WebSVN - FlightCtrl - Diff - Rev 571 and 616 - /branches/salvo_gps/Basis_v0067g/trunk/README_Gps


*********************************************************************
GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
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"
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
( = 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 
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 80,0,80.
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.
 
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.
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.
 
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 immediately  disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.
 
 
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.
 
 
Other changes:
- 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.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Subversion Repositories FlightCtrl

(root)/branches/salvo_gps/Basis_v0067g/trunk/README_Gps_English.txt - Rev 571 → 616

Rev 571		Rev 616
1	*********************************************************************	1	*********************************************************************
2	GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl	2	GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
3	As of 24.12.2007	3	As of 24.12.2007
4	Please note the files Licensce_LPGL.txt and Licensce_GPL.txt	4	Please note the files Licensce_LPGL.txt and Licensce_GPL.txt
5	This SW is based on Holgers V00.67g.	5	This SW is based on Holgers V00.67g.
6	*********************************************************************	6	*********************************************************************
7	Hardware-requirements:	7	Hardware-requirements:
8	Calibrated compass of type CMPS03, horizontally adjusted	8	Calibrated compass of type CMPS03, horizontally adjusted
9	GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED"	9	GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED"
10	must be activated with 4 HZ update rate. All messages of type NMEA should be disabled.	10	must be activated with 4 HZ update rate. All messages of type NMEA should be disabled.
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).	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).
12		12
13	UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction	13	UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction
14	( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter	14	( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter
15	and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180.	15	and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180.
16	(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the	16	(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the
17	correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation:	17	correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation:
18	kopter Motor vorne orientated to north => value approx 0 Degree)	18	kopter Motor vorne orientated to north => value approx 0 Degree)
19		19
20	Other requirements:	20	Other requirements:
21	Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter	21	Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter
22	as exactly as possible.	22	as exactly as possible.
23		23
24	Parameters:	24	Parameters:
25	The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral),	25	The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral),
26	UserParameter3 = D(ifferential). Standardvalues for P,I and D are 90,24,130.	26	UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,0,80.
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	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
28	oscillating.	28	oscillating.
29	Please find out the best values yourself.	29	Please find out the best values yourself.
30	It might be useful to put the P and D Part on potis and test the behaviour in flight.	30	It might be useful to put the P and D Part on potis and test the behaviour in flight.
31		31
32	Requirements for GPS_Hold:	32	Requirements for GPS_Hold:
33	The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.	33	The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.
34	Without a succesfull position fix at calibration the GPS functionality ist completely disabled.	34	Without a succesfull position fix at calibration the GPS functionality ist completely disabled.
35	The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix.	35	The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix.
36		36
37	Enabling GPS_Hold in fligh:	37	Enabling GPS_Hold in fligh:
38	GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.	38	GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
39	Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.	39	Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.
40		40
41		41
42	GPS Coming-Home function	42	GPS Coming-Home function
43	The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum.	43	The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum.
44	The height regulator itself is activated at approx. Maximum/2.	44	The height regulator itself is activated at approx. Maximum/2.
45		45
46		46
47	Other changes:	47	Other changes:
48	- automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit.	48	- automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit.
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	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
50	- automatic Yaw gyro compensation if compass is available.	50	- automatic Yaw gyro compensation if compass is available.
51		51
52		52
53		53
54		54
55		55
56		56
57		57
58		58
59		59
60		60
61		61
62		62
63		63
64		64
65		65
66		66