Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 662 | salvo | 1 | ********************************************************************* |
| 2 | GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
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| 3 | As of Jan, 9th 2007 |
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| 4 | Please note the files 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 |
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| 14 | ( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter |
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| 15 | and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180. |
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| 16 | (A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the |
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| 17 | correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation: |
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| 18 | kopter Motor vorne orientated to north => value approx 0 Degree) |
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| 19 | |||
| 20 | Other requirements: |
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| 21 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
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| 22 | as exactly as possible. |
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| 23 | |||
| 24 | Parameters: |
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| 25 | The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
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| 26 | UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,0,120. |
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| 27 | The i-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid |
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| 28 | oscillating. |
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| 29 | Please find out the best values yourself. |
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| 30 | It might be useful to put the P and D Part on potis and test the behaviour in flight. |
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| 31 | |||
| 32 | Requirements for GPS_Hold: |
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| 33 | 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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| 34 | Without a succesfull position fix at calibration the GPS functionality ist completely disabled. |
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| 35 | The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix. |
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| 36 | |||
| 37 | Enabling GPS_Hold in fligh: |
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| 38 | GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
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| 39 | Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw. |
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| 40 | |||
| 41 | |||
| 42 | GPS Coming-Home function |
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| 43 | The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum. |
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| 44 | The height regulator itself is activated at approx. Maximum/2. |
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| 45 | |||
| 46 | |||
| 47 | Other changes: |
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| 48 | - automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
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| 49 | - 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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| 50 | - automatic Yaw gyro compensation if compass is available. |
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