• 36x36mm• 3-axisMEMSgyro+accelerometer(MPU6050)• 3-axismagnetometer(HMC5883L)*• Pressuresensor(MS5611)*• Flexiblemotoroutputs,supportvariousairframe

types• Quad/Hexa/Tri/Bi/Y4/Y6/Octo/CameraGimbal.

(DefaultisQuad-X)• Upto8chRCinput-supportsstandardreceivers

(PWM),PPMSumreceiver(FrSky,etc),orSpektrumSatellitereceiver.

• Batteryvoltagemonitoring• Modern32-bitprocessorrunningat3.3V/72MHz

(STM32F103CB).• OnboardMicroUSBforsetupandconfiguration• MultiWii-basedconfigurationsoftwareforeasy

setup• rev4hardware

R1

SpektrumSatelliteReceiver

MotorOutput

Voltagedetect

5VactiveBuzzer

RCInput

SWDPort

Serial/UART

I2C

Boot0,shorttoenterbootloadermode

Connection diagrams

Naze 32 10dof / 6dof*

*Thedifferencebetween10dofand6dofversionarecompassandbarometer,the6dofversionHASN'THMC5883landMS5611.

35mm

30mm

Ø3mm

GND +5V_in Motor6GND +5V_in Motor5GND +5V_in Motor4GND +5V_in Motor3GND +5V_in Motor2GND +5V_in Motor1

GND Vbat

+5V_out GND

CH1 +5V_out GNDCH2 +5V_out GNDCH3 +5V_out GNDCH4 +5V_out GNDCH5 +5V_out GNDCH6 +5V_out GNDCH7 +5V_out GNDCH8 +5V_out GND

GND +5V NRST SWDCLK SWDIO

GND +5V RXD TXD

GND +5V SCL SDA

Firmware update

• Shortboot0• ConnecttocomputeroverUSB• Downloadthenewestfirmwarefrom:https://code.google.com/p/afrodevices/

downloads/list• OpenSTM32FlashLoaderDemonstrator• 5.ChoosetheCOMportandNEXT

• ChoosetherightHEXfile

• Flash,thenitshouldbedone

Motor Connection:

5

8

6

7

2

1

3

4

4

3

2

1

6 5

5

3

2

6

4

1

41

63

524

3 2

1

24

131

3 2

4

General Setting• InstallthedriverforUSBtoUARTCP2102• Connecttheboardtocomputer• OpenPutty.exeDownloadPuTTYfromhttp://www.chiark.greenend.org.uk/~sgtatham/putty/

• -chooseserial• -chooseyourcomport(itsmaydifferentasyourcomputer,havealookinthedevicemanager)• -Speed115200• -clickon"open"button• itopensaCommandPrompt• type"#"toactivatetheinput• YoucanEnterthecommandsnow.Commandlineisinteractive,andmostcommandswillprintsomethinginreturn.Availablecommands:help printoutalistofallcommandswithshortdescriptionofeachdefaults resetallsettingstobuiltindefaults,andrebootfeature enable,disable,orlistenabledfeatures(suchasCPPMinput,GPS,etc)map configureRCchannelmappingforCPPMandstandardreceivercmix createcustommotormixfornon-standardairframetypemixer setorshowcurrentmultirotormixer(suchasQuad-/Hexa-/etc)set setorlistavailableparameters.Manysettingsareavailable.status printoutsystemstatus(voltage,uptime,enabledsensors,etc)version printoutfirmwareversionandbuilddate/timesave/exit savesettingsandreboot

WARNINGAnychangestosettingsincli,inparticularrelatedtomotoroutput(throttlevalues,etc)areacceptedREALTIMEandmayresultinmotorsstartingupwithoutwarning.AlwaysconfigurewithpropsdisconnectedorwhenmodelisonlypoweredbyUSB.

Commonusageexamples:ToenableCPPMreceiver,enablePPMfeature:#featureppm#saveTodisablebatteryvoltagemonitoring,disableVBATfeature:#feature-vbat#saveToenablecamerastabilizationandchangemixertoQuad-Plus:#mixerquadp#featureservo_tilt#saveToconfigureCPPMreceiverforEATRchannelorderandswapAUX1/2:#mapEATR2134#saveSettingsareappliedreal-time,howevernotsaveduntil‘save’or‘exit’commandisexecuted.

Fewthingsneedtobedonetoensuresmoothflyingexperience.Theguidelinesbelowshouldcovermostcommonsetupissues.Donotmovethemodelwhileplugginginthebatteryandduringthefirstfewsecondsafterpower-up.Gyromustbeidle,orelseinitialcalibrationwillbewrong.Alternatively,makesuretoexecutethe“GyroCalibration”sticksequencepriortoarming.Firstflightshouldalwaysbeingyro-onlymode.Donotenableauto-level,baro,headfree,etcuntilyouknowwhatyou’redoing.Ifmodelimmediatelyflipsontakeoff,double-checkboardorientation(frontfacing),eachmotornumber,rotationdirection,andtypeofpropinstalled.Referto“MotorMixer”chapterfordetails.Trimtransmitteronce,andnevertrimin-flight.ConnecttoGUI,andsubtrimontransmitteruntilallchannelsarecenteredat1500.IfusingFutabagear,centermightbe1520.Inthatcase,setmidrcvalueinconfigto1520,thensubtrimtocenterallchannelsat1520.Donotusetriminflightforeithergyroorauto-levelmode.Useacc-trimfunction.Coverthebarometerwithopen-cellfoamandkeepitawayfromdirectsunlight.Placingtheflightcontrollerinaplasticenclosureofsomekindisrecommended.

Notice

Naze32 using same GUI as Multiwii 2.3