Release Notes for MegaPirateNG 2.8 R3 (ArduCopter 2.8.1a)

=== How to compile MegaPirateNG ===

1. Download and install Arduino 1.0.1!!!!
2. See additional requirements for BlackVortex boards in the release_notes_BlackVortex.txt
3. Delete original libraries folder in Arduino IDE folder
4. Copy libraries folder from MegaPirateNG distributive into Arduino IDE folder
5. Select your Frame, Sensor, Tranmitter type in the APM_config.h (Quad X, ALLINONE by default)

=== Arduino board pin mapping ===

RC channels (can be changed in APM_RC_PIRATES.cpp)

• PPM SUM signal must be connected to A8 pin
• Default is TX_mwi - MultiWii set A8 - ROLL A9 - THROTTLE A10 - PITCH A11 - YAW A12 - AUX1 A13 - AUX2 A14 - CAMPITCH A15 - CAMROLL

Camera stabilization d32 - Camera stabilisation Roll servo d33 - Camera stabilisation Pitch servo For BlackVortex: d44 - Camera stabilisation Roll servo d45 - Camera stabilisation Pitch servo

Serial ports: GPS - Serial2 (RX2,TX2) Telemetry (3DR, Xbee, Bluetooth) - Serial3 (RX3,TX3) OSD (Remzibi, E-OSD, FrSky) - Serial1 (RX1,TX1)

Sonar d9 - Sonar Tx d10 - Sonar Echo

Status LEDs d13 - RED d30 - YELLOW d31 - GREEN

LED Sequencer A1,A2,A3,A4 - default LED sequencer pins (read more in led.pde),

Motor mapping motor mapping (maximize your text viewer or disable word wrapping to avoid line breaks)

Pin D2 D3 D5 D6 D7 D8 D11 D12 - Arduino pins CH 3 4 1 2 7 8 10 11 - MegaPirate output channel MOT_* 3 4 1 2 5 6 7 8 - Arducopter motor mixer mapping

TRI - BC RC LC S - - - QuadX LFW RBW RFC LBC - - - - Quad+ FW BW RC LC - - - - Hexa+ BLW FRC FW BC FLC BRW - - HexaX FLW BRC RW LC FRC BLW - - Y6 LDC BDW RDC LUW RUW BUC
Octo+ FRC BRC FW BW FLC BLC LW RW OctoX RFC BRC FRW BLW FLC LBC LFW RBW OctoV BLC BBRC FLW BRW FFLC FRC FFRW BBLW Quad8X BLUC BRUW FRUC FLUW FLDC FRDW BRDC BLDW Quad8+ BUC RUW FUC LUW LDC FDW RDC BDW <<< Not verified

Motors description: B- back R- right L- left F- front U- upper D- lower W- clockwise rotation C- counter clockwise rotation (normal propeller) S- servo (for tri)

Example: FLDW - front-left lower motor with clockwise rotation (Y6 or Y4)

=== MPNG History === --- 2.8 R3 AHRS_GPS_GAIN disabled Added support for PPM_SUM on PL1 pin (for CRIUS AIOP v2)

--- 2.8 R2 Added support for FrSky telemetry updated motor mapping table in the README.txt

--- 2.7.1 R5 Added support for CRIUS AIOP v2

--- 2.6 R6 Added support for CRIUS All In One PRO v1 board

--- 2.6 R4 Improved I2c_spy.pde to catch 6050 I2c slave devices and also 5611 baro Fixed bug in compass initialization for boards with MPU6050 Fixed bug in AP_GPS_NMEA

--- 2.6 R3 Fixed GPS initialization for BlackVortext boards

--- 2.6 R2 Added support for Drotek 10DOF IMU

--- 2.5.1 R3 Fixed compass initialization for MPU6050+HMC5883L MT3329 initialization fixed in case of Cold start

--- 2.5.1 R2 Fixed compilation bug in BMP085 library

--- 2.5 R2 Fixed compass error Fixed define redeclaration in APM_Config.h

--- 2.4.1 R2 Restored FastPWM, 400Hz by default, can be changed in APM Planner, RC_SPEED value GPS Initialization fixed, at least my MTK16 protocol now work fine Stability fix for InstantPWM

--- 2.4.1 Fixed bug in FFIMU sensor board, thanks to Thomas(thnilsen) Fixed LED Sequencer initialization code, thanks to Thomas(thnilsen)

--- 2.3 rc1 TX configuration moved from APM_RC_PIRATES.cpp to common configuration file APM_config.h

--- 2.3 Version is compatible with Arduino IDE 1.0!