07

Companion Compute Mode

Give the sword its muscle: wire the RP2040-Tiny as the companion core.

What you need

• Waveshare RP2040-Tiny — the muscle
• MPU6050 gyro (GY-521) — I2C
• three servos — wing L/R, crest rudder
• PteronautOS receiver, flashed with the companion bridge

Wire the gyro

The MPU6050 connects directly to the RP2040's I2C — SDA and SCL — not to the receiver. The gyro belongs to the muscle.

Flash both boards

Flash PteronautOS normally, then flash the YOSHIMITSU sketch for the RP2040-Tiny. The companion muscle wakes through the MUSHIN command (無心) — one firmware, one scroll.

Arm MUSHIN

MUSHIN (無心) boots armed by default — the muscle strikes before the thought. Open the USB serial console and type MUSHIN to report, MUSHIN ON/OFF to arm or disarm. No reflash: the choice persists in flash and the flasher bridge in MEDITATION is never touched.

Verify

Open the USB console and read the JIGUANG tale: the stance is MEDITATION, the bridge is up, and the gyro reports from the muscle — not from the receiver.