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GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
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As of February, 9th 2008
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Please note the files Licensce_LPGL.txt and Licensce_GPL.txt
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This SW is based on Holgers V00.67g.
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Hardware-requirements:
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Calibrated compass of type CMPS03, horizontally adjusted
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GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and  "NAV_VELNED"
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must be activated with  4 HZ update rate. All messages of type NMEA should be disabled.
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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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UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction
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( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual)  of the kopter
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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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(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the
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correct value via the Koptertool. The "Kompass" debug value  has to show the correct orientation:
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kopter Motor vorne  orientated to north => value approx 0 Degree)
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Other requirements:
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Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter
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as exactly as possible.
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Parameters:
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The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral),
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UserParameter3 = D(ifferential). Standardvalues for P,I and D are 60,8,100.
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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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oscillating.
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Please find out the best values yourself.
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It might be useful to put the P and D Part on potis and test the behaviour in flight.
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Requirements for GPS_Hold:
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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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Without a succesfull position fix at calibration the GPS functionality ist completely disabled.
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The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix.
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There are two ways to enable the GPS Hold functionality:
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Either enable the GPS flag in the setting OR
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disable the GPS flag in the setting AND set UserParameter5 to a value > 75 and < 170.
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Enabling GPS_Hold in flight:
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GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
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Moving the stick immediately  disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.
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GPS Coming-Home function
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There are tow ways to enable the GPS Coming Home functionality:
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Either enable the GPS flag in the setting AND set the Height Switch ("ParameterMAxhoehe) to a value > 170 OR
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disable the GPS flag in the setting AND set UserParameter5 to a value > 170.
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The height regulator itself is activated with a value >= 50.
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Other changes:
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- automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit.
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- 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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- automatic Yaw gyro compensation if compass is available.
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