Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 569 | salvo | 1 | ********************************************************************* |
| 2 | GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
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| 3 | As of 23.12.2007 |
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| 4 | Please note Licensce_LPGL.txt and Licensce_GPL.txt |
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| 5 | This SW is based on Holgers V00.67g. |
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| 6 | ********************************************************************* |
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| 7 | Hardware-requirements: |
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| 8 | Calibrated compass of type CMPS03, horizontally adjusted |
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| 9 | GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED" |
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| 10 | must be activated with 4 HZ update rate. All messages of type NMEA should be disabled. |
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| 11 | The TX port of the GPS module must be connected to the RX input of the Flight Crtl. Baudrate is 57600 (like Kopter Tool). |
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| 12 | |||
| 13 | UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction of the kopter |
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| 14 | and the north direction of the compass is represented as follows 0...360 Grad Offset corresponds to a value of 0...180. |
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| 15 | (A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the correct values via the Koptertool |
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| 16 | The "Kompass" debug value has to show the correct orientation: kopter front oriented to north => value approx 0 Degree) |
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| 17 | |||
| 18 | Other requirements: |
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| 19 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter. |
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| 20 | |||
| 21 | Parameters: |
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| 22 | The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), UserParameter3 = D(ifferential). |
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| 23 | Standardvalues for P,I and D are 90,24,130. |
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| 26 | Requirements for GPS_Hold: |
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| 27 | The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration. |
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| 28 | The red led on the FlightCrtl flashes with a 4 Hz rate. |
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| 29 | |||
| 30 | |||
| 31 | Enabling GPS_Hold in fligh: |
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| 32 | GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
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| 33 | Moving the stick disables immediately the Hold mode. |
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| 34 | |||
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| 36 | GPS Coming Home function |
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| 37 | -- coming later :-) |
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| 38 | |||
| 39 | |||
| 40 | Other changes: |
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| 41 | -automatically pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
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| 42 | -Output PC6 can be used to switch TX data between a Bluetooth and the GPS Module (further hardware required) to the RX input of the FlightCrtl |
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| 43 | -automatically Yaw gyro compensation if compass is available. |
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