• MikroKopter.de
• Wiki
• SHOP
• Datenschutz
• Impressum

FlightCtrlBL-CtrlMK3MagNaviCtrlProjects

Català-Valencià – Catalan中文 – Chinese (Simplified)中文 – Chinese (Traditional)Česky – CzechDansk – DanishNederlands – DutchEnglish – EnglishSuomi – FinnishFrançais – FrenchDeutsch – Germanעברית – Hebrewहिंदी – HindiMagyar – HungarianBahasa Indonesia – IndonesianItaliano – Italian日本語 – Japanese한국어 – KoreanМакедонски – Macedonianमराठी – MarathiNorsk – NorwegianPolski – PolishPortuguês – PortuguesePortuguês – Portuguese (Brazil)Русский – RussianSlovenčina – SlovakSlovenščina – SlovenianEspañol – SpanishSvenska – SwedishTürkçe – TurkishУкраїнська – UkrainianOëzbekcha – Uzbek

Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/salvo_gps/Basis_v0067g/trunk/README_Gps_English.txt @ 697

  → /branches/salvo_gps/Basis_v0067g/trunk/README_Gps_English.txt @ 698

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 697 → Rev 698

/branches/salvo_gps/Basis_v0067g/trunk/README_Gps_English.txt
1,6 → 1,6
*********************************************************************
GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
As of Jan, 20th 2007
As of February, 9th 2008
Please note the files Licensce_LPGL.txt and Licensce_GPL.txt
This SW is based on Holgers V00.67g.
*********************************************************************
23,7 → 23,7
Parameters:
The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral),
UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,16,80.
UserParameter3 = D(ifferential). Standardvalues for P,I and D are 60,8,100.
The I-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid
oscillating.
Please find out the best values yourself.
33,15 → 33,19
The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.
Without a succesfull position fix at calibration the GPS functionality ist completely disabled.
The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix.
There are two ways to enable the GPS Hold functionality:
Either enable the GPS flag in the setting OR
disable the GPS flag in the setting AND set UserParameter5 to a value > 75 and < 170.
Enabling GPS_Hold in fligh:
Enabling GPS_Hold in flight:
GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.
GPS Coming-Home function
The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum.
The height regulator itself is activated at approx. Maximum/2.
There are tow ways to enable the GPS Coming Home functionality:
Either enable the GPS flag in the setting AND set the Height Switch ("ParameterMAxhoehe) to a value > 170 OR
disable the GPS flag in the setting AND set UserParameter5 to a value > 170.
The height regulator itself is activated with a value >= 50.
Other changes: