| 1,46 → 1,53 |
|---|
| ********************************************************************* |
| 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. |
| ********************************************************************* |
| Hardware-requirements: |
| Calibrated compass of type CMPS03, horizontally adjusted |
| GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED" |
| GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED" |
| 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). |
| |
| 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) |
| |
| 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. |
| |
| 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. |
| -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 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 |
| - automatic Yaw gyro compensation if compass is available. |
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