• Chassis : MM6 shrediquette style
• Moteurs : C2226 1800kv
• ESC : Turnigy Plush 10A
• Carte : JussiH BT shield 1.3
• ITG3205 (WMP clone hackée) + BMA020

• Multiwii 2.4
  • config.h
    #define MINTHROTTLE 1300
    #define HEX6X
    #define I2C_SPEED 400000L
    No pullups
    #define ITG3200
    #define BMA020
    #define ITG3200_LPF_42HZ
    #define VBATSCALE 80
    #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
    #define A0_A1_PIN_HEX
  • Paramètres
    • PID : 8.1 (R & P)
    • RC Rate : 1.20
    • Expo : 0.50

void setup() {  
  pinMode(13, OUTPUT);     
  Serial.begin(9600); 
  //Serial.print("AT+NAMEBT.SL.115k" );   //  BT slave mit shield    und module linvar , no trailing cr+lf !!! must exit after name setting or else all following commands get appended to name !!
}

void loop() {
  Serial.print("AT+BAUD8" );   //  BT slave mit shield    und module linvar !!! no trailing cr+ lf
  digitalWrite(13, HIGH);   // set the LED on
  delay(600);              // wait f
  digitalWrite(13, LOW);    // set the LED off
  delay(400);              // wait 
}

Note that on my BT 1.3 board :

1. JP1 is to POWER on BT Module
2. JP2 is to offer 3.3V to PIN 34 to make the module accept AT commands

To have the BT module programmed, here is what I did :

1. uploaded the sketch on arduino out of the shield
2. put JP1 on to power the BT slave
3. installed the programmed arduino on the shield
4. powered up the shield with 3S lipo
5. waited 2 LED cycles
6. powered off the shield

Then :

1. put off JP1 jumper to unpower the BT slave
2. uploaded MWC sketch on arduino out of the shield
3. put on JP1 and JP2 jumper on to power the BT slave and connect RESET
4. powered the shield with 3S lipo
5. waited 10s and then discovered the “linvor” device, connected to it with 1234 code and it provided 2 BT COM port (COM10 and COM11)
6. launched MultiWiiConf waited 10s and click on COM10 to connect
7. waited 10 more seconds and clicked on START ta start reading and …. it worked !

So to summarize :

1. sketch seems to work at least for baud setting on livor
2. JP1 and JP2 need to be connected for my BT to work with MultiWiiConf