|Jun 16, 2010, 04:48 PM|
MultiWiiCopter (previously TriWiiCopter)
Hello to all,
The MultiWiiCopter is another multicopter based on a Wii Motion Plus extension and an Arduino pro mini board.
I wanted to design something very simple, cheap, minimalist, with an open source code.
It should be compatible with any receiver (4 channels mini, even those with a single PPM sum signal), every standard servo and most standard ESCs.
It can now handle several different configuration: tricopter, quadricopter, Y4, Y6, hexacopter, octocopter
The integration of Wii nunchuk allows an auto stable mode but is not mandatory to fly the model
My approach is more piloting oriented and the help of accelerometers is not really useful for this purpose.
The hardware were not specially intended to evolve toward something with GPS and sensors, however it's on the way .
There is also a GUI where you can visualize and configure several indicators and parameters.
I also developed a way to configure flight parameters directly on a small 2x16 LCD display.
There is a specific web site to detail the design and to keep updated the source code :
and a dedicated forum: http://www.multiwii.com/forum/
Feature list summary:
You can find here a very good "step by step" Quad MultiWiiCopter construction on this blog:
I advice every beginner to read it first. Thank you Norbert.
You can also find precise information to wire everything on Berkely blog:
A very good post for initial setup and basic questions from Shikra:
MultiWii archive code repository
last version: v2.4
last dev version: updated regularly in https://code.google.com/p/multiwii/
In order to help users to configure the multiwii Arduino sketch, Daniel Saez developed a very nice graphical online tool to generate the needed code.
As explained, the generated code should replace the one between the 2 sections delimited by CONFIGURABLE PARAMETERS
How to disassemble and mount wii parts on a shield, with the good orientation
nice tutorial from Quinton here http://www.multiwiicopter.com/pages/videos
Here is a video of my first tricopter based on this electronics.
A more recent one.
In the pictures bellow, D12 is used to power the IMU.
It is no longer useful since the last I2C code variant.
Any IMU, including WMP can be directly powered with VCC now.
|Jun 16, 2010, 05:26 PM|
|Jun 17, 2010, 06:59 AM|
Wow Alex. That's fantastic!
And it seems like this controller can be made for really cheap. Even cheaper then Kapteinku's controller (which is as cheap as you can go so far).
|Jun 17, 2010, 08:45 AM|
Good job Alex
just a question
is the PID setting are for all the axes yaw roll nick
we can't dissociate the PID setting for each axe ?
|Jun 17, 2010, 09:01 AM|
RT0802B is not a serial LCD, and your LCD seems to be connected with only 3 wires. did you develop a specific thing to handle the serial communication and the buttons ?
I searched a lot to find a ready to plug serial LCD, and Sparkun one was my best choice regarding the cost. If you have a better option, I would be pleased to know it.
|Jun 17, 2010, 09:10 AM|
The PID settings are global to nick and roll.
Yaw PID is static and not configurable.
For some strange reasons, I discovered the sensibility of nick and roll gyro could differ depending on the WMP copies you get => I plan to separate nick & roll PID settings in a future version.
|Jun 17, 2010, 09:15 AM|
|Jun 17, 2010, 09:43 AM|
Sorry I never used Arduino and my ASM code only good for Cypress chips!
|Jun 17, 2010, 12:02 PM|
my version is working with arduino 168 (m168P)
but , I use original version of the WII from nintendo
but sometime the board initialise , sometime not, I've got strange reaction comming I guess from I2C bus.
if I unplug the wii+ all is fine, if i replug it could work or not very randomly.
gyro are working and react on motor and servo.
do you think there could be some difference betwhen copy and original (i2C speed or else ?)
|Jun 17, 2010, 12:41 PM|
It may be due to the quality of the 5V at the very beginning.
I think I will power WMP with another method:
I don't think bad copies is the origin of this problem