1,6 → 1,6 |
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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. |
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23,7 → 23,7 |
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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. |
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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. |
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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. |
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Other changes: |