Thread Tools
Nov 15, 2012, 11:25 AM
OS Sponsor
kinderkram's Avatar
Thread OP
Build Log

NEW: whitespy MWC Pro 2.0 FC +MTEK GPS for MultiWii (now w/UBlox GPS)

My witespy MWC Pro 2.0 w/ MTEK GPS came today.
More info on the FC itself (can also be combined with a Ublox GPS unit):

This is whitespy's attempt to rival the HobbyKing MWC Pro board (not to be confused with whitespy's MWC Pro 2.0!) which is discussed

- for the MegaPirate code in jabram's thread here:
- for the MultiWii code in TheFernMan's thread here:

New thread by Greg Covey discussing the MegaPirate NG code here:

whitespy's board uses a much better baro/pressure sensor than the HK one (BMP085) and the new MPU6050

- ATMega 2560
- Gyro/Accel MPU 6050
- HMC5883L mag/compass
- MS 5611 baro/pressure sensor
- MTEK 3329 GPS module

whitespy's boards come preflashed with MultiWii 2.1 but without GPS activated.

Here's a sum up of what I have noticed:

To make it work properly configure and flash MultiWii firmware 2.1 with the following settings:

In the "Combined IMU Boards" section of the config.h uncomment
#define FREEIMUv043
In the "GPS" section select
#define GPS_SERIAL 2
#define GPS_BAUD   115200
#define NMEA
For an easy going I have attached a preconfigured and zipped config.h file. Extract it and overwrite the one that comes with the MWC 2.1 code.

Complete Setup Video for the MWC Pro 2.0 by acuralegendz

MultiWii Pro 2.0 Setup Guide (16 min 43 sec)

A nice Online Tool to configure the settings of your config.h (v2.0, v2.1, v2.2) file can be found here:

The tool was derived from a former ArduPirates' online configurator back in the good ole times of MultiWii v1.6 by Dani Saez.

Thanks to PatrikE for keeping it alive!

Another great tool that makes life easier id Craig's Location Lookup Tool that helps to determ the correct Magnetic Declination:

Careful when you connect the MTEK GPS to the board since the wires that come with the GPS are a bit unconventional:
Green = GND
WHITE = Rx (needs to be connected to Tx on the boards serial2)
YELLOW = Tx (needs to be connected to Rx on the boards serial2)
BLACK = 5V (NOT the red one!)

If you happen to use a Ublox GPS, the U-Center software might come handy for adjusting the GPS firmware:

To connect your UBlox GPS unit properly here's how-to:

To compile your firmware and upload it to the FC you'll also need to download and install the Arduino IDE v1.x (currently v1.0.3):

You might need to install a Silabs driver first to create a COM port so you can connect your board via Micro USB. Download it for your OS here:

In the "Tools" menu select your appropriate COM port and as your board the Arduino Mega 2560. You can edit your config.h in a standard text editor or by selecting the "config.h" tab in Arduino after you have opened the Multiwii.ino file. Click the "save" and then the "Upload" button. After ~20sec. compiling/upload will be done.

Here's a great instructional video by subaru4wd on how to handle the MultiWii firmware:

Install MultiWii on Mega 2560 Pro (3 min 9 sec)

Save, compile & upload the firmware via the Micro-USB (please be careful when plugging/unplugging it since they are known to be weak).

You now should be good to go. I recommend to use EOSBandi's MultiWii WinGUI for the setup/PID tuning and acc/mag calibration:

Note: If you're using WinXP or having other problems with the WinGUI you might need to update your Visual C++ and .Net framework. Read the instructions here:

Radio switch settings

For beginners I'd suggest to start off in stable/level mode and keep it on all the time. So you need to check all 3 boxes for "level" on AUX1 (or AUX2 in some cases).
For alt and pos_hold you also want to engage the Mag to keep the heading, so this needs to be checked, too.

Variation #1 (only one 3way switch on AUX1)

Variation #2 (RTH on a second 2 way switch on AUX2)

Another example: if you want Camera Stabilization activated, check all 3 CAMSTAB boxes on whatever switch...

The GUIs serve everyone's needs, 4 Aux channels is more then anyone can bare.
Given, you want to fly the machine and not just operate it.
That'll be another story and I can only repeat myself to go baby steps rather than "wanna have all at once".

Even with a 5ch radio you can fly a camcopter in stable/level mode and use the mid and hi positions for basic autonomous features. Beginners should always have the accelerometers enabled to maintain level if you let the sticks go.

First: ALT_HOLD to maintain the actual height - helpful both for beginners and more sportive flying. Reduces the chance to ram it into the ground.
Only the baro is needed for this operation.

Then: POS_HOLD to check if the aircraft is maintaining altitude and doesn't drift. In windy situation it should fight the wind. This is the momtent where you'll face your first "toilet bowls" and the feeling of a "fly away" where the aircraft gets a life of its own.
Baro and GPS are needed for this operation

Only when: ALL_ABOVE_CLEAR do the next step and test RTH and the like.

Always have a finger on the switch to get it back into manual/stable mode to quickly regain control in case something fails. The more sensors involved the higher the risk of a failure. And I promise you: something will fail sooner or later.

A great tutorial on GPS assisted PH functions written by EOSbandi can be found here:

Here's a great post by Greg Covey explaining the different flight modes and features you can activate in the GUI:

More info on how to connect motors, ESCs etc:

There are also tons of instructional videos how to use the Arduino IDE
or the MultiWii GUI:

They show different versions for different boards but the handeling is more or less the same.

PID Tuning

Global MultiWii PID tuning info:
Altitude PID tuning:

Here's a great PID tutorial by Menno aka joebarteam (former MegaPirate coder) on how to tune the PIDs for acro and stable mode:

A short tutorial on GPS PID tuning for Position Hold by Greg Covey:

ESC Throttle Calibration

To make your ESCs working properly and respond correctly on stick input you need to teach your ESCs the throttle range. Here's how:

- plug in each ESC one by one directly into your receiver's throttle channel output
- power your transmitter and put your throttle stick to maximum
- power your ESC, you'll hear a series of beeps
- put your throttle stick back to minimum
- you'll hear another series of beeps
- unpower the ESC and you're done. Easy, eh?
- perform the throttle range calibration for each ESC to make sure they all react the same on stick inputs

Electronic Speed Controller Calibration guide (0 min 42 sec)

Always cover your barometer/pressure sensor with a piece of open cell foam to protect it from airflow and light!

Make sure it's not too dense so the baro can still "breathe".

Here are some docs, taken from the HK board, which is similar to the Pro2.0:

Motor plan:

Connection Plan:

Note: the Connection plan shows the ESC connections in a wrong way. GND is on the outside, signal on the inside!

Last edited by kinderkram; Sep 11, 2013 at 09:28 AM.
Sign up now
to remove ads between posts
Nov 15, 2012, 11:25 AM
OS Sponsor
kinderkram's Avatar
Thread OP

Additional Hardware

What else do you need?

At first you'll need to get a Micro USB b cable like this one:

To compile your firmware and upload it to the FC you'll also need to download and install the Arduino IDE v1.x (currently v1.0.3):


To connect your gimbal servos and use them for camera stabilization on the outputs D44&45 you need to

- power the servos via external UBEC. You need to build a harness to split the signal lines connected to D44&45 and power the servos with 5/6V and GND via UBEC. To avoid high power draws the board is designed to not provide the power for servos (5V powerline not connected).
The advantage: a clean 6V power source. Most servos react faster @6V - than @5V flight controllers usually provide.

- activate cam_stab in the firmware. Look for the "Cam Stabilisation" section of the config.h and uncomment
//#define SERVO_TILT (remove slashes to uncomment)
#define SERVO_TILT
You can set the direction of the movements by adding a negative sign in front of the value in
#define TILT_PITCH_PROP   -10 (for pitch correction)
#define TILT_ROLL_PROP    -10 (for roll correction)
- activate cam_stab in the GUI by checking all 3 boxes

If you want to manually override the pitch angle of the gimbal, use AUX3 and assign a channel on your radio (usually #7) to it - ideally a knob, dial or similar.

AUX4 (ch #8) is for the roll axis override but barely used. It could be deviated for the yaw control of a third gimbal axis.
Port D46 can be used to trigger a shutter or any other servo function, i.e. retract landing gears, release payload, a parachute ... you name it.

Keep in mind that a fully loaded 8 channel radio is hard to handle.
When it comes to precise camera control a dedicated camera operator with a second radio unit is always the best solution.


To connect a telemetry radio you need to solder extra pins on the serial0 row next to A10-A15 on the left. You only need to solder pins for GND, 5V, RX0, TX0.

NOTE: The pin marked as "NC" is "not connected". I soldered a bridge from NC to GND on the lower side of the board to have an extra GND pin and to use the 4pins plug that comes with the BT module. Connect RX->TX and vice versa.

For short range telemetry you can use a cheap Linvor HC-06 (aka JY-MCU) Bluetooth class2 module like this:
You can connect an Android device to it with MultiWii Config running, connected via BT at 115200 baud. You could also use a laptop, netbook or tablet. I prefer my Asus netbook running XP and a 5$ BT stick.

To pair the BT modules you need to use "1234" as key/pass to connect them.

Here's a discussion about a free MultiWii Android tool:
Available at Google Play:

And yet another and - for my taste - better Config Tool for Android (incl. GPS Maps):

Since the EZ-GUI has the more advanced features over the other one and it's structured very well I recommend it for now. It includes some upcoming MWC features like "follow me" which are not working properly atm - so please only activate the basics unless you know exactly what you are doing!

For a long range solution I took the 3DR telemetry radio:

The image above shows a 915MHz version. In the EU you need to use the 433MHz version.

3DR Config Tool:

You'll find tools to set up the modules and further info here:

Last edited by kinderkram; Aug 24, 2013 at 06:56 PM.
Nov 15, 2012, 11:26 AM
OS Sponsor
kinderkram's Avatar
Thread OP

Flight videos

First outdoor tests of a friend's MWC Pro 2.0
The frame didn't like 10" props so he took 8" and it flew pretty stable.
Alt_hold worked within 1m after some tuning. Pos_hold and RTH didn't work very well though the sensores were freshly calibrated and GPS reception was good.
On the map the copter was only slightly moving when it was sitting still on the ground.

whitespy MultiWii Pro 2.0 FC + GPS (5 min 5 sec)

Another short flight video by HiFlyer371:

MultiWii Pro 2.0 Controller on F-450 Quadcopter Frame (1 min 36 sec)

And here comes SDSURFnGLIDE:

first stable flight of the MWC 2.0 FC quad (1 min 28 sec)

subaru4wd joined the video show:

Testing Return to Home (3 min 27 sec)

3rd-dem also made it on page 1:

Test flight of Quad X on MWC PRO2 FC (3 min 33 sec)

She needs to find another guy, need to let her go:

CamCopter MultiWii Pro 2.0 (2 min 30 sec)

Damn cold and windy on that day but she behaved pretty stable...

Greg Covey's Quad taking off for a flight:

(4 min 39 sec)

Testing autonomous features by hoh:

Autonomous Flight Test (4 min 37 sec)

Position Hold demonstration by xwingnut:

MWC Mega Pro 2.0 (1 min 19 sec)

Flying at the beach by accessford101:

Quick flight at the beach. (11 min 7 sec)

src4 takes his Scarab 330 frame for a flight:

Scrab 330 with Witespy multiwii Pro 2.0 with GPS (3 min 56 sec)

Quadcopter multiwii 2.2 with horizon on. (1 min 55 sec)

Afternoon Flight (6 min 27 sec)

Daily "Practice" (17 min 11 sec)
Last edited by kinderkram; Sep 13, 2013 at 01:19 AM.
Nov 15, 2012, 12:15 PM
Registered User
where do you buy it from,Marty.
Nov 15, 2012, 12:42 PM
Lipo abuser ... smoke on!
gp125racer's Avatar
Originally Posted by NEAGRON
where do you buy it from,Marty.
Link in forst post:

Latest blog entry: D100
Nov 15, 2012, 02:29 PM
JUERGEN_'s Avatar
MultiWii PRO 2.0 Flight Controller w/MTK GPS Module ( MS5611 Barometer )

pity, without good GND
the GPS is not in the same format 50x50mm?
as MK

or, AutoQuad GPS

Last edited by JUERGEN_; Nov 15, 2012 at 02:39 PM.
Nov 15, 2012, 02:32 PM
Registered User
AlanFlorida's Avatar
I am LOVING my WiteSpy Mega controller!!
Nov 16, 2012, 02:58 PM
OS Sponsor
kinderkram's Avatar
Thread OP
Originally Posted by JUERGEN_
pity, without good GND
the GPS is not in the same format 50x50mm?
as MK
You can always attach an extra GND and a shield if needed. For the moment I just stacked it on a 5x5cm plate.

None of the GPS modules I know have a 50x50mm size - neither MK nor AQ6 - where do you get that from?

btw: the difference of AutoQuad vs. other boards is that the GPS module sits on the FC only using an external patch antenna.
Except for the Black Vortex most others go the modular approach.
Nov 16, 2012, 03:23 PM
Suspended Account
could you just stick the whole gps unit to some single sided pcb board for better reception? or do you really need to remove the antenna drill a hole in pcb and re attach?

not played with gps yet but wouldnt mind having a go nice looking board
Nov 16, 2012, 05:27 PM
OS Sponsor
kinderkram's Avatar
Thread OP
Yah, pricewise only the ArduCopter clone can compete (or the HK board if you don't mind bad alt hold) for the feature range.

The good thing with whitespy's board is that you can decide if you take rock solid MultiWii code and be happy with basic autonomous features like alt-/position hold and RTH or take the MegaPirate code and have almost the same features as the ArduCopter.

There are new boards to come like the v2.5 and the v3.0 whitespy recently posted in another thread:

Nov 19, 2012, 01:48 PM
Registered User
I now can install three pin right angle on the board.

see that option at the bottom of the page.
pins on top:

pins on bottom:
Last edited by witespy; Nov 19, 2012 at 01:54 PM.
Nov 19, 2012, 03:10 PM
Suspended Account
Originally Posted by witespy
I now can install three pin right angle on the board.

see that option at the bottom of the page.
pins on top:

pins on bottom:
signal pins and PPM-SUM and im happy will be after Christmas before i can get one though i think
Nov 19, 2012, 08:39 PM
HiFlyer371's Avatar
Last edited by HiFlyer371; Nov 19, 2012 at 09:46 PM. Reason: fixed
Nov 20, 2012, 07:01 AM
OS Sponsor
kinderkram's Avatar
Thread OP
Originally Posted by witespy
I now can install three pin right angle on the board.

see that option at the bottom of the page.
pins on top:

pins on bottom:
Nice option. But since I use a 5x5cm plate to mount the GPS I'm fine with the upright pins.
I'd prefer to have the serial ports with right angle pins bc they're not accessible once you've mounted the plate.
Nov 21, 2012, 02:39 AM
Learn to fly with thumb..
Originally Posted by witespy
I now can install three pin right angle on the board.

see that option at the bottom of the page.
Hi Witespy, any ETA for version 2.5 or even 3 and what is the differences with current v 2.0 ?


Quick Reply

Thread Tools

Similar Threads
Category Thread Thread Starter Forum Replies Last Post
Discussion [UNOFFICIAL] New HobbyKing MultiWii PRO Flight Controller w/MTK GPS Module benybee UAV - Unmanned Aerial Vehicles 418 Nov 20, 2015 08:32 PM
Discussion MegaPirate NG on HK MultiWii PRO Flight Controller w/MTK GPS Module jabram Multirotor Drone Electronics 2099 Mar 24, 2014 05:22 PM
Discussion need GPS recommendation for use with multiwii FC doughboy Multirotor Drone Talk 4 Apr 18, 2013 01:15 AM
Sold Warthox FPV v2.0 multiwii FC $40 shipped! kicekilla Aircraft - Electric - Multirotor (FS/W) 3 Sep 10, 2012 02:37 PM
Sold MK, Navi,Mag and GPS and clone 2.0 FC G-unit Aircraft - Electric - Multirotor (FS/W) 4 Mar 30, 2012 01:41 AM