CRIUS ALL IN ONE PRO User manual

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CRIUS ALL IN ONE PRO v1.0 Multi Rotor Flight Controller
Manual rev 1.1
Features:
·Supported MegaPirateNG and MultiWii firmware
·Up to 8-axis motor output
·8 input channels for standard receiver
·4 serial ports for debug/Bluetooth Module/OSD/GPS/telemetry
·2 servos output for PITCH and ROLL gimbal system
·A servos output to trigger a camera button
·6 Analog output for extend device
·A I2C port for extend sensor or device
·Separate 3.3V and 5V LDO voltage regulator
·ATMega 2560 Microcontroller
·MPU6050 6 axis gyro/accel with Motion Processing Unit
·HMC5883L 3-axis digital magnetometer
·MS5611-01BA01 high precision altimeter
·FT232RQ USB-UART chip and Micro USB receptacle
·On board logic level converter
·Match the standard of RoHS
Flight mode for Multiwii
·One of the following basic mode
- Acro
- Level
- Alt Hold
- Head Lock
·Optional mode
- HeadFree (CareFree)
- GPS Hold (Need GPS receiver or Extend Board)
- GPS Back to home position (Need GPS receiver or Extend Board)
Flight mode for MegaPirate
·Acro
·Alt Hold
·Simple
·Loiter (uses GPS)
·Guided (uses GPS)
·Position (uses GPS)
·Circle (uses GPS)
·RTL (uses GPS)
·Auto(uses GPS)
- Follow Me(uses GPS)

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Motor connection
-MultiWii : D2/D3/D5/D6/D7/D8/D9/D10
-MegaPirateNG: D2/D3/D5/D6/D7/D8/D11/D12
External Power: if you don't power it by the BEC from the ESC Also needed to power Expansion Board.
-cam pitch = input from RX
-cam roll = same
-aux4= same (aux port 1-4 u can see in the MultiWii config tool on PC)
-aux3= same (aux port 1-4 u can see in the MultiWii config tool on PC)
-aux2= same (aux port 1-4 u can see in the MultiWii config tool on PC)
-aux1= same (aux port 1-4 u can see in the MultiWii config tool on PC)
-yaw = input from RX
-pitch = input from RX
-roll = input from RX
-throttle = input from RX
-5v = so the RX gets power
-gnd= ground
-trigger 9 = to trigger the cam if needed
-echo 10 = optional echo ultrasonic sensor (??)
-2x Motor out 11, 12 (where do i put which motor????)
-5v bridge, jumper (if you power it by the BEC from the ESC this must be closes)
-pitch 44 = for the CAM Gimbal system
-roll 45 = for the CAM Gimbal system
-trigger 46 = another trigger
D9/D10 is sonar sensor port when you use MegaPirateNG firmware
I2C port
(slc, sda, 5v, gnd) = this is the for expanding like Gps.
S0/FTDI
(gnd, gnd, 5v, rx0, tx0, dtr) = can be connected a bluetooth module or standalone FTDI cable(if the USB on board is broken)
S1-S3
(tx1, rx1, tx2, rx2 tx3, rx3, vcc, gnd) = TX1/RX1 used for PPM SUM receiver or Remzibi's OSD board
TX2/RX2 used for GPS, you can connect any standard NMEA GPS receiver
TX3/RX3 used for telemetry module,like Xbee,3DRadio etc
A0-A5
A0~A5 is reserve port,no "output"

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Extend Board for ALL IN ONE PRO
Features:
·Included U-blox LEA-5H GPS Module and Xbee socket. ( Been advise this will now be LEA-6H GPS module)
·Working with AIO PRO FC, provides full UAV functionality.
·2 separated 3.3V LDO voltage regulator
·25X25mm active GPS antenna with 200mm cable
Extend Board connects to S1-S3 port
Please note:
The extended board must be powered via external power pins on the main board and the yellow jumper is to be removed.

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Software code changes for Multiwii and Megapirate
Multiwii
add this code to def.h in MultiWii 2.0 or later verson
after
/**************************************************************************************/
/*************** IMU Orientations and Sensor definitions ********************/
/**************************************************************************************/
//please submit any correction to this list.
#if defined(CRIUS_AIO_PRO_V1)
#define MPU6050
#define HMC5883
#define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
#define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif
then add this to "boards and sensor definitions" in config.h
#define CRIUS_AIO_PRO_V1 // Crius Multiwii AIO PRO v1.0
Megapirate
These settings are all in APM_Config.h you will see this tab when you load the Attitude.pde file in the MegaPirateNG/ArduCopter folder.
// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_FREEIMU_4
/*
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
*/
// Select your baro sensor
#define CONFIG_BARO AP_BARO_MS5611_I2C
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/
// For BlackVortex, just set PIRATES_SENSOR_BOARD as PIRATES_BLACKVORTEX, GPS will select automatically
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
/*
GPS_PROTOCOL_NONE without GPS
GPS_PROTOCOL_NMEA
GPS_PROTOCOL_SIRF
GPS_PROTOCOL_UBLOX
GPS_PROTOCOL_IMU
GPS_PROTOCOL_MTK
GPS_PROTOCOL_HIL
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_AUTO auto select GPS
GPS_PROTOCOL_UBLOX_I2C
GPS_PROTOCOL_BLACKVORTEX
*/