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-- project related stuffs home connecting elements software faq forum sponsors is a general purpose software to control a multirotor rc model. it can now use various sensors but was initially developed to support nintendo wii console gyroscopes and accelerometers. we can find these sensors in the extensions of the nintendo wiimote: wii motion plus and wii nunchuk. this project was an opportunity to develop my own software on an arduino platform. the achieved stability is excellent for fpv and allows any kind of acrobatics. the software is for the moment able to control a tricopter, a quadricopter or a hexacopter. the tricopter mentioned in this article is mainly is the first tricopter i made, based on a fiber structure. the structure was reinforced with carbon/kevlar fiber. some leds were also added for a better flying visibility. contents wii components wii motion plus its cost its dimensions its integrated adc its communication protocol its performance nunchuk its cost its dimensions its i2c bypass mode arduino arduino pro mini arduino mega based boards seeeduino mega flyduino complete board third party integration on screen display operating the multicopter starting the multicopter motor shutdown gyroscopes calibration accelerometers calibration accelerometers trim some pictures of the first tricopter rc equipment used for it video where can we find the components ? wii components wii motion plus a wii game controller is composed of three accelerometers to determine an angular position, and measure lateral accelerations. it is enough for most games, but an accelerometer is not very accurate for measuring small variations. for the most demanding games, nintendo developed the wii motion plus (wmp) extension which uses three gyroscopes and plugs at the extremity of the game controller. these three gyroscopes coupled with three accelerometers can determine more precisely the attitude of the controller. there is extensive information on all the extensions here: http://wiibrew.org/wiki/wiimote/extension_controllers on a multicopter, the use of accelerometers is a plus but not necessary if you do not want to keep strictly to its angular position in space. the measurement of angular velocity is sufficient to ensure good stability. the extension wii motion plus has numerous advantages compared to other gyroscope sensors: its cost invensense is a manufacturer of electronic components, particularly gyroscopes. usually, these components are distributed independently and are relatively expensive. example from sparkfun: http://www.sparkfun.com/commerce/categories.php?c=85 invensense manufactures (at least 1 of 2) gyroscopes of the wii motion plus: idg600 or idg650. they seem to have been designed specifically with a probably very low wholesale price. we benefit directly from this situation in the cost of the extension, especially since there are many chinese copies that can be found for $10 or $15 its dimensions the wii motion plus extension is made up of two pairs of 2-axis gyroscopes, (only one axis being used on one gysroscope). finally, once the pcb is extracted from the wmp case, there is a set of 3-axis gyroscopes in a small space. more importantly, they are all mounted on a plane surface without additional pcb. copies are not all identical, but the dimensions remain the same. its integrated adc when we want to interpret the value of sensors, we use an analog input and then convert it into a digital format usable by a program. wii motion plus extension includes a 14-bit analog-digital converter. its communication protocol this extension communicates with the controller on a i2c bus in fast mode at 400kbit/s. it’s interesting because this bus coupled to the integrated adc allows for performing conversion that will not be addressed later by the micro controller. moreover this bus uses only 2 data wires. its performance at that price, performances are not the best among the existing modern gyroscope. noise (spurious signals in the absence of movement) is important, but we can find 3 mems sensors that outperform the piezo gyros still found in many rc gyroscopes. properly filtered, the signal is pretty accurate. fyi, the must have gyro seems to be the adxrs610, and at that price it has only one axis : http://www.sparkfun.com/commerce/product_info.php?products_id=9058 nunchuk the nunchuk (nk) is an extension of a wiimote which is is composed of three accelerometers to determine an angular position, and measure lateral accelerations. on a multicopter, the use of accelerometers allows to know precisely the angular position of the model. with some mathematic used to associate gyroscopic sensors (dcm or kalman like), it is possible to determine very quickly a pitch and a roll angle. this feature is used to have an auto stable mode which keeps the model in a horizontal attitude. like the wii motion plus, the nunchuk has also numerous advantages: its cost it is even cheaper than a wii motion plus extension. we can find the nk extension for around $10 on ebay. its dimensions the pcb size of a nunchuk is a little bit more important than a wii motion plus one. but the component are still mounted is a flat position. on some versions (genuine for instance) , it is also possible to cut the button circuit (unused for this project) its i2c bypass mode when a wii motion plus is already connected to a wiimote, the nunchuk can be directly connected to the wii motion plus in a “half bypass mode”. it also communicates with wmp via a i2c bus. in this mode, the wii motion plus handles the communication and supply sensor values (from gyroscopes and from accelerometers) in an interleaving alternate way. one benefit: the arduino has to handle only one extension, the wii motion plus. it would be possible to retrieve directly data fro a wmp and a nk with the same i2c bus. because they share the same i2c addresses, it would require some extra pin to select the wires. arduino arduino pro mini arduino pro mini card is a very small version of the well known classic duemilanove arduino. however, all possibilities remain the same. it now integrates an atmel 328p and exists in several versions 3.3v/5v and 8mhz/16mhz. i chose the most convenient and powerful version : 5v / 16mhz http://www.sparkfun.com/commerce/product_info.php?products_id=9218 there is no more the usb connection for injecting a program, but it’s always possible to program it with a small usb-serial adapter sold separately. http://www.sparkfun.com/commerce/product_info.php?products_id=9115 this board is the heart of the multicopter. it runs the software and interacts with everything: rc, escs, sensors. note that is is also possible to use other arduino cards if they include an atmel 328p running at 16mhz: arduino nano , arduino pro, arduino duemilanove. most arduino clones should also work. arduino mega based boards in order to support more functionality and have more i/o pins, was ported on arduino mega boards. seeeduino mega one of the most interesting compatible board is the seeeduino mega. even if the calculation power is identical to the arduino pro mini, there is nearly no limitation in term available i/o pins with this board. this board also support an integrated usb port. flyduino in order to reduce the size and match the standard 5x5cm flight control size (size of mikrokopter boards), one brilliant man paul bake decided to design the flyduino board. http://www.rcgroups.com/forums/showthread.php?t=1381577 this board is one of the the best arduino mega based board for multicopter thanks to its size, and because the i/o matches the exact needs. size comparison complete board recently, we can find now fully integrated boards, with ftdi+10dof+gps on the same board. third party integration on screen display some osds are now compatible with code and can display artificial horizon based on angle calculation + many more features. mis osd operating the multicopter the following explanations are agnostic to the mode used . so

URL analysis for multiwii.com

http://www.multiwii.com/#its_performance
http://www.multiwii.com/wp-content/uploads/2011/01/seeeduino-mega.jpg
http://www.multiwii.com/#where_can_we_find_the_components_
http://www.multiwii.com/#its_dimensions
http://www.multiwii.com/#arduino
http://www.multiwii.com/#seeeduino_mega
http://www.multiwii.com/#video
http://www.multiwii.com/wp-content/uploads/2011/01/multiwii-mega-gps1.jpg
http://www.multiwii.com/#its_communication_protocol
http://www.multiwii.com/#operating_the_multicopter
http://www.multiwii.com/#complete_board
http://www.multiwii.com/connecting-elements
http://www.multiwii.com/wp-content/uploads/2011/01/multiwii-mega-all-in-one.jpg
http://www.multiwii.com/#third_party_integration
http://www.multiwii.com/#its_dimensions_1

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