Sensor Orientation

[Neigh]

Hello) I have new board with MPU6050 Acc/Gyro + HMC5983(SPI) + MS5611-01BA03 (SPI) . MultiWii was changed to use the SPI sensors. So, i have some trouble to recognize right orientation ( ACC_ORIENTATION, GYRO_ORIENTATION, MAG_ORIENTATION defines). All Sensors on boars have right orientation ( by PDF's) - X axis of all sensors have same direction, Y and Z same. When using MultiiWii conf GUI heading is is not equal of board direction. Quadrocopter image rotation about from 0 to -180 grad. When try to tilt board - ROLL and PITCH angle calculated right but image just flip. Help please )

Board:
CPU: PIC32MX795F512H - 32bit MIPS core, 80MHz, 128kb RAM, 512kb FLASH
ACC+GYRO: MPU6050 (I2C),
MAG: HMC5983(SPI),
BARO: MS5611-01BA03,
GPS: NV08C-CSM ( GPS/GLONASS/GALLILEO differental receiver, resolution altitude/attitude about 1m) .
All Sensors axis on the board are at the same direction. MPU6050 placed in center of the board.

Frame: DJI F450 (ESC + Motors+Proppelers)

Copter flips when i try to tune one axis on a string (PITCH ), and slow moving to positive direction of ROLL axis when try to tune ROLL. If i enable ROLL and PITH (set P greater than 0.1 and I gretater than 0), copter is unstable
Even, if all P = 0.1 and all I = 0 copter slowly flips over PITCH axis: Front motors are slowly increase THROTTLE.
I can write a video multiwii conf gui and copter on a string if it needed.

[Neigh]

I have found soluton! ) MultiWii have successfully ported to PIC32MX platform. But some questions are present.

1. What function of MAG in copter?
2. What orientation of MAG sensor is right ?

[Noctaro]

HI!
The Mag will help to maintain your yaw direction and is necessary for gps functions, so the copter knows its heading.

For sensor directions have a look at http://www.multiwii.com/faq#How_should_ ... directions

greetz Noc

[Neigh]

HI!
The Mag will help to maintain your yaw direction and is necessary for gps functions, so the copter knows its heading.

For sensor directions have a look at http://www.multiwii.com/faq#How_should_ ... directions

greetz Noc

Thank you very MUCH) This is what i need!)
I have another question) May be you're know answer.
Accelerometer\Gyro\Mag have digital filtering functons. It that functions depending on cycle time? Many videos of MultiWii GUI on youtube shows about 2000 - 5000 uS. I have maximum 1650 uS

[brudulje]

HI!
The Mag will help to maintain your yaw direction and is necessary for gps functions, so the copter knows its heading.

For sensor directions have a look at http://www.multiwii.com/faq#How_should_ ... directions

greetz Noc

thanks, that helped me a little on my way =) i got a stupid question, in multiwii gui when i tilt the copter to the rigth, the horizon on the gui shows lilt to the left. but the data on roll goes up as in the guide..is this normal? im struggling with getting the copter to be stable..
im using a HK multiwii 328p, multiwii 2.1.

really appreciate any help =)