Software Code Changes For Multiwii And Megapirate; Multiwii; Megapirate - CRIUS ALL IN ONE PRO Quick Start Manual

Software code changes for Multiwii and Megapirate

Multiwii

add this code to def.h in MultiWii 2.0 or later verson
after
/**************************************************************************************/
/*************** IMU Orientations and Sensor definitions ********************/
/**************************************************************************************/
//please submit any correction to this list.
#if defined(CRIUS_AIO_PRO_V1)
#define MPU6050
#define HMC5883
#define MS561101BA
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
#define MPU6050_EN_I2C_BYPASS // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif
then add this to "boards and sensor definitions" in config.h
#define CRIUS_AIO_PRO_V1 // Crius Multiwii AIO PRO v1.0

Megapirate

These settings are all in APM_Config.h you will see this tab when you load the Attitude.pde file in the MegaPirateNG/ArduCopter folder.
// Select your sensor board
#define PIRATES_SENSOR_BOARD PIRATES_FREEIMU_4
/*
PIRATES_ALLINONE
PIRATES_FFIMU
PIRATES_FREEIMU
PIRATES_BLACKVORTEX
PIRATES_FREEIMU_4 // New FreeIMU 0.4.1 with MPU6000, MS5611 and 5883L
PIRATES_DROTEK_10DOF_MPU // MPU6000, MS5611 and 5883L
*/
// Select your baro sensor
#define CONFIG_BARO AP_BARO_MS5611_I2C
/*
AP_BARO_BMP085_PIRATES
AP_BARO_MS5611_I2C
*/
// For BlackVortex, just set PIRATES_SENSOR_BOARD as PIRATES_BLACKVORTEX, GPS will select automatically
#define GPS_PROTOCOL GPS_PROTOCOL_AUTO
/*
GPS_PROTOCOL_NONE without GPS
GPS_PROTOCOL_NMEA
GPS_PROTOCOL_SIRF
GPS_PROTOCOL_UBLOX
GPS_PROTOCOL_IMU
GPS_PROTOCOL_MTK
GPS_PROTOCOL_HIL
GPS_PROTOCOL_MTK16
GPS_PROTOCOL_AUTO auto select GPS
GPS_PROTOCOL_UBLOX_I2C
GPS_PROTOCOL_BLACKVORTEX
*/
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