ardhat / ardhatmfc

Multiwii firmware with support for MPU9250, works with Cleanflight

Ardhat MultiWii Flight Controller

is a MultiWii 2.4 firmware derivative for ATmega328 et al, with some additional features:

1. Connects to Cleanflight browser configurator (does not support CLI or servos tab)

2. Supports Ardhat board type

3. Supports Invensys MPU9250 combo IMU

4. Supports generic sonar module such as HC-SR04, SRF04, DYP-ME007 Check config.h SECTION 9 for PIN assignments

5. Inflight PID tuning. This requires AUX2(3 way switch) and AUX3(Potentio). AUX2(3 way switch) - Is used to adjust from P, I, or D. - P is the LO switch, I CEnter, and D is the HIghest switch AUX3(Potentio) - Is used to adjust the values of P, I, and D. This will have anew boxname called "PID Tune" Check the sample video here https://www.youtube.com/watch?v=lVwk3JNQx6g Check config.h SECTION 9

6. Support for MultiWii Mobile Control for Windows Phone. This has new MSP called MSP_SUPRESS_DATA_FROM_RX = 150 Once enabled in Windows Phone application, it will suppress all data coming in from your receiver so you can use the application in Windows Phone to control the quad with its virtual joystick with 4 AUX channels. Here's the sample video https://youtu.be/tptUuW6d01U blog: http://jaysonsblog.azurewebsites.net/post/multiwii-mobile-control-for-windows-phone discussion: http://www.multiwii.com/forum/viewtopic.php?f=8&t=6322&sid=78edcfaf125c4a9f48736237c399bf0b

7. Can skip GYRO calibration at startup Make sure to calibrate the GYRO after you update the firmware. Configurable via config.h Check config.h SECTION 9

8. PID Controller PID controller codes are now in separate .cpp file called "PIDControllers.cpp" for future PID controllers

All credits to the MultiWii developers and programmers, and specially Nullstr1ng for the Cleanflight port.