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/branches/salvo_gps/Basis_v0070d/trunk/License_LPGL.txt
0,0 → 1,165
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
 
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
 
 
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
 
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General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
 
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/branches/salvo_gps/Basis_v0070d/trunk/README_Gps_Deutsch.txt
1,6 → 1,6
*********************************************************************
GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl
Stand 28.10.2008
Stand 29.10.2008
Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt
Die Version basiert auf Holgers V00.70d.
*********************************************************************
29,7 → 29,7
Der P-Anteil wirkt einer Lageänderung entgegen. Je größer er ist, desto geringer die Regelabweichung, desto höher aber auch die Schwingneigung.
Der D-Anteil wirkt einer Geschwindigkeitsänderung entgegen und dient zur Reduzierung von Schwingungen, darf aber auch nicht zu gross sein.
Der I-Anteil dient nur dazu die Lageabweichung auf Null zu bringen.
P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit klein bei gleichzeitig geringer Schwingneigung ist.
P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit bei gleichzeitig geringer Schwingneigung klein ist.
Standarddwerte für P,I,D sind 60,8,100 bzw 100 für GPS Gain
Wenn alle 0 sind, ist der Regler deaktiviert.
 
38,13 → 38,12
Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert.
Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren. Die Rote Led auf der FlightCrtl blitzt bei jedem Empfang eines kompletten
und korrekten Meldungsset ( "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED").
Folgende Möglichkeiten zur Aktivierung von GPS Hold gibt es:
Das GPS Aktiv Flag sowie der Kompass im Setting sind aktiviert.
Zur Aktivierung von GPS Hold muessen die GPS und Kompass Flags im Setting enbaled sein.
Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich.
 
Aktivierung GPS_Hold im Flug:
Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick
für ca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der
für ca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS Threshold) oder liefert das GPS Modul keine Daten oder fällt der
Kompass aus wird GPS_Hold sofort deaktiviert.
Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden.
 
60,8 → 59,7
 
GPS Rücksturz zur Basis (GPS Home) Funktion
Voraussetzungen wie bei GPS Hold.
Folgende Möglichkeiten zur Aktivierung von GPS Home gibt es:
Das GPS Aktiv Flag und der Kompass im Setting sind aktiviert UND GPS Mode Control hat einen Wert > 170
GPS Mode Control hat einen Wert > 170
 
 
Weitere Änderungen:
/branches/salvo_gps/Basis_v0070d/trunk/fc.h
12,8 → 12,7
#define ACC_WAAGRECHT_LIMIT 100 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage
 
//Salvo 2.9.2007 Ersatzkompass: Gyroincrements/Grad als Defaultwert *****
// Laut Datenblatt sind di; Werte ueber Zeit und Temperatur sehr stabil.
//#define GYROKOMP_INC_GRAD_DEFAULT 1300 // Gyroincrements/Grad als Defaultwert
// Laut Datenblatt sind die Werte ueber Zeit und Temperatur sehr stabil.
#define CAM_GPS_QUIET 0 // wenn dieses Flag gesetzt ist, wird GPS beim Ausloesen kurzzeitig deaktiviert um eine ruhige Lage zu bekommen
// Salvo End