Topics: PID controller, Control theory, Output Pages: 5 (1523 words) Published: March 17, 2013
NEWBIES GUIDE to setting up and using the CRIUS MWC MultiWii SE Board Software By ATXHELI rev. 12/26/11
1. Download and unzip the required software: -Arduino Compiler and Board Flashing Environment: http://arduino.cc/en/Main/Software -use the 0023 IDE not the 1.0 version -Latest MultiWii Software including Configuration Program: http://multiwii.googlecode.com/files/MultiWii_1_9.zip 2. Attach the FTDI USB board to the MultiWii SE board and plug in USB cable to PC 3. New Hardware dialogs will appear and point to the \drivers\ftdi usb folder in the Arduino folder for the driver. Driver should install and new device be recognized. 4. Start the MultiWii Configuration program.

5. See these tutorial videos on YouTube for operating the program: http://www.youtube.com/watch?v=qT3MlyRvy9w He has several other videos on the Configuration program that might be of interest also on his YouTube channel.

Some items in the program that might not be obvious (taken from Multiwii.com site):

RC rate and RC expo

RC rate: defines the sensibility of the multicopter for PITCH and ROLL RC stick. If you feel your multi too reactive, decrease it. If you want to improve its responsiveness, increase this parameter. RC expo: defines a smoother zone at the center of PITC and ROLL RC stick. With this function, it’s possible to have both a good precision and a good amplitude. 0 = no expo 1 = full expo If you don’t understand really those parameters, I encourage you to read your TX documentation, as those functions are also generally suported by the TX. It’s better to support them directly in Multiwii because the resolution is better this way.

P and I Level
Defines the acc influence in stable mode only (this parameter has no effect if the stable mode is disable) If the multi is not stable once activated, reduce P.

PITCH/ROLL/YAW PID and rate (see tuning section later)

For a very stable multicopter with a solid attitude, the PID settings must be set high. But if you want to do some acrobatics with these settings, the multi starts to wobble in fast translation or when you decide to shake it to much. One solution is to decrease the PID, but it is to the detriment of static stability. So instead of implementing a switch between 2 PID settings, there are now 2 options in the GUI to define the way we should decrease PID, depending on ROLL/PITCH/YAW stick deviation The two boxes on the right defines the rate of cancellation of the nominal PID (the one which is used on neutral ROLL/PITCH/YAW stick position) in relation with ROLL/STICK/YAW deviation. In fact only P and D parameters are impacted in the transformation. The purpose of this setting is not really to gain more stability, but to gain more maneuverability. 0 = soft rate (for FPV or beginners); 0.4 = soft acro ; 0.7 = fast acro ; 1 = insane rate If you are not familiar with this, just keep the default values (0)


This boxe defines the rate of cancellation of the nominal PID (the one which is used on neutral ROLL/PITCH stick position) in relation with Throttle stick. The purpose of this curve is to gain more stability when you are in a situation to use more throttle than needed to just maintain a lift. This is typically the case in fast translation. If you are not familiar with this, just keep the default values (0)

How to activate options

Depending on your configuration, you can easily activate/deactivate options via 2 switches on your RC TX. The 2 switches correspond to (AUX1), typically RX ch5 and, RX channel 6 (AUX2). LEVEL is the autolevel feature (require an ACC) which will attempt to hold the board level if no Pitch or Roll inputs are received…sometime called “stable” mode BARO tries to keep a constant altitude once activated (require a barometer) MAG tries to keep a perfect heading direction once activated (require a magnetometer) CAMSTAB: if activated, the camera’s PITCH&ROLL servo output will counteract the inclination of the multi (require an ACC +...
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