Rev 670 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 670 | Rev 698 | ||
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| 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 Jan, 20th 2007 |
3 | As of February, 9th 2008 |
| 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 80,16,80. |
26 | UserParameter3 = D(ifferential). Standardvalues for P,I and D are 60,8,100. |
| 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 | There are two ways to enable the GPS Hold functionality: |
|
| - | 37 | Either enable the GPS flag in the setting OR |
|
| - | 38 | disable the GPS flag in the setting AND set UserParameter5 to a value > 75 and < 170. |
|
| 36 | 39 | ||
| 37 | Enabling GPS_Hold in fligh: |
40 | Enabling GPS_Hold in flight: |
| 38 | GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
41 | 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. |
42 | Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw. |
| 40 | - | ||
| 41 | 43 | ||
| - | 44 | GPS Coming-Home function |
|
| 42 | GPS Coming-Home function |
45 | There are tow ways to enable the GPS Coming Home functionality: |
| - | 46 | Either enable the GPS flag in the setting AND set the Height Switch ("ParameterMAxhoehe) to a value > 170 OR |
|
| 43 | The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum. |
47 | disable the GPS flag in the setting AND set UserParameter5 to a value > 170. |
| 44 | The height regulator itself is activated at approx. Maximum/2. |
48 | The height regulator itself is activated with a value >= 50. |
| 45 | 49 | ||
| 46 | 50 | ||
| 47 | Other changes: |
51 | Other changes: |
| 48 | - automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
52 | - 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 |
53 | - 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. |
54 | - automatic Yaw gyro compensation if compass is available. |
| 51 | 55 | ||
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