1,7 → 1,7 |
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GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
As of 23.12.2007 |
Please note Licensce_LPGL.txt and Licensce_GPL.txt |
As of 24.12.2007 |
Please note the files Licensce_LPGL.txt and Licensce_GPL.txt |
This SW is based on Holgers V00.67g. |
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Hardware-requirements: |
10,37 → 10,44 |
must be activated with 4 HZ update rate. All messages of type NMEA should be disabled. |
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 of the kopter |
and the north direction of the compass is represented as follows 0...360 Grad Offset corresponds to a value of 0...180. |
(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the correct values via the Koptertool |
The "Kompass" debug value has to show the correct orientation: kopter front oriented to north => value approx 0 Degree) |
UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction |
( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter |
and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180. |
(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the |
correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation: |
kopter Motor vorne orientated to north => value approx 0 Degree) |
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Other requirements: |
Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter. |
Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
as exactly as possible. |
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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 90,24,130. |
The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
UserParameter3 = D(ifferential). Standardvalues for P,I and D are 90,24,130. |
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. |
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: |
The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration. |
The red led on the FlightCrtl flashes with a 4 Hz rate. |
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. |
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Enabling GPS_Hold in fligh: |
GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
Moving the stick disables immediately the Hold mode. |
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 |
-- coming later :-) |
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. |
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Other changes: |
-automatically pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
- automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
-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 |
-automatically Yaw gyro compensation if compass is available. |
- automatic Yaw gyro compensation if compass is available. |
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