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This is a pre-beta testing firmware.

It is suggested that you test it only if you know what you are doing and are able to take the risks on a breifly tested firmware.

This is a cloned version of the Arducopter 3.0 release. It is 1:1 with it’s original firmware. So please refer to the Arducopter site and Diydrones forum  for more information on the software new functionalities:

  • Inertial Navigation for Loiter and Auto meaning much more accurate control
  • 3D navigation controller follows straight lines in all dimensions between waypoints
  • WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
  • “compassmot” to compensate for interference on compass from the pdb, motors, ESCs and battery
  • pre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero)
  • GPS failsafe – switches to LAND if GPS is lost for 5 seconds
  • stability patch improvements to stop rapid climbs in very overpowered or overtuned copters
  • Circle mode improvements including “panorama” when CIRCLE_RADIUS set to zero

These are the release notes specific for VRBRAIN. Please read carefully: 

  • The External GPS port and the Telemetry port have been swapped. So please invert the two ports to have both working again.
  • This firmware is only for standard PPM radios. Previous problems with Futaba and FRsky should have been resolved, please report any problems.
  • You will loose all previous settings, so please backup your parameters if you need to go back to
  • You need to make all pre-flight calibration routines otherwise copter will not arm. So proceed with:
    • Radio calibration through Mission Planner
    • Accel calibration via Terminal (at the moment via mission planner is not working)
    • Compass calibration via Mission Planner
  • Make extensive pre-flight checks before fliying

At the moment only QUAD and HEXA frames will be released, so please for any questions or suggestion refer to e.castelnuovo [AT]

RC Radio compatibility list

All previous radio problems SHOULD be resolved, but as we don’t have all you should report any issues.

Before using RC radio verify in Mission Planner planner if there is any latency > 1 second or bad Jittering.

If there is don’t fly!

In the preflight check , control the radio rensponse also with already tested radio.

Software download links

Standard PPM with External GPS (UBLOX):

Standard PPM with Internal GPS (MEDIATEK):

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The VR Gimbal DEV Board #1 is going in germany :)

Ludwig Färber will be the developer that will receive the first VR 3 axis Gimbal is  this is our donation for his great work on :
What there is in kit :
Hardware :

VR Gimbal :
Micro Controller is STM32F1 at 72 mhz.
3 Axis Brushless Direct Drive gimbal :

  •     Roll    (MOT1)
  •     Pitch  (MOT2)
  •     Yaw    (MOT3)

For each channel we have 3 high power pwm output .

1 USB port.
1 Serial port that support mavlink protocol.
1 Power module that support until 3S battery.
4 Radio RC Input for :

  •     Control ROLL Setup.
  •     Control Pitch Setup.
  •     Control YAW Setup.
  •     IR control repeater.

4 Analog Input 0-3.3v


Inside the VR IMU there are :  MPU6000 (6 DOF) + HMC5883 (3 DOF)

I2C IMU that support 3 axis . It  is on camera module , so we can know exactly the position of camera and control in realtime the 3 Brushless motors.

Cable for inteconnect the VR Gimbal Board with VR 9DOF I2C IMU

A Jumper for put the VR Gimbal in bootload mode.

Firmware :

The bootloader we use maple bootloader ported on VR Gimbal board.
On board we put first 32 bit release of BruGi 049B r69 (Martinenz board's firmware) . This version of firmware ,  support only 2 axis gimbal , the 3axis version is coming. All the boards is yet ready and tested for 3 axis managment.

Software :
We develop a VRGimbal Gui .net it's compatible with Windows 32 and 64 bit.


What do you need :

You need to download the Universal ide  follow this link  :

And also need a ttl <-> usb converter

as this one :

We are working on usb serial will be available in the end user product. The hardware will be the same will be only update the serial library.

Today we open pre order for first 20 pcs  of board . We'll send a  mail to first 75 developer that ask me to reserve the VR Gimbal.
The revision for end user will be available in some weeks a new batch is in production .

Some usefull link :

The code repository here you can find workspace with library and code and also VR Gimbal GUI.

This is official VR Gimbal User Group join us for updates about the project:

for buy or reserve your VR 3 Axis gimbal send a request here :

You will be inform about the status of the stocks .

The price for developer is updated to a promotional price of  95 euro for fist 20 VR Gimbal Dev Kit .

The end user price will be for 2 Axis Gimbal of 120 euro and for 3 Axis Gimbal of 165 euro.

Roberto Navoni

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Dear Friends,

this is the first test of VR Gimbal that control 3 axis ... it's only pre alpha revision of code. 

At the end of this week 31 / 05 / 2013

We finish to implement the VR Gimbal LT library .

  • The i2c imu with mpu6000 + hmc5883 work fine .
  • The SPI imu with mpu6000 + hmc5883 work fine.
  • The 3 driver motors work fine : we check at different refresh rate and with different qty of force.
  • Radio decoder library work fine : with ppm and ppmsum.
  • AP_LIB work good and save the parameter on internal eeprom .

Now start to implement 

PID control and FORCE control lib ... in this video is possible to see the first revision of firmware with the pre alpha code . Not yet available PID only P control and we are using same code used in the past for contol servo with external potentiometer.

In the next week start to work on complete PID control and absolute control approach.


with this version of firmware we are testing : 

  • if imu on i2c work fine .
  • if the hardware motor work fine .
  • if the 3° axis control work togheter with other axis without problem.
  • if the serial port for setting parameter working fine . We test also wireless control of gimbal and all work fine.
  • if the radio encoder work fine.
  • if the ap_parameter work and is serialize right in eeprom.


All is ok so the board is ready for prodution :) That's good step for us :)


So in this early test on 3° axis we found that we need more force on 3° motor on yaw respect of other 2 axis when we are in limit situation . So wee need to use bigger motors with more couple. 

About the developer sorry for delay but before to confirm the start of pre order we prefer finish to test electronic board of first batch .

For more info check here :


Roberto Navoni

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This is the video of first fly test

Dear Friends,
with great pleasure we present the latest developments of the prototype # 1 of our first drone RTF.

The idea for this drone , began when Carlo a student  of the faculty of Industrial Design in Milan came to us to do her thesis ... we tried to think of something completely new and that it was not the classic drone MK or DJI 450.

In addition to the aesthetic aspect ,appreciated by the community, we have especially tried to make the drone in a very functional, easy to maintain, expandable with options which will be released in the future.
The frame initially was made with 3D printing, combined with inserts from epoxy glass and carbon fiber .

Our designer Carlo ... ,now officially came into VRI , with Flavio  studied the FEM of the drone to achieve a good level of resistance to twisting of the drone. Particular attention was held for the theme of the vibrations.

70898435?profile=RESIZE_1024x1024This is the BOD Logo.

The BOD have inside : 

  • VR Brain 4.5
  • GPS Ublox 6H
  • 3DR Radio
  • 4 30 Amp ESC with WiiEsc firmware.
  • use 4 T-Motord engines.
  • with 12 inch propelles.
  • 3S - 4S 4500 mah battery

The feature available are the same available in arducopter32 rev 2.9.3

  • Flight in acro and stable mode.
  • Loiter , return to home and auto navigation.
  • Auto landing and takeoff

After making the first  hovering Emile will take care to test it in order to put a little 'under pressure the drone.

Thanks to all the time for this great results :)

Best Regards

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