User Manual

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. Check that all channels are correct direction…ie right runs right on roll, etc.,
if not reverse them.
4. Calibrate Gyro (board not moving!)
5. Calibrate Accelerometers (board level!)
6. Calibrate Magnetometer:
press Calib_Mag - the LED blinks rapidly -you have 30secs to rotate the board 360°
degress in all axis X, Y and Z - when the LED stops blinking it will save all the MAG tilt
errors to eprom.
7. Set ESC ranges:
Individually connect escs to RX throttle channel and follow ESC manual
directions for setting min/max throttle range.
8. Fly, trim with autolevel off, adjust PIDs IF necessary…small changes, one at
a time!
9. Set autolevel on and trim using stick commands to get drift free autolevel;
adjust PIDS, if necessary.
10. Set altitude on and adjust PIDS for heading hold, if necessary
See this reference for more on trimming:
http://www.multiwii.com/faq#How_to_trim_your_Copter:_version_1.7_and_more
PID Tuning (extracted from reference at end):
the default PID values should get almost all normal sized multi copters up &
flying pretty good.
P: 4
I: 0.035
D: -15
Further tuning is mostly done by just lowering / raising the P value.
In order to fine tune, ….. increment/decrement the values with the following
steps: P:0.2 ; I:0.005 ; D:1
"P" fights all motion... increase until you get a feedback wobble, reduce by
~20%
"I" is heading hold.... increase until you get a bounce back when you release a
big stick input.
"D" the bigger the better from what I can tell this tries to smooth out any