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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
Output
GND RAW
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
PPMRX
+ s
PPM
Spektrum Satellite
3.3V GND RX
4.ConnecttheESC's
TheMultiWii_32U4_SEwasdesignedtoprovideupto8ESCconnectionsplusupto5 additionalservos(maximum,butdependsfromtheconfigurationandtheonboard resourcesused!).Theimageshowsthemotorspositionsandspindirections. ESCconnections 5VESCBEC GND
ESC
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!