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This is a quick start guide to setup your OILPAN IMU with the new MP32 board. The actual firmware is a port of the 2.0.39 Arducopter firmware so once installed you will be able to use the planner as you do normally.

To start with the new Hardware set-up you need the following:


  • OILPAN rev H or older revision Foxtrap.


Before you can use the AC32 firmware you MUST solder two pin headers on the connectors shown below. You then need to short them in order to upload new firmware and fly! (you can use an old motherboard jumper plug to short the connector so you would be able to reuse your OILPAN on the old ATMEGA)



This is used to connect your MP32 to the Planner or to the CLI:



If you have an xbee working on your actual setup, you can use that instead of the USB-->serial, just hook it up to the Telemetry port as usual.


  • Telemetry pins soldered on the OILPAN see:


  • 4 cables female female to connect the usb adapter to the OILPAN on the Telemetry Port


  • a Magnetometer(Optional) HMC5843 or HMC5833L soldered on top of the Oilpan





  • You also need a bind plug to put the MP32 in firmware upload mode(see later...). Or you can use one female-female cable like the ones posted above.


First download and install software and drivers

Download the latest VRIDE Framework. At the moment it is the link here VRIDE. unzip it and place it in a folder like C:\MP32

  • You need to install drivers for your USB to serial adapter from here
  • You need to install DFU drivers for your MP32 board. You can find the drivers in the C:\MP32\drivers\mapleDrv\dfu\ folder of the VRIDE just downloaded.
  • Download the specifically modified firmware for the OILPAN from here OILPAN firmware. Unzip and overwrite the libraries folder in your C:\MP32 folder and the ACopter32 folder under the C:\MP32\Firmware\ folder


Installing the Mediatek GPS (DIYDrones)

At the time of writing only the Mediatek GPS from DIYDrones with firmware 1.6 is fully tested. The GPS needs to be attached directly on the MP32 board. To do this there are several ways. What I chose was to get a GPS cable adapter like the ones DIYDrones store sells and cut off one end that I solder directly on the board. You could also solder connector pins on both the MP32 and the GPS board and use a 4 wire cable.

This is a picture to explain what I did:


The 1st and last wire of the cable are not used, so you can cut them off. This is the schema on how to connect them:

MP32 Cable Wire # / Pin GPS Adapter Circuit Board
JP19-2 (GND) (2) (GND)
JP19-4 (5V) (5) (5V)
JP19-6 (Ser4 Tx) (4) (IN)
JP19-8 (Ser4 Rx) (3) (OUT)


This is where you will find the JPs on the board:


A picture shows were you can find the connectors:


Compiling and uploading the firmware

Configuring the VRIde

VRIDE is the "32bit version of Arduino". Is based on the LeafLabs? Maple IDE and uses a language much similar to the Arduino framework.

Once your hardware i ready and your drivers are finally set up you can start to open the vrobotix-ide.exe and in File-->Preferences choose the folder where you unzipped the VRIDE rar (eg. c:\MP32)


Then choose from the menu File-->sketchbook the Firmware-->Acopter32 sketch like in the Arduino framework. VRIDE_Sketchbook.jpg

This is your new firmware ready to be uploaded. But before we can continue we have to check and modify a few parameters in the code.

Modifying the code before the upload process

To let the compiler know you are using the OILPAN and not the VRIMU we need to make a few changes in the code. Nothing too difficoult.Future developements will not require you to make all this modification, so keep up for the news! So follow these steps:

  1. Locate the libraries folder in your C:\MP32 folder and open with a text editor like Notepad++ the following files:
    • AP_ADC\AP_ADC_ADS7844.cpp: be sure to comment out the #define VRIMU so the line would be //#define VRIMU like this:
    •          //#define VRIMU
    • If you have the old compass HMC5843 you have to open the file AP_Compass\AP_Compass_HMC5843.cpp and add a new line at the end of the defines: #define HMC5843 otherwise if you have the most recent mag, leave as it is.
    • Open the file AP_IMU\AP_IMU_Oilpan.cpp and comment out the //#define VRIMU and //#define VRMIMUIDG5000 line and add (if not present the line #define IMUOILPAN:
    •          #define A_LED_PIN   69  //37
      #define C_LED_PIN 71 //35

      //#define VRIMU
      //#define VRMIMUIDG5000
      #define IMUOILPAN
    • Open the file AP_IMU\AP_IMU_Oilpan.h and do the same of before: comment out the //#define VRMIMUIDG5000 and add if not present the line #define IMUOILPAN:
    •          #include "IMU.h"

      //#define VRMIMUIDG5000
      //#define ADC_OBJECT
      #define IMUOILPAN
  2. Locate the folder Acopter32 in the Firmware subfolder (C:\MP32\Firmware...\ACopter32). Then open and modify the following files:
    • In config.h:
      1. locate the //MAGNETOMETER section and modify the #define MAG_ORIENTATION as follow:
        #ifndef MAGNETOMETER
        #ifndef MAG_ORIENTATION
        #ifndef MAG_PROTOCOL
        # define MAG_PROTOCOL MAG_PROTOCOL_5843 // Default Setting
      2. locate the "Developer Items" section and modify as follow:
        // Developer Items
        #ifdef MP32
        //#define VRIMU
        # define IMUOILPAN
        //#define VRMIMUIDG5000

Ok, so now the code is ready to be uploaded.

Uploading the code

  • Now Plug the Bind Plug or one female-female jumper cable into the second input from the left of the MP32 (Called JP4_7, JP6_7 and corresponding to the 7th input of the old ATMega).

This is used tu put your MP32 in firmware upload mode. When in this mode (and board powered) you will see a green led blinking on the MP32 board. This means you can start the upload process.

  • Plug the USB cable directly into the MP32 USB port. This is used as a power source and as a communication port.
Like the Arduino IDE, before uploading the firmware check that the code compiles correctly by clicking the Verify button. If code compiles, you can click on the Upload to board button.
Wait for the completed upload message in the VRIDE message window.


Setting up the firmware for first use

Once the code has been uploaded you will be able to interact with it using the USB-->serial adapter shown above, you have to connect the adapter to the Telemetry port on the OILPAN. To get into the CLI you will not have to switch the slider. This mode is disabled!

You need to use a Hyper Terminal to get to connect to the CLI the first time. This can be found in Windows XP in START-->All Programs-->Accessories-->Communications-->Hyper Terminal. For Windows7 and Vista you need to download the Hyper Terminal program from here: This is the original Windows XP program.

So now that you have the USB-->Serial connected to the telemetry port and Hyper Terminal connected to the COM, power up the MP32 using for example the usb port on it. As soon as you connect you will see a message saying to press S to enter interactive mode. You have five seconds to press S after boot up. This will let you in the CLI mode. Use the the SETUP-->Reset to reset the parameters, configure your radio, level, calibrate ESC as you will do in old ATMEGA chip.

Using the Planner to finish configuration

Once you have done first configuration, you will be able to connect to the MP32 using the AC2 planner found here

For all the rest of the Arducopter Wiki.

Frames supported by the code:

  • Quad X mode
  • Quad + mode
  • Hexa X mode
  • Hexa + mode


Features actually not supported by the code:

  • sonar is not implemented
  • camera mount stabilization is not working
All the rest should be working! This is still BETA so use at your own risk, and please report any issues to the Issues list in the Multipilot32 google code project.



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Arducopter32 ver 2.0.39 is Alive






Dear Friends,

in these summer Holiday i found the time to finish my porting of Arducopter 2.0.39 to Multipilot32 ( AP32 ).

In this video dimostration you can found the result of my work. We need only to finish the test on waypoint navigation .


The configuration of quad in the video is follow :

  • VR Multipilot32.
  • DIY Oilpan.
  • DIY GPS MTK16.
  • DIY Compass.
  • Radio is Spektrum DX6.
  • Motors is Keda 20-22.

The AP32 Upgrade Kit is Available for your Arducopter more info click here :


In the next days will be available on repo :


The functionality available and tested in the video are :

  • Stable mode flight .
  • Loiter + Altitude Hold
  • Return to home.
  • simple mode flight.

The code is fully compatible with Mission Planner i tested until rev 1.0.54.

I tested also the Copter Ground Station for Android it work fine !!!

The code support mavlink protocol and the platform tha use it.


The upgrade available using Multipilot32 are :

Imu refresh rate 1 khz instead of 200 hz , more stable flight.

PPMSUM radio input compatible .

SD card for save Option and log not on internal eeprom (Work in progress).

Radio Remap functionality for PPMSUMRECEIVER using Mavlink parameters (Work in progress).

Mixertable for define custom configuration using Mavlink parameters (Work in progress).


Thank you very much to all member of Arducopter DevTeam that help me in these work and for they great works:)


Thank you very much to all member of Arducopter DevTeam that help me in these work and for they great works:)

A special Thanks for Chris , Jason , Mike and Emile the beta tester taht setup and fly Arducopter32 on his quad and fly in fpv the quad during the test :)




Roberto Navoni Foxteam

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Wave Camera



I'm Giacomo and I'm the founder and coordinator of a Venice area-based filmmaking collective known as Hive Division.

We gathered around a feature-lenght, no budget fanfilm, Metal Gear Solild: Philanthropy, in order to put together our different skills, gain visibility and grow up as a team. The film was released in September 2009 and had a huge success of public, accumulating more than 3 millions overall views and represents the base of know-how on wich we're currently building our original narrative projects (the first one will be announced in September 2011) and our path in the video production business.

and here's a video we shot for an institutional client

Provincia di Treviso - Ti resta nel cuore 2010 from Hive Division on Vimeo.

Some time ago we met Roberto Navoni,Laser Navigation's CEO and coordinator of the VirtualRobotix Community in order to discuss a future Hive Division project (Wave) for a sci-fi feature that would require an agile camera platform, something beyond any available crane, steadycam or cablecam.

The multicopter frenzy at the time was still building its momentum, but it was clearly a cost-effective approach and, therefore, the best fit for our needs.


A series of meetings and brainstormings with Roberto, though, made clear that the end results we aimed at was not just to get a platform we could use for the feature film Wave, but a high performance flying camera that would suit any indie video production, virtually replacing the helicopter in most of the situation. The project than turned into a proper R&D cooperation between Hive and Laser, one that our lack of immagination forced us to call the "Wave Camera" :)

In Hive Division, the guys following this project are

  1. Me
  2. Alberto, Hive's 3d Team, graduated in aerospace engineer and future Wave pilot
  3. Mattia, Hive's DOP, graduated in multimedia technology ad future Wave camera operator





Thanks to the HDSLR revolution, many little companies around the world are currently working at such devices and some DID achieve remarkable results, but we always feel like something is missing (the incapacity of producing anything but wide angle shots, the lack of proper focus control etc).

We want to create a new one, built specifically for indie filmaking.

We want our platform to carry heavier equipment, better optics and to carry them faster and further than what existing platforms are currently able to do.  We want our platform to be well integrated with its "eye" and to give filmakers-on-a-budget a flexible and powerful tool for their needs.

Instead of trying to create a Predator-sized UAV without any meaningful ROV experience, we decided for a step-by-step approach in order to softly land on any critical aspect of such a project.  


The first two platform that Roberto and his company prepared for us are:

  1. A light, relatively cheap quadcopter that Alberto will use to perfect his ROV skills


  2. A medium-sized coaxial hexacopter that will be used to lift our HDSLR and to gradually prepare our wishlist of features for the long-term developement of our ultimate flying camera :)



We'll start testing both platform around the end of august/september, and we plan, together with Roberto, to keep you Virtualrobotix guys posted about our developements. Any suggestion or feedback you'll be willing to provide will help us shape this platform.


I hope you'll enjoy following our project :)


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New Entry level Frame for Multipilot32

The last effort of FoxTeam,
through collaboration by me  and AleBS the result of is complete frame with Gimbal that we were able to put together on a MP32.

The frame is simple, practical and light. We are working to make it more immune to vibration. The configuration and flight 'Quad X supports a Gimbal able to take comfort in the air a GoProHD  or a compact camera. He has long legs that will allow in the future to put  another 4 engines, and then a fine and maybe a bigger gimbal.

Maybe a future revision could be made of carbon fiber , there is already in progress a version Hexa radial. What do you think?

Are welcome suggestions to improve the frame ...

You need a PPMSUM radio with at least 8 channels to get all the necessary control channel , or already 'with seven channels you can' control the tilt.

The code to handle the gimbal of MP32 can be found here:
vrobotix-ide-0.0.4 mixer QuadX (GIMBAL).rar - multipilot32 - QuadX with gimbal control - Multipilot32 Advanced Autopilot Board based on Arm Cortex A3 micro controller - Google Project Hosting





L'ultima fatica del FoxTeam,
grazie alla collaborazione con Ale questo e' il risultato del frame completo di Gimbal entry level che siamo riusciti a mettere assieme su base MP32.

Il frame e' semplice , funzionale e leggero , stiamo lavorando per renderlo immune il piu' possibile alle vibrazioni .La configurazione di volo e' Quad a X , supporta una Gimbal in grado di portare in volo comodamente una GoProHD oppure una telecamerina compatta. Ha gambette lunghe che consentiranno in futuro di mettere sotto altri 4 motori e quindi fare un bel okto coassiale e magari una gimbal un po' piu' grandicella.

Magari una prossima revisione potrebbe essere fatta in carbonio , c'e' gia' in lavorazione la versione Hexa radiale. Che ve ne pare ? Si accettano consigli per migliorare il frame ...
Serve una radio PPMSUM con almeno 8 canali per avere tutti i controlli necessari oppure gia' con una sette canali si puo' controllare il tilt , per farlo dal secondo pilota si puo' prendere una radio e collegarla tramite il cavetto maestro alievo.

Il codice per gestire il gimbal su MP32 lo trovate qui : vrobotix-ide-0.0.4 mixer QuadX (GIMBAL).rar - multipilot32 - QuadX with gimbal control - Multipilot32 Advanced Autopilot Board based on Arm Cortex A3 micro controller - Google Project Hosting

Saluti Roberto

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