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Multiwii_32U4_SEManual

Rev01
1.Introduction
TheMultiwii_32U4_SEisanAllInOneFlightController(FC),usableforallsizesof Multirotor helicopters.Itisequippedwithamicrocontroller,a3axisgyroscope (GYRO), a3axisaccelerometer(ACC),a3axismagnetometer(MAG)andabarometer(BARO).. TheFCwasdevelopedforusewiththemultiWiisoftware(www.multiwii.com)from Alexandre Debus aka.AlexInParis anditsupportsallflightconditions. AnAtmel AVR8bitmicrocontroller(MCU),the ATMEGA32U4,isusedonthe32U4_SE. ThisMCUhas6highresolutionPWM(ESCsignal)outputs,anonchipUSBinterface (so,noneedforaFTDIadapter)andtheabilitytoreadthesignalsofvariousRXtypes.
GND 3.3V SCL SDA MiniUSB

3.3V GND Signal(RX)

A5 A4 A3 A2 A1 A0 D4 D13 D11 D6 D5 D10 D9 D12

Output

GND RAW

THR ROLL PITCH YAW AUX1 AUX2 Input

TXO RXI 5V GND

2~3SLipo

2.PowerSupply
YourMultiWii_32U4_SEhastwopowersupplies: 5VUBEC,connectedtooutput LiPo,connectedtoLiPo 2S3S TheoutputswerealwayssuppliedviaanESCBECoranexternalUBEC! Attention:Usethe32U4_SEwith23SLiPos only!

5VUBEConly

3.ConnectaRX
NormalRX YoucanuseastandardRXwith4channels.Becauseofthesensorsusedandthe Variousflightmodesavailable,a6channelRXisrecommended. Youonlyneedtoconnectallthreewiresforthethrottlechannel(signalandpower (+/)).Forallotherchannelsonlythesignalwiresareneeded.Thiswillsimplifyyour wiringandalsosavesomeweight.
AUX2 AUX1

NormalRX

RUDD PITCH ROLL THR

PPMsumRX WithaPPMsumRXyoucanuseupto8channels(atthetimeofwriting)withonly onesinglepatchwire.

PPMRX

+ s
PPM

Spektrum Satellite ASpektrum satellitereceiveroutputsallchannelsofthetransmitterover aserial interface(UART).WiththeuseofaSpektrum satelliteyoucanuseupto8channels (aswithaPPMSumreceiver).Inaddition,itisquitesmalland lightweight.

Spektrum Satellite

3.3V GND RX

4.ConnecttheESC's
TheMultiWii_32U4_SEwasdesignedtoprovideupto8ESCconnectionsplusupto5 additionalservos(maximum,butdependsfromtheconfigurationandtheonboard resourcesused!).Theimageshowsthemotorspositionsandspindirections. ESCconnections 5VESCBEC GND

ESC

Servoconnections 5VESCBEC GND

Servo

CW CCW

Bi

95

10

Tri 10
6

9 13 5
Y6

10 11

11 Quad+

6
10

5 69 9

QuadX 6 10

Hex6X 6 10
13

Hex6+ 11

Octo X 11 10

11 5
9

6
5

10
9

13
5

13

A3

A2

5.Copterinstallation
WheninstallingtheMultiWii_32U4_SEitisbestplacedatthecenterofyour multicopter.

6.MultiWii Firmware&upload
TheMultiWii_32U4_SEisspeciallydesignedfortheusewithMultiWii TheLeonardoissupportedwiththelatestArduino version.(1.0.1orlater). The32U4_SEusesthesamesensors(andaxisorientation)asthepopularFreeIMUv043. Toactivatethesensorsyouneedtouncommentthe'#defineFREEIMUv043'.

'#define FREEIMUv043

#define A32U4ALLPINS

Tomakeuseofthefullpotentialofthe32U4_SEyouneedtouncommentthe '#defineA32U4ALLPINS'.

7.Externalsensors
YoumayconnectanyI2Csensortothe32U4_SEthatissupportedbythesoftware. ButasGYRO,ACC,MAGandBAROwerepresentonthe32U4_SEtheonlyaddition mightbeanexternalI2CGPSmodule. ATTENTION: TheexternalI2Cbusofthe32U4_SEmay onlybeusedwith3.3Vsensors!