MultiWii PARIS Manuel d'utilisation et d'entretien

Pg 1

v2.2 v4r6c

Transmitter Setup /Calibration

DO NOT SKIP ANY STEP - the very rst thing you must

do for your rst MultiWiicopter.com pnp PARIS v4r6 board

is Calibrate the Tx - Ground yourself (static safety measure)

then connect the Receiver (Rx) to the PARIS, connect the

PARIS to your FTDI-USB - USB supplies limited 5v power

(after installing the FTDI drivers,java - see wiki links - do a cold

restart) and then turn on your Transmitter (Tx) and set Mode

2 - ACRO(airplane) & PPM(not PCM). Do NOT connect

anything else to the PARIS ! - then Launch the matching

2.2p->2.2p Conﬁg or 2.2p->2.2p Application/program on

your PC or Mac (requires java) press com/start (see page 2 for

full details) 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 the critical uSEC readings such as 1095/1500mid/1905

can be set. PARIS is a 5v digital interface and the software

running invisibly inside requires very specic digital PWM

uSEC numbers to come out

of your Transmitter - to hover

100% level, to arm, to 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 USING TRAV ADJ (JR) - END

POINTMENU (futaba) move

each stick to the low position

and set end point to 1095;

then move each stick/switch to

the high position and set 1905.

Do this for all sticks and switches. Then, 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 of 1500. Live links

to downloads on the Wiki page at Multiwiicopter.com If

you are stuck - stay calm - DO NOT LOAD Default/

new code - this will wipe all the code installed/tested in

your board, disable the sensors and cause you real problems -

relax - power the board with 5v (USB hiOut) and read these

instructions fully - slowly

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 Throotle bar should

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

should move right. - then - ESC THROTTLE LEARNING

- NOW go back and do/re-do the ESC calibration

one by one for each esc - THORTTLE-LEARNING (an

ESC function - nothing to do with Multiwiisoftware) This is

especially important if reusing KK ESCs or ESCs used in other

copter controllers.

PARIS v4 power - Choices

PARIS v4.o boards offer a split DC bus to prevent noise from

entering the CPU and sensor section if you wish using the

noise bridge in the open position. This noise bridge is supplied

soldered closed (if you

have a soldering iron

you can open the bridge

- if you don’t have a

soldering iron the board

is still PNP ready) So

you can choose how

to build your system

depending on the quality of your electronics - There are 4

ways to power a multicopter PARIS board; Rx; Servos; CPU

and sensors

1. With a separate switching

uBEC - all ESC red wires

isolated - bridge closed - all

powered supplied by the

External uBEC

2.Without an external

uBEC - All our HobbyWing ESC linear BECs red

wires connected - bridge closed - all power supplied

by FlyFun ESC linear BECs - in parallel

3. With a separate switching uBEC - With power split - bridge

open - both the DC buses powered separately - CPU and

Sensors fed via the switching uBEC. ESC and Servos fed via

the ESC BECs - all ESC red wires connected - parallel

4. With a separate switching uBEC - With power split - bridge

open -both the DC buses powered separately - CPU and

Sensors fed via the switching uBEC. ESC & Servos fed via

the ESC BECs - ONLY one ESC red wire connected -

parallel

• We recommend option 2 (above) for most copters

if you are using our HobbyWing ESCs - not running high

curent gimbal servos. monitor the temp of the ESC in post

ight inspection.

• We recommend option 3 if running a bigger copter with a

gimbal. Do not connect +12v ever! only connect 5v to

the PARIS and set all uBECs to 5v (not 6v). Some switching

uBECs have been reported to be very noisy and conict with

PARIS 3v3 ic. If this happens revert to ESC linear BECs. option

2. above

Ground yourself/the

board to the airframe to

reduce static risk -

KEEP PARIS DRY

BARO is sensative to

light & airow - keep

shaded - use a dome

cover - NOT FOAM

3.9.11.10.5.6

http://www.multiwiicopter.com/pages/multiwiicopter-wiki

this is an abbreviated guide - FULL PARIS info online

Sensors -

Care

pitch

roll

Pg 2

v2.2 v4r6c

e10

e11 e12

e13

d8d9

GUI (above) - What does it

mean? (Pg1 do b4 rst) Load the

USB ftdi drivers (PC or Mac

- cold restart) and download

the GUI software (above) -

links on Multiwiicopter.com

wiki

Note Quit Arduino® 1.0 software if

running (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

MultiWiiConf2.2p 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 -> press READ a3 ; Your GUI is

now connect live to your PARIS - don’t

rush the clicks or you may wipe the

eeprom to zeros. Make a note of all your

values e10 - do not change PIDs until

after the maiden ight (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 rst get 1095

for low stick ; then 1905 for high stick

- then use mid-point (different menu on

your Tx) to set 1500 mids. 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 - KK pilots must re-do)

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 (top left of each box) 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

2.0.4p yet for Nav - and is set in software

offset - at a future time.

If your Copter is not ying 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. e11

- Trottle PID attenuation is for advance full

pwr climb outs - dampens PIDS at high

throttle settings >50% if needed.

Ch5 Rx = Gui Aux1 = blue wire

Ch6 Rx = Gui Aux2 = purple wire.

Select at e12 above - the baro - WRITE

Never change more than one value at a

time - then y - then change it again then

y - make small changes - sometimes a

change of 0.1 will make the difference

between too soft; and oscillations.

NOTE: You cannot ever save the values

stored in your 328CPU (e13) ; nor can

you read back OUT the Arduino software

in it - so what we recommend - is save

the Arduino Sketch in a new folder each

time you load it in (essentially a back-up) ;

then do a screen capture of the GUI (e13)

(above) and put that into the folder on your

PC as well. WinGUI saves all settings.

Your board is running v 2.2 - Use GUI JAVAConﬁg 2.2

Boards requires 5v - USB or UBEC/ESCbec power - Check polarity

- it will blow above 6v or reversed! DO NOT CONNECT 12v to this board ever

http://www.multiwiicopter.com/pages/multiwiicopter-wiki

this is an abbreviated guide - FULL PARIS info online

Pg 3

v2.2 v4r6c

Your board is running v 2.2 - Use GUI JAVAConﬁg 2.2

Boards requires 5v power to run - it will blow above 6v! 5.0v only

correct polarity only!

http://www.multiwiicopter.com/pages/multiwiicopter-wiki

this is an abbreviated guide - FULL PARIS info online

Using the Tx sticks to operate the PARIS

Set the Throttle to OFF - After connecting the LiPo - The ESCs will

beep to indicate they are powered but not armed - ESC’s cannot arm

on power-up with PARIS Wii boards. The embedded PARIS

software prevents this and requires you arm with a stick combi-

nation below The red LED comes on (steady) on the CPU board show-

ing the board has power. After connecting the LiPo (or USB) the green

CPU LED will ash for 5 secs then go OUT If the LED blinks green (fast)

but won’t stop blinking - then the Rx is not powered by 5v (an Rx cannot

get sufcient PWR from some USB! It must be powered by 5v from at least

one BEC).If the green LED still blinks green (fast) but won’t stop blinking

-then the Rx is not connected to the correct PARIS/warthox THRO pin

correctly. The ESCs cannot calibrate as a multi-engine-group because the

default state of the CPU->ESC is Dis-armed for all engines. You need

to calibrate ESC throttle-learning range as a separate exercise

-below If the ESC’s beep-non-stop then they are not connected to the

PARIS board ESC pins or the Rx is incorrectly connected or the Rx/PARIS

sees you do not have your throttle to zero.

FAILSAFE - 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

ashes 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 fail-

safe - use that). When you turn your Tx OFF in a test the Failsafe - should

return the Copter to level and min-throttle -

NOTE : If you use a 1/3 power (controlled descent setting) be aware that

if you switch your radio off while the PARIS armed - then you will initiate a

1/3 powered condition!You must understand this concept fully and realise

the word failsafe - does not mean you can be an idiot - sorry - you still

need to understand the consequences of your chosen failsafe condition -

and You will be deciding what the Radio will do when it cannot receive a

signal. You are still the Pilot in command - YOU are responsible to decide

how you will handle failsafe above.

Arming - Learn to recognise that your WiiCopter is ARMED. Hold right

Yaw (or right cyclic) for 1 sec - you will see the Green LED come on - stays

on SOLID If LED does not come on GREEN - then increase YAW travel

on the Tx (see Transmitter Calibration procedure - above top) - or Check

the THRO is not actually reversed by mistake (Futaba) - then trim down a

few clicks on the THRO trim. If it still won’t arm connect FTDI and use the

JAVA-Cong (see below - install JAVA) to make sure the Throttle PWM is

below 1100 (normal THRO range is 1100-1900) - In order to arm - the

Wii CPU is looking for THRO <1100 and YAW ~1900 - The GUI

shows actual values from Rx and is a valuable guide to trouble-shoot a

CPU which won’t apparently arm.

Disarming - Learn to DISARM the ESC’s before touching or approach-

ing the Copter ESC’s/Motors can start suddenly and the props can

cut - ngers and eyes - permanent injuries With THRO OFF ; Hold the

YAW stick LEFt for 1 sec ; then the CPU GREEN LED will go OUT and

stay out

Gyro Calibration - Disarm the copter (see above) ; Place the Copter

on a perfectly LEVEL LZ - it must be completely static - Set Trims to

neutral - Stand back - With THRO off, Hold the YAW LEFT and the Cy-

clic stick Back for 1 Sec ; release - you will see the GREEN LED blinking

fast for a few secs then go out - The Gyro is now calibrated for drift (at

this ambient temperature) - The Gyro on a PARIS/warthox board is the

WiiMP+ You can Ddo this everytime you y - preferably about 2mins

after Powering up - in the outside air temps where you will y.

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 - Disarm the copter (see above) ; ensure

the Copter is on a perfectly LEVEL LZ - it must be completely static

- Conrm the DISARMED LED is OFF - Hold Full THRO/YAW LEFT

and the Cyclic stick Back for 1 Sec ; 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®.

Accelerometer (Acc) Trimming - Also called auto-LEVEL trim-

ming - FIRST do after the GYRO & ACC calibrations and normal ACRO

trimming (see above) using the Tx trims. LAND. Switch over to LEVEL

mode (Gear Switch). Take off and mentally note the way the copter

wants to drift - DO NOT TRIM THE TX - Land - The nal ACC trimming

procedure (below) is this -DISARM (see above - the Green LED will go

OFF) Move the THRO to the ‘Learn Position - full up) - in this example

the copter was moving back and right - so ; using stick-banging - move

the cyclic (right stick) up once (led blinks) - then left once (led blinks) -

these alterations are saved to the CPU memory. ARM again - hover and

repeat the process until the copter hovers ‘level’.

All testing with PROPS OFF - then install last Failsafe is DISABLED in software - useTx failsafe

Pg 4

v2.2 v4r6c

Any questions please READ my WIKI - Read the PARIS forum thread/post on RCG

then if you are still stuck - contact me - email is best - I will ask you for your GUI screen capture and details of your copter -

photos of your setup info@multiWiicopter.com Quinton Marais (RCG AlouetteIII)

33 Doubleview Drive, Elanora, Qld 4221 AUSTRALIA,

Ofﬁce hours are 9am-5pm Mon-Friday AU EST time TEL +61 7 5598 3999 Cell +61 418 983 999

Your board is running v 2.2 - Use GUI JAVAConﬁg 2.2

http://www.multiwiicopter.com/pages/multiwiicopter-wiki

this is an abbreviated guide - FULL PARIS info online

TRI.Copter Arming - as TriCopters are tted with a YAW tilt servo they

have a special (alternate) arming procedure in >1.7 MultiWii software. Learn

to recognise that your Wii TriCopter is ARMED. SET THRO to Zero - off -

Hold Cyclic-right for 1 sec - you will see the Green LED come on - stays

on If LED does not come on GREEN - then increase ELEV/AILER travel

(see Transmitter Calibration procedure - above top) - Check the THRO is

not actually reversed by mistake - and trim down a few clicks on the THRO

trim If it still won’t arm connect FTDI and use the JAVA-Cong (see below)

to make sure the Throttle PWM is below 1100 (normal THRO range is 1100-

1900) - In order to arm - the Wii CPU is looking for THRO <1100 and AIL/

ELEV ~1900 - The GUI shows actual values from Rx and is a valuable guide

to trouble-shoot a CPU which won’t arm. TRI.Copter Disarming - Learn to

DISARM the ESC’s before touching or approaching the TriCopter ESC’s/Mo-

tors can start suddenly and the props can cut - ngers and eyes - permanent

injuries With THRO OFF ; Hold the cyclic stick LEFT for 1 sec ; then the CPU

GREEN LED will go OUT and stay out

LED’s Light emitting diodes

Question - What is the meaning of the LEDS’on a PARIS board?

Answers - different things at different times - The GUI Cong

on your PC/Mac is far more useful but when your Copter is not

connected to the PARIS board the led can provide some limited

information - see below -

RED LED = power to 328 CPU is ON - should always be on

The CPU board gets power from the 5v BUS ; or USB .

GREEN smd led /UltraBright White LED = :-

1) GREEN LEDS are on and stay on when the board is armed -

are OFF and stay OFF when the board is DISARMED

2) GREEN LEDS blink rapidly 5 times Cal.Sticks.Gyro of the

Gyro(MP+) then goes off - wait 10 secs

3) GREEN LEDS blink medium whilst computing a Cal.Sticks.Acc

of the Acc(NK) then goes off - wait 10 secs

4) GREEN LEDS blinks during initial power up then goes OFF (the

very FIRST time it will not because it’s never been calibrated :)

(see Cal.1 Cal.2 and Cal.3 procedure - below)

5) GREEN LEDS blink slowly if a problem is detected on start-up -

code error (usually calibration NOT done)

6) GREEN LEDS blink slowly if Calibration Cal.1 Cal.2 and Cal.3

not completed (see below)

7) blinks once to indicate the CPU compute’s a leveling correction

8) GREEN LEDS blinks rapidly 5 times for each stick-banging

throw in ACC trimming “learning” mode

9) GREEN LEDS blinks slowly after loading Software in Arduino22

and before doing the Cal.GUI.Acc (see below)

10) GREEN LEDS blinks very rapidy for 30 secs when doing MAG

calibration - stops by itself when nished

11) GREEN LEDS comes one when disarmed if it detects the

PARIS board is tilted >20° or so - goes off again if the board is

leveled out

Question : My GREEN LED Flashes slowly

and my PARIS just won’t arm?

Answer : The most common reason for not being able to arm

is - YOU skipped the Calibration of your Tx (above -top Pg1)

- see Transmitter Calibration - PARIS is waiting for Safe arm

condition - Tx is sending out the wrong numbers

Question : My Copter wont hover level in AUTO

LEVEL - goes off to the side

re-Calibrate - THIS IS ALREADY DONE at the factory - cali-

bration is effected by temperature and Transmitter Mid-Points

not on 1500 - Always load your multicopter with a Cof G in

centre - this means you will need hardly any Trimming in Acro

mode - then trim using the ACC trimming Pg 3 - then if still

needed re-calibrate - with the ACC itself perfectly level & the

airframe LEVEL as well - use a bubble level, no vibration or

movement - then do Calbration. Balance all Props!

Question : My Quad is not ﬂying well on default

PIDs - what are the secret PIDs the Pro’s use to

make it ﬂy perfectly

Answer - this is a common myth - Real answers is - the Default

PIDs are very close to perfect if you have your copter setup well

- by setup I am referring to the airframe(must be super rigid/

stiff - zero exing Carbon is best see SCARAB - PARIS must be

rmly bolted to the airframe) the weight (light) the props

(balanced dynamically and statically - nothing is as important as

balanced props - when you hold the Quad and go to full throttle

above your head - it MUST be silky smooth!) the ESCs (use the

recommended ESCs of the correct size - big ESC dont belong on

multicopters) the motors (small lightweight motors correctly

matched to their prop size - see the gear list and motor pages

for matching props/motors , and lastly the pilot (y smoothly -

dont jerk the controls backwards and forwards rapidly - smooth

delibrate moves)

5.0v only

correct polarity only!

led strip GND

LV GPS

or LCD

HV GPS

Bluetooth

RC Receiver inputs

Motors

THRO

white/red/black

AILERON

yelow

ELEVATOR

orange

RUDDER

Green

Ch5=Aux1

Blue

Ch6=Aux2

purple

}

6.5.10.11.9.3

pitch

roll

Pg 5

v2.2 v4r6c

WARRANTY

90 day repair/replacement

warranty - All products are

covered by a 90-day replacement/

repair warranty for normal use.

Warranty excludes : - fusion,

reverse polarity, over-voltage

damage, short-circuit, damage by

static charge, connection of live

servo or ESCwires, ood, crash

damage, impact damage, incorrect

tools, reashing the CPU comms

or boot les, software hacks,

moisture ingress, trauma damage

and misuse. Where a product

is considered to be defective in

hardware, buyers are required to

send a photograph/video showing

the hardware problem in detail,

accompanied by an accurate

description of the fault in the

video and photos - multiwiicopter.

com will issue an RMA authority

number which must be displayed

on the returned package/item.

Buyer is responsible for the cost of

shipping returned items. Where

a buyer reloads any software -

they assume full responsibility for

the software alteration and any

subsequent damage/corruption

to the hardware - whether

caused directly or indirectly by

the software. Only full versions

of the software are approved and

any hacked or dev software is

expressly forbidden and will void

any and all warranty.

RETURNS

7 day refund - Where an item

arrives DOA due to shipping

damage or manufacturing fault,

buyer has 5 working days (7

calendar days) to request a refund.

Refund procedure requires that

the item is returned in original

condition , un-used , un-modied

with supporting photographs of

any defect/ damage and an RMA

number issued as above prior. The

refund will only be processed on

inspection at multiwiicopter.com

of the returned item for normal

use. Normal use includes following

of all guidelines and safety-

related instructions in the user

documentation.

disconnect the centre red wire if using a separate switching

uBEC - Pay attention to polarity! Never plug or unplug

live wires !

warranty voided

Safety in your Skies

• Your Multicopter PARIS is controlled 100% by

software - NEVER load Dev or hacked software. Use

only the fully approved MultiWii software - full versions

- approved by the master coder AlexinParis. All Dev or

hacked software is potentially dangerous and will void

your warranty. When making any changes to the Cong

section you assume FULL RESPONSIBILITY - never alter

code unless you fully understand the code - and the

consequences of your actions.

• Never attempt a maiden ight until ﬁrst completing a

successful hand-held maiden - take safety steps - eye

protection - gloves - See Guide to maiden Document.

• Keep more than 30m from persons, choose an empty

sports eld for your rst ights with soft grass

• Do not y near pets, houses or cars

• Never y within 3nm of an aireld or above 400ft

• Never install your props until after the Multicopter is fully

tested and 100% correct without props. Engines can

start suddenly and without warning IF YOU FAIL to

understand how they work or skip any steps.

• Conduct full pre-ight and post-ight inspections and

ground your Multicopter if you notice anything as a risk

hazard. such as hot components or unusual operation.

• Set yourTx/Rx binding FAILSAFE to low throttle

1/3 position so that if the link is lost the copter will

descend slowly. Do a full range check and use RSSi

• Always keep your Copter visual in line of sight LOS for

one pilot ops - FPV is only legal in AU with a buddy

on a buddybox - 2 person FPV is 100% legal using the

buddybox system below 400’. See CASA Part 101 Regs

• RC Flying is a privilege - please enjoy it. Don’t show off

and don’t get over condent

• Home movies are ne, but in Australia professional paid

photography or videos from an RC aircraft requires

CASA Part 101 compliance, including exams and

approved ops manuals and pilot competency tests by

CASA ofcial which will cost several thousand up front.

Power off - Only make ESC or Servo connections with ALL

power off ! ESC off , PARIS OFF - USB - OFF - check correct

}

WARNING !

5.0v only

correct polarity only!

Pg 6

v2.2 v4r6c

TriiKopta

or Avatar

Bi-copter

(unstable in fast ﬂight)

(not as efﬁcient as a

tricopter)

Y6 YSiix

HexiiKopta

HexiiKopta X

Quad X

Quad +Plus

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