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Multipilot 2.0 - AP32 Building Log realtime update. The next gen cpu for your Arducopter.

Hello everyone,
a year and a half ago came Multipilot 1.0 an inertial platform for applications and semi-professional hobby. After the excellent results obtained from the marketing of these cards, and participation in development projects as open source and Aeroquad Arducopter and 'born community.
Today our community is proud to present the evolution of our project: Multipilot 2.0 ST.

The characteristics of Multipilot 2.0 are:

  • Hardware:
    • ARM7  Cortex-M3 processor STM32F103VET6. 72 Mhz
    • Flash 512 Kbytes RAM 64 Kbytes
    • 16-bit Timer 4
    • SPI 2 (ADC Interface, MicroSD connection)
    • I ² C 2 (First I2C (sensor), Second I2C control until ESC 12)
    • USART 5 (GPS, DEBUG Console, XBee Pro Telemetry)
    • USB 1 (Upload Firmware, Debug Console, Power Board for Debug)
    • CAN 1 (Interconnection with Professional ESC 1 Mbit update rate)
    • 6 PWM Output Bit 16 (ESC / Servo Control)
    • 8 PWM Input 16 Bit (RC Input Channel, accept PPM SUM)
    • 8 Analog Input 12 Bit.
    • Professional 4 layers PCB.
    • DC: DC 30 V (6s Lipo): 5 volts and 3.3 volts
  • Sensor Board:
    • Diydrones OilPan . (High quality entry level board)
    • LN Professional Sensor Board: 3 Axis Accelerometer, 3 Axis Gyroscope, 3 Axis Magnetometer , 10 HZ Gps ,   High Quality Sensor for certify professional application.
  • IDE and Development tools:
    • Arduino IDE.
    • Arm GCC Toolchain.
    • Fully compatible with arduino wiring language.
  • Firmware:
    • On this platform will be available a lot of RC library developed by Virtualrobotix and Diydrones community.
    • Standard software will be an improved revision of Arducopter , Ardupilot , Multiwii , Aeroquad . The first revision of code will be Arducopter NG .
    • MultiFox Rev 4 special  Arm Edition.
  • Special Feature :
    • Multipilot 2.0 is fully compatible with ArduPilotMega DiyDrones Board.
    • OEM revision of Multipilot 2.0 available.


Thanks to Sandro for His Beautifull Renders of Multipilot 2.0

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 6 PWM Output Bit 16 (ESC / Servo Control)


its mistake ???

what about octo multi rotors

or hexa copter with any pan tilt


on PCB 8 pin sets for out

6 PWM is corect??? look for pin outs

have question its can be config for pwm out (JP1/7, JP1/8)


 fully compatible with ArduPilotMega



DC/ we must use 30V(6S) only or its hi range? Please write full range.

Hi Yadgarov,

So you don't know Puntin .. and you aren't a Ruussian Spy ... mhhh :) I don't know Silvio Berlusconi ,too :)

OK .. for your questions :

@@@@@@ PWM OUTPUT @@@@@@

I don't like to use PWM output for quad with more  of 4 motors. I prefer to use I2c bus ESC , so with only 2 wire you can manage until 12 motors or up. I put on pin 7 and 8 i2c or can connection. My idea is in future to develop a can bus compatible ESC . More speed , until 1 megabit and more stable , normaly is usde in automative application.

@@@@ PIN compatible @@@@

Fully compatible with Pinout of standard APM , so you can connect OilPan without problem.



@@@@@ Power Suply @@@@@@

The DC:DC converter start from 3S to 6S (8/30 Volt)

So you don't need a bec and can use custom esc withaout ESC output.



@@@@@ Became DEV CORE Member and Beta Tester @@@@@@@@@

Explain me more about your experience on Electronic and Firmware or in beta testing ...

If you want in present yourself thread: or in PM if for you is better :)

ome benchmark of new micro :

This is the code :
if (i3-i>1000)break;

in 100 micro second Arduino Standard doing 253 operation of integer add.

Multipilot 2.0 AP32 the code is same :


other benchmark this is the code of PWM write:


Arduino mega standard fro 500 analog write z= 3904 microsecond

Multipilot 2.0 / AP32 z= 271 microsecond

Multipilot 2.0 can improve any kind of software developed in Arduino enviroment : Arducopter , Ardupilot , ArduHely , bu Aeroquad , Multiwii , Baronpilot ,too
Regards Roberto
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ArduPilotMega vs Multipilot 2.0

This is result of test on Arducopter NG  testing on ArdupilotMega and on Multipilot 2.0

ArduPilotMega: PerfMon start:1830222 (mils)   end:1860167 (mils)  elapsed:29944 (mils)
PerfMon:               cpu%    mils    #called    Hz
loop                    47.36%    14181    187775    6475hz
Matrix_update           12.10%    3623    4991    172hz
Normalize               9.86%    2952    4991    172hz
Euler_angles            7.40%    2217    4991    172hz
Attitude_control_v3     5.73%    1716    4991    172hz
Drift_correction        3.75%    1123    4991    172hz
motor_output            0.68%    203    4991    172hz
readSerialCommand       0.02%    6    277    9hz
sendSerialTelemetry     0.01%    2    277    9hz
setup                   0.00%    0    0    0hz
APM_Init                0.00%    0    0    0hz
unexplained            13.08%    3917


MultiPilot 2.0: PerfMon start:30383 (mils)   end:60002 (mils)  elapsed:29619 (mils)

PerfMon:               cpu%    mils    #called    Hz

loop                    51.79%    15340    4742274    160107.34hz
Matrix_update           1.35%    398    4937    166.68hz
Normalize               1.02%    303    4937    166.68hz
Attitude_control_v3     0.99%    294    4937    166.68hz
Drift_correction        0.44%    131    4937    166.68hz
Euler_angles            0.21%    62    4937    166.68hz
motor_output            0.18%    53    4937    166.68hz
readSerialCommand       0.00%    0    291    9.82hz
sendSerialTelemetry     0.00%    0    291    9.82hz
setup                   0.00%    0    0    0.00hz
APM_Init                0.00%    0    0    0.00hz
unexplained            44.01%    13034


Same Software : result MP2.0 Win 9x APM

Video Example of first test of Arducopter NG on Multipilot 2.0 It Works !!! :)


An example of using OilPan on Multipilot 2.0 / Ardupilot32 . A Perfect Arducopter Pro Update.





Yesterday I check the Apm_rc library . I connect my ppm_sum reciver to MP 2.0 sdk and work fine. Today I would check PWM output on standard esc, and on i2c Brushless regulator. In library I would can choose what kind of ESC do you use using a define . So for application will be trasparent if you are using PPM or ESC brushless.

I'm doing the test of AP32_RC the new name of APM_RC for Multipilot 2.0 - Ardupilot32 .

I upgrade the library , I rewrite all the function for PPM rx_reciver and PPM output.

The library work fine . This is second library that i checked after libperf a library for performances mesaurment.

Thi is the video.


the beta version of prduct will be available for DevCore Team the next week .. I need one week of test before to release the product to other component of team.

When i finish the test start the enrolment of Dev Core Team.



In this thread we're chosing the IDE for MP32

What do you think about ide ?

Last Video Update :

@Multipilot Building Log,

I'm doing first try to fly ... I think that is possible to fly tomorrow ... :) I have some problem on tx , my impression is that ch_filter have some problem i need to debug it before a new test .

I think that the sensor have some problem on vcc , i see some glitch sometimes ...

I'm doing some test in stable and acro mode ... I think that i need to setup the pid  ,too



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