This shield has initially been designed by Robopoly for Aeropoly. It is made for the PRismino, and thus compatible with a Leonardo and most Arduino boards. It is basically a copy of the nanowii board, except that it is now set as a shield for a Leonardo, rather than a standalone board. The pins are exactly the same. Therefore, you can use the Multiwii code, but you will have to make your own configuration. You can find the Altium and gerber files, as well as the datasheets on this repo.
The shield has an MPU-9250, a barometer and an attiny4313 that is responsible for the GPS, sonar and optic flow sensor. The MPU-9250 does not have the same register map as the MPU-9150 previously used if I'm not mistaken. Check that before use.
| chip | purpose | link | Status |
|---|---|---|---|
| MPU-9250 | Accelerometer, gyroscope, magnetometer | MPU-9250 | Should work |
| TLV70033DDCR | 3V regulator | TLV70033DDCR | Working |
| PCA9306DP1-G | I2C level translator | PCA9306DP1-G | Working |
| MS5611 | Barometer | MS5611 MS5611 | Should work |
| attiny4313 | Handles optical flow sensor and GPS | attiny4313 | Not tested |
| hc-05 | Bluetooth | NA | Not working |
Check these against the datasheets. I might have messed up.
| identifier | value |
|---|---|
| R1 -> R5 | 10kOhm |
| R6,8,10 | 1kOhm |
| R7,9 | 2kOhm |
| C5,6,8,9,10 | 0.1uF |
| C7,11 | 10nF |
You can power the controller through the shield by connecting an 5V BEC to ESC1 pin. The 3.3V available with the micromatch or double pins are not the ones from the Arduino. Meaning you won't fry your controller if you use too much current. However, you should stick well within the limits as it powers the MPU-9150 and the I2C level shifter.
Be careful, only ESC 1 has the ground and 5V pins connected. This is made to avoid ground loops. The data pin is at the outer side of the board (closest to the pins). The ground pin is the square one.
| ESC | pin |
|---|---|
| ESC1 | 9 |
| ESC2 | 10 |
| ESC3 | 5 |
| ESC4 | 6 |
Be careful, only THR has the ground and 5V pins connected. This is made to avoid ground loops. If your transmitter does not have a common ground for its channels, you will have to bridge the whole ground line, or mod your receiver. The data pin is at the outer side of the board (closest to the edge). The ground pin is the square one.
| Command | pin |
|---|---|
| THR | 7 |
| ROLL | MOSI |
| YAW | SCK |
| PITCH | MISO |
| AUX1 | 8 |
I'd like to thank the various people that have helped developping this board and namely Felix (aka ronco on multiwii forum), the creator of the Nanowii board.
Previous version (V1, as V2 has never been tested) uses only MPU-9150. The MPU-9150 has the same register map as its brother the MPU-6050 which is used in a Nanowii board. Therefore you can use it as a MPU-6050 if you don't want the magnetometer. This might not be valid for MPU-9250.
| identifier | value |
|---|---|
| R1 -> R5 | 10kOhm |
| C1,2,5,6,7 | 0.1uF |
| C4 | 10nF |
| C3 | 2.2nF |
Be careful that the axis for the magnetometer are not the same as for the accelerometer and the gyroscope. The ones on the board are those of the accelerometer.
Either J0 or J1 has to be bridged. If you bridge both, you'll short your power. Never bridge both. These are used to set the address of the MPU-9150.
Be careful, only ESC 1 has the ground and 5V pins connected. This is made to avoid ground loops. The data pin is at the outer side of the board (closest to the pins). The ground pin is the square one.
| ESC | pin |
|---|---|
| ESC1 | 9 |
| ESC2 | 10 |
| ESC3 | 5 |
| ESC4 | 6 |
Be careful, only THR has the ground and 5V pins connected. This is made to avoid ground loops. If your transmitter does not have a common ground for its channels, you will have to bridge the whole ground line, or mod your receiver. The data pin is at the outer side of the board (closest to the edge). The ground pin is the square one.
| Command | pin |
|---|---|
| THR | 7 |
| ROLL | MOSI |
| YAW | SCK |
| PITCH | MISO |
| AUX1 | 8 |