MultiWii 32U4 SE User manual

Multiwii_32U4_SEManual
Rev01
1.Introduction
TheMultiwii_32U4_SEisanAll‐In‐OneFlight‐Controller(FC),usableforallsizesof
Multirotor helicopters.Itisequippedwithamicrocontroller,a3‐axisgyroscope
(GYRO),
a3‐axisaccelerometer(ACC),a3‐axismagnetometer(MAG)andabarometer(BARO)..
TheFCwasdevelopedforusewiththemultiWii‐software(www.multiwii.com)from
Alexandre Debus–aka.AlexInParis – anditsupportsallflightconditions.
AnAtmel AVR8‐bitmicrocontroller(MCU),the ATMEGA32U4,isusedonthe32U4_SE.
ThisMCUhas6high‐resolutionPWM(ESCsignal)outputs,anon‐chipUSBinterface
(so,noneedforaFTDIadapter)andtheabilitytoreadthesignalsofvariousRXtypes.
A5
A4
A3
A2
A1
A0
D4
D13
D11
D6
D5
D10
D9
D12
TXO
RXI
5V
GND
2~3SLipo
THR ROLL PITCH YAW AUX1 AUX2
Output
GND 3.3V SCL SDA
MiniUSB
3.3V
GND
Signal(RX)
GND RAW
Input

2.PowerSupply
YourMultiWii_32U4_SEhastwopowersupplies:
‐5VUBEC,connectedtooutput
‐LiPo,connectedtoLiPo 2S‐3S
TheoutputswerealwayssuppliedviaanESCBECoranexternalUBEC!
Attention:Usethe32U4_SEwith2‐3SLiPos only!
5VUBEConly

3.ConnectaRX
NormalRX
YoucanuseastandardRXwith4channels.Becauseofthesensorsusedandthe
Variousflightmodesavailable,a6channelRXisrecommended.
Youonlyneedtoconnectallthreewiresforthethrottlechannel(signalandpower
(+/‐)).Forallotherchannelsonlythesignalwiresareneeded.Thiswillsimplifyyour
wiringandalsosavesomeweight.
PPMsumRX
WithaPPMsumRXyoucanuseupto8channels(atthetimeofwriting)withonly
onesinglepatchwire.
Spektrum Satellite
ASpektrum satellitereceiveroutputsallchannelsofthetransmitterover aserial
interface(UART).WiththeuseofaSpektrum satelliteyoucanuseupto8channels
(aswithaPPMSumreceiver).Inaddition,itisquitesmalland lightweight.
AUX2
AUX1
RUDD
PITCH
ROLL
NormalRX
THR
PPMRX
PPM
‐+s
Spektrum
Satellite
3.3V
GND
RX

4.ConnecttheESC's
TheMultiWii_32U4_SEwasdesignedtoprovideupto8ESCconnectionsplusupto5
additionalservos(maximum,butdependsfromtheconfigurationandtheon‐board
resourcesused!).Theimageshowsthemotorspositionsandspindirections.
ESCconnections
ESC
GND
5VESCBEC
Servoconnections
Servo
GND
5VESCBEC

6
6
10
10
5
5
9
9
Quad+ 6
610
10
5
59
9
QuadX
5
5
9
9
10
10
6
6
Tri
5
5
9
910
10
6
6
Bi
13
13 11
11
6
6
5
510
10
9
9
Y6
6
610 10
13
13
5
5
11
11
9
9
Hex6+
6
6
11
11
5
5
13
13
10
10
9
9
Hex6X 11
11 10
10
9
913
13
A3
A3
6
6A2
A2
5
5
Octo X
CW
CCW

5.Copterinstallation
WheninstallingtheMultiWii_32U4_SEitisbestplacedatthecenterofyour
multicopter.
6.MultiWii Firmware&upload
TheMultiWii_32U4_SEisspeciallydesignedfortheusewithMultiWii
TheLeonardoissupportedwiththelatestArduino version.(1.0.1orlater).
The32U4_SEusesthesamesensors(andaxisorientation)asthepopularFreeIMUv043.
Toactivatethesensorsyouneedtouncommentthe'#defineFREEIMUv043'.
'#define FREEIMUv043

7.Externalsensors
YoumayconnectanyI2Csensortothe32U4_SEthatissupportedbythesoftware.
ButasGYRO,ACC,MAGandBAROwerepresentonthe32U4_SEtheonlyaddition
mightbeanexternalI2CGPS‐module.
ATTENTION:
TheexternalI2Cbusofthe32U4_SEmay
onlybeusedwith3.3Vsensors!
#define A32U4ALLPINS
Tomakeuseofthefullpotentialofthe32U4_SEyouneedtouncommentthe
'#defineA32U4ALLPINS'.