{"id":253,"date":"2014-04-13T17:27:12","date_gmt":"2014-04-13T17:27:12","guid":{"rendered":"http:\/\/mitat.tuu.fi\/?p=253"},"modified":"2014-04-17T20:01:39","modified_gmt":"2014-04-17T20:01:39","slug":"quad-multiwii-mongoose-board","status":"publish","type":"post","link":"http:\/\/mitat.tuu.fi\/?p=253","title":{"rendered":"Quadcopter MultiWii Mongoose board pin mapping"},"content":{"rendered":"<p>Quadcopter pins:<\/p>\n<pre>\r\nfront left\t\tfront right\r\nArduino=3\t\tArduino=10\r\nPD3\t\t\tPB2\r\nMong: 3\t\t\tMong=10\r\n\r\nrear left\t\trear right\r\nArduino=11\t\tArduino=9\r\nPB3\t\t\tPB1\r\nMong: MOSI\t\tMong=9\r\n<\/pre>\n<p>When programming pins facing forwards:<\/p>\n<pre>\r\n  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[PITCH] = -Y; imu.gyroADC[ROLL] =  -X; imu.gyroADC[YAW] = -Z;}\r\n  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[PITCH]  =  Y; imu.accADC[ROLL]  =  -X; imu.accADC[YAW]  =  Z;}\r\n  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[PITCH]  = -X; imu.magADC[ROLL]  = Y; imu.magADC[YAW]  = -Z;}\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Quadcopter pins: front left front right Arduino=3 Arduino=10 PD3 PB2 Mong: 3 Mong=10 rear left rear right Arduino=11 Arduino=9 PB3 PB1 Mong: MOSI Mong=9 When programming pins facing forwards: #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[PITCH] = -Y; imu.gyroADC[ROLL] = -X; imu.gyroADC[YAW] = -Z;} #define ACC_ORIENTATION(Y, X, Z) {imu.accADC[PITCH] = Y; imu.accADC[ROLL] = -X; imu.accADC[YAW] = Z;} [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[16,1],"tags":[],"class_list":["post-253","post","type-post","status-publish","format-standard","hentry","category-multicopter","category-uncategorized"],"_links":{"self":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/253","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=253"}],"version-history":[{"count":6,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/253\/revisions"}],"predecessor-version":[{"id":265,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=\/wp\/v2\/posts\/253\/revisions\/265"}],"wp:attachment":[{"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=253"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=253"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/mitat.tuu.fi\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=253"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}