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Latest Firmware test -

Today I had my second test flight with the latest Firmware.

The results are incredible. The quad was very stable and solid also on very hard manouvres.The improvements are beyond my expectations.
You judge:

The Board tested was the VRIMUFULL with the MP32V3F1 and the BMP085 barometer.

Recent changes include:


- Updated default values for Stabilization
- Changed main loop timing.
- Fixed a memory bug.

This is the port of the Arducopter 2.6 firmware. Thanks to the original developers.

Still ALT_HOLD and GPS must be improved.
To choose your board in the config.h fie you have these options
(please comment with // what you don't need):

BOARD selection:
#define CONFIG_APM_HARDWARE MP32V1F1 //old board (rev. 1)
#define CONFIG_APM_HARDWARE MP32V3F1 //new board


GYRO and ACCELS selection:
#define INS_VRIMUFULL //standard sensors
#define INS_MPU6000 //new MPU6000 sensor


#define CONFIG_BARO AP_BARO_MS5611 //new barometer
#define CONFIG_BARO AP_BARO_BMP085 //old barometer


#define CONFIG_MAG MP32NAVYSENSOR //standard board
#define CONFIG_MAG MP32NAVY2012 //new board with GPRS and dataflash
Once uploded please follow these steps:


1. In CLI mode SETUP --> erase and Reset.
2. Calibrate Radio
3. Calibrate compass by arming (without propellers!) and turning the copter on all axes.
4. Level and check that all variables are consistent.


The default parameters are based on my quad and my experience.

Please tune for your copter.
This firmware was tested with VRIMUFULL + MP32V3F1 + MPU6000 and VRIMUFULL + MP32V3F1 + STANDARD SENSORS

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70879260?profile=original Today I found in a drawer of my old lab this board, and memory began to go into the past.  Was 1996 , 16 years ago this is  my first board based on a 16 bit micro controller that used 'C' firmware that i called VR1000 (see on the bottom layer) .

I developed that board for a BUS Fleet Managment application .

That board was based on Siemens 80c166 in future that was the base for ST 10 a  father of STM32.


The specification of this board was :

  • Microcontroller Siemens 80C166 .
  • 20 Mhz oscillator.
  • External muxed PROM and RAM (muxed mean that the address and data bus was shared so you need a component that with a pin automatically choose to use address or data bus for parallel comunication with Prom and RAM)
  • 64 kbyte EEPROM (Electri Erasable PROM) normaly before every reload of firmware i use UV Lamp for delete the firmware in the EEPROM.
  • 32 Kbyte static RAM
  • 8 Mbit Intel parallel flash . (Was first Flash available on the market , normally that component need 12 volt for write data in the flash and use 5 volt

With this kind of board was possible to fly a drone 16 years ago but the main problem was the sensor

In this sensor is possible to see the VR1000 (1996) and VR Brain MP32F4 IMU (2012)


VR1000 CPU

80c166 (16 bit micro controller)


STM32F4 (32 bit micro controller)

VR1000 RAM and PROM

64 Kbyte EEPROM and 32 Kbyte Ram (external)


1 Mbyte Flash and 192 Kbyte Ram

VR1000 vs VR MP32F4 speed of processor

20 mhz vs 168 mhz

Advanced feature available only in MP32F4 :

Internal FPU - DSP floating point processor.

MPU6000 3 gyro 3 acc

I am very curious to know how will the new micro controllers for DIY applications in 2028 :)

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