MultiWii PARIS Use and care manual

Pg 1
v2.2 v4r6c
Transmitter Setup /Calibration
DO NOT SKIP ANY STEP - the very rst thing you must
do for your rst MultiWiicopter.com pnp PARIS v4r6 board
is Calibrate the Tx - Ground yourself (static safety measure)
then connect the Receiver (Rx) to the PARIS, connect the
PARIS to your FTDI-USB - USB supplies limited 5v power
(after installing the FTDI drivers,java - see wiki links - do a cold
restart) and then turn on your Transmitter (Tx) and set Mode
2 - ACRO(airplane) & PPM(not PCM). Do NOT connect
anything else to the PARIS ! - then Launch the matching
2.2p->2.2p Config or 2.2p->2.2p Application/program on
your PC or Mac (requires java) press com/start (see page 2 for
full details) and whilst looking at your PC screen - you will see
that changes made on the Tx are sent to the PARIS via your Rx
- and the critical uSEC readings such as 1095/1500mid/1905
can be set. PARIS is a 5v digital interface and the software
running invisibly inside requires very specic digital PWM
uSEC numbers to come out
of your Transmitter - to hover
100% level, to arm, to disarm
etc. So this may seem a bit
weird but you will be using/
pressing buttons on your
Tx whilst your eyes are
looking at your PC or Mac.
So USING TRAV ADJ (JR) - END
POINTMENU (futaba) move
each stick to the low position
and set end point to 1095;
then move each stick/switch to
the high position and set 1905.
Do this for all sticks and switches. Then, move all sticks to
the centre - set all Tx trims to neutral - Now use SUB TRIM
MENU on your Tx to set all mid points of 1500. Live links
to downloads on the Wiki page at Multiwiicopter.com If
you are stuck - stay calm - DO NOT LOAD Default/
new code - this will wipe all the code installed/tested in
your board, disable the sensors and cause you real problems -
relax - power the board with 5v (USB hiOut) and read these
instructions fully - slowly
Orientation - the light blue bars (above) MUST move
in the same direction as the stick you are moving
- If they do not then REVERSE that Ch in your Tx. So if you
move the throttle stick up - then the blue Throotle bar should
move up. If you move your rudder right then the YAW bar
should move right. - then - ESC THROTTLE LEARNING
- NOW go back and do/re-do the ESC calibration
one by one for each esc - THORTTLE-LEARNING (an
ESC function - nothing to do with Multiwiisoftware) This is
especially important if reusing KK ESCs or ESCs used in other
copter controllers.
PARIS v4 power - Choices
PARIS v4.o boards offer a split DC bus to prevent noise from
entering the CPU and sensor section if you wish using the
noise bridge in the open position. This noise bridge is supplied
soldered closed (if you
have a soldering iron
you can open the bridge
- if you don’t have a
soldering iron the board
is still PNP ready) So
you can choose how
to build your system
depending on the quality of your electronics - There are 4
ways to power a multicopter PARIS board; Rx; Servos; CPU
and sensors
1. With a separate switching
uBEC - all ESC red wires
isolated - bridge closed - all
powered supplied by the
External uBEC
2.Without an external
uBEC - All our HobbyWing ESC linear BECs red
wires connected - bridge closed - all power supplied
by FlyFun ESC linear BECs - in parallel
3. With a separate switching uBEC - With power split - bridge
open - both the DC buses powered separately - CPU and
Sensors fed via the switching uBEC. ESC and Servos fed via
the ESC BECs - all ESC red wires connected - parallel
4. With a separate switching uBEC - With power split - bridge
open -both the DC buses powered separately - CPU and
Sensors fed via the switching uBEC. ESC & Servos fed via
the ESC BECs - ONLY one ESC red wire connected -
parallel
• We recommend option 2 (above) for most copters
if you are using our HobbyWing ESCs - not running high
curent gimbal servos. monitor the temp of the ESC in post
ight inspection.
• We recommend option 3 if running a bigger copter with a
gimbal. Do not connect +12v ever! only connect 5v to
the PARIS and set all uBECs to 5v (not 6v). Some switching
uBECs have been reported to be very noisy and conict with
PARIS 3v3 ic. If this happens revert to ESC linear BECs. option
2. above
Ground yourself/the
board to the airframe to
reduce static risk -
KEEP PARIS DRY
BARO is sensative to
light & airow - keep
shaded - use a dome
cover - NOT FOAM
3.9.11.10.5.6
http://www.multiwiicopter.com/pages/multiwiicopter-wiki
this is an abbreviated guide - FULL PARIS info online
Sensors -
Care
pitch
roll

Pg 2
v2.2 v4r6c
a1
a2
a3
e10
e11 e12
e13
c6
b4
b5
c7
d8d9
GUI (above) - What does it
mean? (Pg1 do b4 rst) Load the
USB ftdi drivers (PC or Mac
- cold restart) and download
the GUI software (above) -
links on Multiwiicopter.com
wiki
Note Quit Arduino® 1.0 software if
running (two applications cannot share
the ftdi -connection) - Do not reload
default code! Stay calm. Your pnp PARIS
has already been tested and calibrated.
Open (or search for) the java App called
MultiWiiConf2.2p app (PC apps end in
.exe) Start this application (program)
a1) After pressing the COM link - wait
2 secs - then press Start a2 -> then wait
2 secs -> press READ a3 ; Your GUI is
now connect live to your PARIS - don’t
rush the clicks or you may wipe the
eeprom to zeros. Make a note of all your
values e10 - do not change PIDs until
after the maiden ight (Screen Capture/
Print Screen) - just incase you have to
go back to them (general rule is never
change more than one thing at a time)
It should look like the values from my
screen capture above b4 - Transmitter
Calibration - covered on Pg 1 - connect
your Tx - Rx and USB-> You will now
importantly see the values for low stick /
mid stick / high stick VERY IMPORTANT
- using your Tx - alter the travel (futaba
call these end points) to rst get 1095
for low stick ; then 1905 for high stick
- then use mid-point (different menu on
your Tx) to set 1500 mids. ESC
THROTTLE LEARNING - NOW
go back and do the ESC calibration one
by one for THORTTLE-LEARNING
(an ESC function - nothing to do with
Multiwiisoftware - KK pilots must re-do)
b5 - check the values in this area are all
even (the same) at low throttle settings
- if not then make sure - again - that you
are in ACRO mode and the mid stick is
at 1500 - see b4 c6 - Click and
hold the boxes (top left of each box) to
change them - then press write c7
If you got a PNP board D8 & D9 are
already done for you. with the PARIS
ACC perfectly level and still press
calib_acc d8 - then wait 4 secs - then
press Calibrate_MAG d9 - 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.
The actual heading shown is not used in
2.0.4p yet for Nav - and is set in software
offset - at a future time.
If your Copter is not ying stable or
close to stable on default PIDs, as shown
above e10 then do not alter the PIDs
like a madman - The electronics/software
will not save you from un-balanced
props - or a bad combination of PROPS/
ESC/MotorWindings. Light weight props
and Medium/high timing are required.
Balance your props on a magnetic
balancer until they run silky smooth...then
balance them one at a time on a hand-rig
for dynamic balance. With a motor on a
boom run each one atdifferent RPM to
check the running (dynamic ) balance of
that prop - use electrical tpe to balance
them ---- to change values in e10 -
click-hold-drag ; then press write. e11
- Trottle PID attenuation is for advance full
pwr climb outs - dampens PIDS at high
throttle settings >50% if needed.
Ch5 Rx = Gui Aux1 = blue wire
Ch6 Rx = Gui Aux2 = purple wire.
Select at e12 above - the baro - WRITE
Never change more than one value at a
time - then y - then change it again then
y - make small changes - sometimes a
change of 0.1 will make the difference
between too soft; and oscillations.
NOTE: You cannot ever save the values
stored in your 328CPU (e13) ; nor can
you read back OUT the Arduino software
in it - so what we recommend - is save
the Arduino Sketch in a new folder each
time you load it in (essentially a back-up) ;
then do a screen capture of the GUI (e13)
(above) and put that into the folder on your
PC as well. WinGUI saves all settings.
Your board is running v 2.2 - Use GUI JAVAConfig 2.2
Boards requires 5v - USB or UBEC/ESCbec power - Check polarity
- it will blow above 6v or reversed! DO NOT CONNECT 12v to this board ever
http://www.multiwiicopter.com/pages/multiwiicopter-wiki
this is an abbreviated guide - FULL PARIS info online

Pg 3
v2.2 v4r6c
Your board is running v 2.2 - Use GUI JAVAConfig 2.2
Boards requires 5v power to run - it will blow above 6v! 5.0v only
correct polarity only!
http://www.multiwiicopter.com/pages/multiwiicopter-wiki
this is an abbreviated guide - FULL PARIS info online
Using the Tx sticks to operate the PARIS
Set the Throttle to OFF - After connecting the LiPo - The ESCs will
beep to indicate they are powered but not armed - ESC’s cannot arm
on power-up with PARIS Wii boards. The embedded PARIS
software prevents this and requires you arm with a stick combi-
nation below The red LED comes on (steady) on the CPU board show-
ing the board has power. After connecting the LiPo (or USB) the green
CPU LED will ash for 5 secs then go OUT If the LED blinks green (fast)
but won’t stop blinking - then the Rx is not powered by 5v (an Rx cannot
get sufcient PWR from some USB! It must be powered by 5v from at least
one BEC).If the green LED still blinks green (fast) but won’t stop blinking
-then the Rx is not connected to the correct PARIS/warthox THRO pin
correctly. The ESCs cannot calibrate as a multi-engine-group because the
default state of the CPU->ESC is Dis-armed for all engines. You need
to calibrate ESC throttle-learning range as a separate exercise
-below If the ESC’s beep-non-stop then they are not connected to the
PARIS board ESC pins or the Rx is incorrectly connected or the Rx/PARIS
sees you do not have your throttle to zero.
FAILSAFE - If your copter goes out of radio-range it may cause harm - if
still powered - Take the precaution to program in the FAILSAFE condition
to protect people/property. Do not skip this step.
Bind your failsafe (Read your Radio manual - FAILSAFE) on the Tx
with power/Throttle set to OFF - Power off failsafe condition. You might
decide to set the failsafe power to 1/3 throttle so the aircraft descends in a
controlled descent - recommended if understood - For Example on FrSky
- set sticks as above (or THRO to 1/3) - then Press the Rx button - 2 green
ashes on the Rx itself - done. Failsafe can also be set in Software (NOT
recommended - Use only for ultra basic or legacy Tx’s - if your Tx has fail-
safe - use that). When you turn your Tx OFF in a test the Failsafe - should
return the Copter to level and min-throttle -
NOTE : If you use a 1/3 power (controlled descent setting) be aware that
if you switch your radio off while the PARIS armed - then you will initiate a
1/3 powered condition!You must understand this concept fully and realise
the word failsafe - does not mean you can be an idiot - sorry - you still
need to understand the consequences of your chosen failsafe condition -
and You will be deciding what the Radio will do when it cannot receive a
signal. You are still the Pilot in command - YOU are responsible to decide
how you will handle failsafe above.
Arming - Learn to recognise that your WiiCopter is ARMED. Hold right
Yaw (or right cyclic) for 1 sec - you will see the Green LED come on - stays
on SOLID If LED does not come on GREEN - then increase YAW travel
on the Tx (see Transmitter Calibration procedure - above top) - or Check
the THRO is not actually reversed by mistake (Futaba) - then trim down a
few clicks on the THRO trim. If it still won’t arm connect FTDI and use the
JAVA-Cong (see below - install JAVA) to make sure the Throttle PWM is
below 1100 (normal THRO range is 1100-1900) - In order to arm - the
Wii CPU is looking for THRO <1100 and YAW ~1900 - The GUI
shows actual values from Rx and is a valuable guide to trouble-shoot a
CPU which won’t apparently arm.
Disarming - Learn to DISARM the ESC’s before touching or approach-
ing the Copter ESC’s/Motors can start suddenly and the props can
cut - ngers and eyes - permanent injuries With THRO OFF ; Hold the
YAW stick LEFt for 1 sec ; then the CPU GREEN LED will go OUT and
stay out
Gyro Calibration - Disarm the copter (see above) ; Place the Copter
on a perfectly LEVEL LZ - it must be completely static - Set Trims to
neutral - Stand back - With THRO off, Hold the YAW LEFT and the Cy-
clic stick Back for 1 Sec ; release - you will see the GREEN LED blinking
fast for a few secs then go out - The Gyro is now calibrated for drift (at
this ambient temperature) - The Gyro on a PARIS/warthox board is the
WiiMP+ You can Ddo this everytime you y - preferably about 2mins
after Powering up - in the outside air temps where you will y.
Accelerometer (Acc) Calibration - Fly the Copter in ACRO mode
- Trim the copter using the Transmitter stick sub-Trims so it hovers still
on STILL air (no wind) - Land - Disarm the copter (see above) ; ensure
the Copter is on a perfectly LEVEL LZ - it must be completely static
- Conrm the DISARMED LED is OFF - Hold Full THRO/YAW LEFT
and the Cyclic stick Back for 1 Sec ; release - you will see the GREEN
LED blinking fast for a few secs then go out - The Acc is now calibrated
for LEVEL mode (at this ambient temperature) - The ACC on a PARIS/
warthox board is the Nunchuk®.
Accelerometer (Acc) Trimming - Also called auto-LEVEL trim-
ming - FIRST do after the GYRO & ACC calibrations and normal ACRO
trimming (see above) using the Tx trims. LAND. Switch over to LEVEL
mode (Gear Switch). Take off and mentally note the way the copter
wants to drift - DO NOT TRIM THE TX - Land - The nal ACC trimming
procedure (below) is this -DISARM (see above - the Green LED will go
OFF) Move the THRO to the ‘Learn Position - full up) - in this example
the copter was moving back and right - so ; using stick-banging - move
the cyclic (right stick) up once (led blinks) - then left once (led blinks) -
these alterations are saved to the CPU memory. ARM again - hover and
repeat the process until the copter hovers ‘level’.
All testing with PROPS OFF - then install last Failsafe is DISABLED in software - useTx failsafe

Pg 4
v2.2 v4r6c
Any questions please READ my WIKI - Read the PARIS forum thread/post on RCG
then if you are still stuck - contact me - email is best - I will ask you for your GUI screen capture and details of your copter -
photos of your setup [e-mail] Quinton Marais (RCG AlouetteIII)
33 Doubleview Drive, Elanora, Qld 4221 AUSTRALIA,
Office hours are 9am-5pm Mon-Friday AU EST time TEL [phone] Cell [phone]
Your board is running v 2.2 - Use GUI JAVAConfig 2.2
http://www.multiwiicopter.com/pages/multiwiicopter-wiki
this is an abbreviated guide - FULL PARIS info online
TRI.Copter Arming - as TriCopters are tted with a YAW tilt servo they
have a special (alternate) arming procedure in >1.7 MultiWii software. Learn
to recognise that your Wii TriCopter is ARMED. SET THRO to Zero - off -
Hold Cyclic-right for 1 sec - you will see the Green LED come on - stays
on If LED does not come on GREEN - then increase ELEV/AILER travel
(see Transmitter Calibration procedure - above top) - Check the THRO is
not actually reversed by mistake - and trim down a few clicks on the THRO
trim If it still won’t arm connect FTDI and use the JAVA-Cong (see below)
to make sure the Throttle PWM is below 1100 (normal THRO range is 1100-
1900) - In order to arm - the Wii CPU is looking for THRO <1100 and AIL/
ELEV ~1900 - The GUI shows actual values from Rx and is a valuable guide
to trouble-shoot a CPU which won’t arm. TRI.Copter Disarming - Learn to
DISARM the ESC’s before touching or approaching the TriCopter ESC’s/Mo-
tors can start suddenly and the props can cut - ngers and eyes - permanent
injuries With THRO OFF ; Hold the cyclic stick LEFT for 1 sec ; then the CPU
GREEN LED will go OUT and stay out
LED’s Light emitting diodes
Question - What is the meaning of the LEDS’on a PARIS board?
Answers - different things at different times - The GUI Cong
on your PC/Mac is far more useful but when your Copter is not
connected to the PARIS board the led can provide some limited
information - see below -
RED LED = power to 328 CPU is ON - should always be on
The CPU board gets power from the 5v BUS ; or USB .
GREEN smd led /UltraBright White LED = :-
1) GREEN LEDS are on and stay on when the board is armed -
are OFF and stay OFF when the board is DISARMED
2) GREEN LEDS blink rapidly 5 times Cal.Sticks.Gyro of the
Gyro(MP+) then goes off - wait 10 secs
3) GREEN LEDS blink medium whilst computing a Cal.Sticks.Acc
of the Acc(NK) then goes off - wait 10 secs
4) GREEN LEDS blinks during initial power up then goes OFF (the
very FIRST time it will not because it’s never been calibrated :)
(see Cal.1 Cal.2 and Cal.3 procedure - below)
5) GREEN LEDS blink slowly if a problem is detected on start-up -
code error (usually calibration NOT done)
6) GREEN LEDS blink slowly if Calibration Cal.1 Cal.2 and Cal.3
not completed (see below)
7) blinks once to indicate the CPU compute’s a leveling correction
8) GREEN LEDS blinks rapidly 5 times for each stick-banging
throw in ACC trimming “learning” mode
9) GREEN LEDS blinks slowly after loading Software in Arduino22
and before doing the Cal.GUI.Acc (see below)
10) GREEN LEDS blinks very rapidy for 30 secs when doing MAG
calibration - stops by itself when nished
11) GREEN LEDS comes one when disarmed if it detects the
PARIS board is tilted >20° or so - goes off again if the board is
leveled out
Question : My GREEN LED Flashes slowly
and my PARIS just won’t arm?
Answer : The most common reason for not being able to arm
is - YOU skipped the Calibration of your Tx (above -top Pg1)
- see Transmitter Calibration - PARIS is waiting for Safe arm
condition - Tx is sending out the wrong numbers
Question : My Copter wont hover level in AUTO
LEVEL - goes off to the side
re-Calibrate - THIS IS ALREADY DONE at the factory - cali-
bration is effected by temperature and Transmitter Mid-Points
not on 1500 - Always load your multicopter with a Cof G in
centre - this means you will need hardly any Trimming in Acro
mode - then trim using the ACC trimming Pg 3 - then if still
needed re-calibrate - with the ACC itself perfectly level & the
airframe LEVEL as well - use a bubble level, no vibration or
movement - then do Calbration. Balance all Props!
Question : My Quad is not flying well on default
PIDs - what are the secret PIDs the Pro’s use to
make it fly perfectly
Answer - this is a common myth - Real answers is - the Default
PIDs are very close to perfect if you have your copter setup well
- by setup I am referring to the airframe(must be super rigid/
stiff - zero exing Carbon is best see SCARAB - PARIS must be
rmly bolted to the airframe) the weight (light) the props
(balanced dynamically and statically - nothing is as important as
balanced props - when you hold the Quad and go to full throttle
above your head - it MUST be silky smooth!) the ESCs (use the
recommended ESCs of the correct size - big ESC dont belong on
multicopters) the motors (small lightweight motors correctly
matched to their prop size - see the gear list and motor pages
for matching props/motors , and lastly the pilot (y smoothly -
dont jerk the controls backwards and forwards rapidly - smooth
delibrate moves)
5.0v only
correct polarity only!
led strip GND
LV GPS
or LCD
HV GPS
Bluetooth
RC Receiver inputs
Motors
THRO
white/red/black
AILERON
yelow
ELEVATOR
orange
RUDDER
Green
Ch5=Aux1
Blue
Ch6=Aux2
purple
}
6.5.10.11.9.3
pitch
roll

Pg 5
v2.2 v4r6c
WARRANTY
90 day repair/replacement
warranty - All products are
covered by a 90-day replacement/
repair warranty for normal use.
Warranty excludes : - fusion,
reverse polarity, over-voltage
damage, short-circuit, damage by
static charge, connection of live
servo or ESCwires, ood, crash
damage, impact damage, incorrect
tools, reashing the CPU comms
or boot les, software hacks,
moisture ingress, trauma damage
and misuse. Where a product
is considered to be defective in
hardware, buyers are required to
send a photograph/video showing
the hardware problem in detail,
accompanied by an accurate
description of the fault in the
video and photos - multiwiicopter.
com will issue an RMA authority
number which must be displayed
on the returned package/item.
Buyer is responsible for the cost of
shipping returned items. Where
a buyer reloads any software -
they assume full responsibility for
the software alteration and any
subsequent damage/corruption
to the hardware - whether
caused directly or indirectly by
the software. Only full versions
of the software are approved and
any hacked or dev software is
expressly forbidden and will void
any and all warranty.
RETURNS
7 day refund - Where an item
arrives DOA due to shipping
damage or manufacturing fault,
buyer has 5 working days (7
calendar days) to request a refund.
Refund procedure requires that
the item is returned in original
condition , un-used , un-modied
with supporting photographs of
any defect/ damage and an RMA
number issued as above prior. The
refund will only be processed on
inspection at multiwiicopter.com
of the returned item for normal
use. Normal use includes following
of all guidelines and safety-
related instructions in the user
documentation.
disconnect the centre red wire if using a separate switching
uBEC - Pay attention to polarity! Never plug or unplug
live wires !
warranty voided
Safety in your Skies
• Your Multicopter PARIS is controlled 100% by
software - NEVER load Dev or hacked software. Use
only the fully approved MultiWii software - full versions
- approved by the master coder AlexinParis. All Dev or
hacked software is potentially dangerous and will void
your warranty. When making any changes to the Cong
section you assume FULL RESPONSIBILITY - never alter
code unless you fully understand the code - and the
consequences of your actions.
• Never attempt a maiden ight until first completing a
successful hand-held maiden - take safety steps - eye
protection - gloves - See Guide to maiden Document.
• Keep more than 30m from persons, choose an empty
sports eld for your rst ights with soft grass
• Do not y near pets, houses or cars
• Never y within 3nm of an aireld or above 400ft
• Never install your props until after the Multicopter is fully
tested and 100% correct without props. Engines can
start suddenly and without warning IF YOU FAIL to
understand how they work or skip any steps.
• Conduct full pre-ight and post-ight inspections and
ground your Multicopter if you notice anything as a risk
hazard. such as hot components or unusual operation.
• Set yourTx/Rx binding FAILSAFE to low throttle
1/3 position so that if the link is lost the copter will
descend slowly. Do a full range check and use RSSi
• Always keep your Copter visual in line of sight LOS for
one pilot ops - FPV is only legal in AU with a buddy
on a buddybox - 2 person FPV is 100% legal using the
buddybox system below 400’. See CASA Part 101 Regs
• RC Flying is a privilege - please enjoy it. Don’t show off
and don’t get over condent
• Home movies are ne, but in Australia professional paid
photography or videos from an RC aircraft requires
CASA Part 101 compliance, including exams and
approved ops manuals and pilot competency tests by
CASA ofcial which will cost several thousand up front.
Power off - Only make ESC or Servo connections with ALL
power off ! ESC off , PARIS OFF - USB - OFF - check correct
3
3
}
WARNING !
5.0v only
correct polarity only!

Pg 6
v2.2 v4r6c
TriiKopta
or Avatar
Bi-copter
(unstable in fast flight)
Y4
(not as efficient as a
tricopter)
Y6 YSiix
HexiiKopta
HexiiKopta X
Quad X
Quad +Plus