Disclaimer This is NOT the official code explanation page. Please refer to MultiWii website and MultiWii wiki for any official reference. This webpage is developed to help my engineering students, who ask me to explain the code in a diluted manner. This tutorial is intended for those who want to dig deep into the MW code and need a beginners guide. If you just want to fly a multirotor, you dont need to study this tutorial. Again, this tutorial is intended for students interested in computer programming.
Overview: First the standard MultiWii code is explained and then the modifications made for adding a low cost remote/ transreceiver (nRF24L01+) is explained. This tutorial is much inclined towards Arduino users who are interested in C programming.