In this video you can see the first flight doing with Virtual Robotix IMU , in the test i only check the sensor board , Gyro and Accelerometer , in the next test i check navy and input output functionality.


Today was a windy day , after solve with Randy a problem on the YAW control .. i doing the preflight check , all seem to work fine and so decide to going in the sky.


I'm using the same PID used with oilpan , there're not significant difference ... In the next day i try to use 300 °/s gyro ADXL 610 to check the difference respect of Inversense.

I think that the new board will be available in the next week for the people that are interest to evaluate it .



3689405477?profile=originalThis board is an upgrade of original Oilpan board , it's compatibile at 80 % with the original dirver , my idea was to improve it and put my experience on gps and uav on it. I add some feature as subsystem power control , gps battery backup , improve temperature compensation on gyro , add gyro that i used on MP8 the same of mikrokopter.

In these days i doing small upgrade to adc driver and to the code .. i think that tomorrow i can doing a first flight for test it , On Artificial horizon yet is ok .. i need to upgrade the driver of compass .. and right projection.

My idea is to have only one board put on MP32 or APM without , cable to or header to connect the device togheter .. if you need can disconnect the sensor imu and put it where you want and can connect it by cable to navy board.

Do you like VR IMU ? This is tech info :


Preliminary VR IMU 1.0 (Dominate the Sky) Technical specification:


Imu Sensor :

  • 1 Gyro Z : Inversense ISZ500 500 °/s resolution 1 axis.
  • 1 Gyro XY : Inversense IDG500 500 °/s resolution 2 axis.
  • 3 Gyro ADXL 610 300°/s resolution same used on Mikrokopter (option).
  • 1 ACC ADXL 335 3G resolution.
  • 1 Magnetometer 3 Axis HMC5883 compass functionality.
  • 1 ADC 12 BIT ADS7844 8 channel. 2 channel used for temp compensation.
  • 1 FET for ON / OFF subsystems.
  • Possible to disconnect the Imu sensor and connect to Navi by a cable.

Navi Sensor:

  • Barometer : BMP085
  • GPS Mediatek all in one (Default) protocol MTK16 10 Hz update integrated Aerial.
  • Locosys GPS (optional).
  • UBlox GPS (optional).
  • GPS Battery Backup.
  • 1 FET for ON / OFF subsystems.

Input Output:

  • 6 12 Bit analog input available for Board Setup or for interconnect accessories.
  • 4 Digital Output
  • 3 Status Led available
  • Differential pressure sensor for air speed. ( possible to disconnect from in-out board and connect it by cable)

Product page :

Best Roberto

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  • Developer

    Great job Roberto, as always. I loved the all-in-one shape.

    From 4:58 to 5:03 seems that it falls smoothly, with no vortex effect.

    Is there a pilot trick or is about the high rate on stabilization?

    Impressive results.

  • Thanks Robero for the info,

    I followed what you have been doing for some time because I feel 32bits cpu could bring lots of new functionality inside the main board (camera stabilization, osd ,..). I am just concerned that it is not easy enough and clear enough to hop in : no "buy" button for the board, no screenshot of the IDE,..

    The job you have produced is impressive on the hardware AND software part, I just would like to see your effort more recognise and get critical mass for this project, I would then feel more confortable to spend the 99$ for it.

  • Ah! Thanks :)

    Awesome work with the multipilot and the IMU, by the way!

  • Moderator

    Sorry Ante ,

    the right code of gyro is ADXRS610 ,



  • I'm confused...

    Invensense's (not InveRsense's) gyro designations do not start with ADXL.
    That would be Analog Devices. And Analog Devices' ADXL models are accelerometers, not gyros. 

  • Moderator

    Yes we have a official release of Multipilot32 hardware .. What do you intend for Official ? If you intend supported by diydrones community the reply is Yes. I'm a member of Arducopter project from the beginning of project :)

    All member of arducopter project and not only , have on his desk MP32 board for the future implementation of acm 32 code on it.  I'm the leader of AP32 (or Multipilot32 is the same product ) project as Chris write in his last post :

    At the moment the board is available only ask it at .  But we're define the future availability also on diydrones store and on affiliates.

    At the end of this link is possible to find the startup information about the product.

    At the moment i yet ported on MP32 all functionality present in Ardupirates NG  32 and I'm working on Arcuopter 2.0 I yet doing a fly only using RC function don't yet uav .

    The process to support official Diydrones project on MP32 is rewrite all lib present in original project then adapt a little the main code.

    If you want to have more information on project contact me at or live by skype , my contact is virtualrobotix.

    VR IMU is an alternative imu available for MP32 , MP32 support Oilpan and all the accessories available Magnetometer , GPS all work fine without any kind of problem .

    The main difference between Oilpan and VR IMU is that least is scalable platform , different kind of sensor will be available , the first sensor use same gyro and acc using on oilpan , but is possible to try also the same gyro used on Mikrokopter platform , that was the same used on MP8

    Is possible to use only navy part of VRIMU , on it there is gps , magnetometer and barometer an I/O bus , you can connect to his SPI bus professional imu by Analog Device , my idea is to us VRIMU when i need also different sensor board from different kind of IMU maker.

    So VRIMU basically can work as Oilpan , can be improve by using same gyro of Mikrokopter very good for video platform less scale 300 °/S instead of 500 °/S is more precision . And if you want to develop a professional platform you can buy IMU from analog device that support spi bus .. The only cost of that IMU is around 500 euro.

    I hope to reply to your questions , don't exitate to contact me if you need more info on our project.



  • Hi,

    I am a bit confused with this project : I thought we wanted to have a 32bits replacement of the arduino platform.

    But do we have an official release of the hardware multipilot 32 ?

    Will we have diydrones store of affiliates selling this board ?

    Do we have a wiki for people who wanted to beta test ?

    Last but not least : is this a long term replacement for the oilpan ? is this better / cheaper ? I understand the need to move to a better MCU/CPU architecture but I thought the oilpan was doing a great job until now.

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