Getting Started - Transmitter Calibration 

Welcome!  DO NOT SKIP THIS first STEP above photo - the very first thing you must do for your first MultiWiicopter.com PARIS v4.0 board is Calibrate your Transmitter to give accurate PWM outputs - every transmitter is slightly different - Create a new model memory on the Tx and Call it PARIS.  Make sure your PC/Mac has JAVA loaded enabled - The GUI runs on JAVA - do a cold restart after installing Java - connect the Receiver (Rx) to the PARIS, connect the PARIS to your FTDI-USB - this supplies 5v power (after installing the FTDI drivers - HERE - cold restart) and turn on your Transmitter (Tx) and set ACRO(airplane) & PPM(not PCM).  Do NOT connect anything else to the PARIS ! -  then Launch the matching 1.9->1.9 Config or 1.9->1.9 Application/program on your PC or Mac 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 actual critical uSEC readings - 1095/1500mid/1905 can be set.  PARIS is a digital interface and the software running invisibly inside requires very specific digital PWM uSEC numbers to hover 100% auto-level, arm, 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 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 to 1500 on these blue bars.  Then move, one at a time,move each stick to the low position and set 1095; then move each stick/switch to the high position and set 1905.  Then go back and check all your midpoints are still 1500    Do this for all sticks and switches.  

 

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 Throttle bar should move up.  If you move your rudder right then the YAW bar should move right.

 

If you need to load or reload Arduino code make sure to use version 0.22 (new versions 1.0 Arduino dont compile Wii code - as of Dec 8th2011)

 

thanks ..... take care and Fly Safe -  Quinton  AlouetteIII

for MultiWiiCopter PARIS customers; by AlouetteIII  © MultiWiicopter.com 2011

 

• Keep your PROPS OFF - not installed - until you are fully conversant/understand in full the functions of your Tx in full including TRAV (end Points), the arm and disarm procedures -  realise that for a noob skiping or out-of-order set-up steps or moving sticks, or even static -  PROPS may start at anytime without warning.  Never install props prior to calibration of the ESC and testing the gyro orientation, and arm/disarm testing of the board - YOU are responsible - make sure your actions and your Copter is safe.  Never ASSUME the props will not start - removing the props removes the risk.

 

 

 

 

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 flashes 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 failsafe - use that). When you turn your Tx OFF in a test the Failsafe   -  should return the Copter to level and min-throttle - 

 

 

 

 

 

 

 

 

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 -  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®.  

MultiWiiCopters fly on Arduino® software info on 022Arduino is here - make sure to use 0.22 (new version 1.0Arduino will not compile the MultiWii code yet)

The GUI & the 1.9 Wii code is stored here - to download the software -> click here 

Unzip the download and you get 2 folders - the Arduino Sketch files are in MultiWii_1_9Folder

The Arduino App/Exe downloaded from here)

The other folder MultiWiiConf_1_9  contains the JAVA program/App - this is the GUI -  The Conf is a JAVA Application which allows you to control lots of parameters on your PARIS and see feedback on-screen  - If it does not run ; then update your JAVA.

 

 

 (big version below) - So on my Mac I use both these applications

 

 

Both the Arduino App and the JAVA-configGUI App to interact with The PARIS.

5v power for PC/WiiBoard CPU/software Ops comes from the USB cable from the PC/Mac via an FTDI connector.  However 5v power to the DC bus (The Receiver) ; the 3v3 voltage regulator for BMA180 and LLC comes from a BEC on a speed controller or a separate switching UBEC running off a 2S800mah 7.4 cell to give 5V to the board, power the Rx etc..

 

1) Connect the BEC to the board via any 3pin ESC pin ; DownLoad the FTDI Drivers HERE ; restart PC/Mac ; connect your FTDI to your PARIS

2) Open the Arduino software application v22 http://www.arduino.cc/en/Main/software

3) Set the Tools->Serial Port->Com8  (for Mac will be something like /dev/tty.usbserial-A8004Yt1) - this selects the USB port you have the PARIS/warthox plugged in

 

 

4) Set the Tools->Board->Arduino ProMini 5v 16Mhz  ATmega328 

5) File-> Open   ----- navigate to the MultiwiiV1_8 folder ->MultiwiiV1_9 folder->MultiWiiV1_9.pde (or if I have sent you file ; then open that file)

6) Now you will see the code written in Arduino code.  scroll down to Configurable Parameters - Important - Black items are active - Grey items are not - in the code file

7) delete the // infront of a line to activate it - so - to #define MINTHROTTLE 1180 for plush

(already done if I have sent you the code) delete the // infront of this line (only do this to one of the MINTHROTTLES)

8) The Default Defined Copter type is #define TRI  - if you want to define QUAD-X this should now be changed to #define QUADX (you have to deleted the // - this is called commenting it into code) - comment out the type that was there before //#define TRI

9) Define Yaw direction  #define YAW_DIRECTION 1 you can change this to the next line -1 t reverse it   #define YAW_DIRECTION -1

10) To upload the new code (It wil overwrite everthing that was on the board before) File->Upload to I/O Board ; In the blue at the bottom you will see Uploading to I/O board ; after about 35secs it will say  Done Uploading in the blue bar at the bottom

 

Gimbal - connect the gimbal servos to Cm1 and Cm2 - If you need to trigger a camera manually by pressing a button/servo - then connect this servo to Trg.
to activate the camera slave for a Gimbal mount on a Quad or Tricopter. Then alter the values for TILT_PITCH_PROP and TILTROLL_PROP until your gimbal remain level - reverse the servo by using minus (ie -10)

11) I personally don't use motors-spinning-at-arm - It does not protect you from accidently dis-arming your copter in mid-air! So I first define MOTOR_STOP

Then after arming - the motors will twitch - but not spin up. :) Then - most importantly - I trim up on the Tx Throttle 5-6 clicks so all the props are turning at the MIN speed I require for an emergency decent - Then I fly.   In this trimmed up condition it is impossible for me to accidentally disarm in flight even if I use full yaw in a full descent.  That's my preference and each pilot must set his own FAILSAFE (see above) and set his own safety features ;  The Captain of the aircraft (You) is responsible for his own training, the way he flies and his set-up.

12) Quit Arduino 22 software (two applications cannot share the connection)

 

 

Refer Picture ABOVE - Note be sure to Quit Arduino® 22 software before trying to run the GUI (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 MultiWiiConf1_8.2.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 -> wait 2 secs - (if you click these buttons without waiting 2 secs you can erase your eeprom and all the values will read ZEROS)  press READ a3  ; Your GUI is now connect live to your PARIS - again - don’t rush the clicks or you may wipe the eeprom.   Make a note of all your values before you change them (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 first get 1500 for mid stick ; then 1095 for low stick ; then 1905 for high stick - then -  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)    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 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 1.8 yet for Nav - and is set in software offset - at a future time.

 If your Copter is not flying 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.  

 Never change more than one value at a time  - then fly - then change it again then fly - make small changes - sometimes a change of 0.1 will make the difference between too soft; and oscillations.  Make a note of all your values before you change them (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 below.

Sirius® Navigator IMU

 

Question : What are Pullups?

PARIS v 3.0 - Classic Nintendo Wii Motion Plus MP+ 

and Nintendo Wii Nunchuk NK combo