftdi usb folder in

the Arduino folder for the driver. Driver should install and new device be

recognized.

4. Start the MultiWii Configuration program.

Summary of content (13 pages)

PAGE 1
NEWBIES GUIDE to setting up and using the CRIUS MWC MultiWii SE Board Software By ATXHELI rev. 04/22/2012 1. Download and unzip the required software: -Arduino Compiler and Board Flashing Environment: http://arduino.cc/en/Main/Software -use the 1.0 version For Windows: http://arduino.googlecode.com/files/arduino-1.0-windows.zip For Mac: http://arduino.googlecode.com/files/arduino-1.0-macosx.zip For Linux 32bit: http://arduino.googlecode.com/files/arduino-1.0-linux.tgz For Linux 64bit: http://arduino.
PAGE 2
5. See these tutorial videos on YouTube for operating the program: http://www.youtube.com/watch?v=qT3MlyRvy9w He has several other videos on the Configuration program that might be of interest also on his YouTube channel.
PAGE 3
Some items in the program that might not be obvious (taken from Multiwii.com site): RC rate and RC expo RC rate: defines the sensibility of the multicopter for PITCH and ROLL RC stick. If you feel your multi too reactive, decrease it. If you want to improve its responsiveness, increase this parameter. RC expo: defines a smoother zone at the center of PITC and ROLL RC stick. With this function, it’s possible to have both a good precision and a good amplitude.
PAGE 4
MAG This is the P term for the compass heading hold mode. Once this mode is activated, the compass heading will be held as long as rudder stick is at neutral. Changing the rudder stick will change the heading set point. THROTTLE rate This boxe defines the rate of cancellation of the nominal PID (the one which is used on neutral ROLL/PITCH stick position) in relation with Throttle stick.
PAGE 5
Sensor detection/usage On this screen, the left column shows the detection of sensors on the board. The right column shows if the sensor is currently use or not (depending on the checked options and AUX switch positions) Basic Hardware Setup: Connection Diagram: Mode 2 (Aux2) input can be either D8 or D12.
PAGE 6
Motor connections and rotations are shown below: Numbers refer to pins D3,9,10,11,5,and D6 above…the Motor1-6 ESC outputs. Note that on this board Motor 5 and 6 (HEXcopters) should actually be connected to A0 pin and A1 pins, respectively. There is an option in the code to use the D5 and D6 pins on a HEX, but a PPM-SUM type receiver must be used since RX Pitch and Yaw pins are the same connection on the board as D5 and D6. See Other Neat Stuff secion at the end.
PAGE 7
Note: if the ESC uses a LINEAR BEC, you can connect all to the motor outputs without modification. If the BECs are switching types, you should use only one BEC output and remove the red wires from the other ESC connectors. Alternatively, all can be removed and an External BEC connected to D13, A6, or A7 or any unused three pin connection. 1. BALANCE PROPS and MOTORS! 2. Check that all TX channels are centered at 1500 and run from 1000 to 2000. 3.
PAGE 8
rotation. The higher you run "D" it appears you can further increase "P" "D" the bigger the better… to smooth out any rotation. The farther from zero you run "D" it appears you can further increase "P" Some recommend tuning P first, then D, then I. Control Stick Configuration Guide (valid for V2.0 also) : Note: Additional Resources: A good Multiwii info source: http://www.rcgroups.com/forums/showthread.
PAGE 9
Changing the Copter Configuration: ie to Tricopter or other configuration: Not required if using Quad X as shipped! However, you must use MultiWii Conf1.9 since that is the version presently shipped. Will no doubt change to 2.0 shortly. 1. With FTDI USB connected, start Arduino.exe ( use Ver 1.0 for MultiWii code V2.0 or later, not 0023 as shown below) 2.
PAGE 10
3. Set Com port to the one the FTDI is on…the one used by MultiWii Configuration above (probably won’t be COM1!). 4. Open the MultiWii 2.0 source code (open any file in the folder) 5. Select the config.h tab and uncomment (remove “//”) the parameters as below, be sure to comment (“//”) the unused ones in each group: a. Select the Min throttle for your ESCs..this is the lowest value the controller sends to any motor during flight…you want them still spinning at this value or you run out of control. b.
PAGE 11
If you set the throttle range for 995 to 2000, like I did, you will have to change two parameters: #define MINCOMMAND 1000….I changed it to 980 to allow my ESCs to power up quicker #define MAXTHROTTLE 1850….I changed it 2000…otherwise I got only about 70% throttle at max… Note also for HEX6, you must not set MINCOMMAND below 1000 nor MAXTHROTTLE above 1910, or unreliable operation may result! 6. Save it for future use. 7. Upload the code to board. 8.
PAGE 12
Other Neat Stuff LCD Configuration It is possible to attach an LCD panel for field adjustment of PID values without the need for a PC. Stick movements are used to change values, while the LCD shows the variable being changed and by how much. Search Ebay for “Multiwii LCD” to obtain one Installation: just plug it into the TTL output pins beside the FTDI connector…be sure that you get power and gnd correctly oriented! Operation: see the LCD section of this page: http://www.multiwii.
PAGE 13
In order to use it, you must enable(uncomment) one of the “#define SERIAL_SUM_PPM“defines in the config.h file appropriate for your receiver. Recompile and download to the board (See previous section). In my case, it wasn’t listed and I just experimented changing the order in the define until I got the correct channel order working.