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*********************************************************************
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GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
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GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
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As of 23.12.2007
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As of 24.12.2007
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Please note Licensce_LPGL.txt and Licensce_GPL.txt
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Please note the files Licensce_LPGL.txt and Licensce_GPL.txt
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This SW is based on Holgers V00.67g.
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This SW is based on Holgers V00.67g.
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********************************************************************* 
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********************************************************************* 
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Hardware-requirements: 
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Hardware-requirements: 
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Calibrated compass of type CMPS03, horizontally adjusted
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Calibrated compass of type CMPS03, horizontally adjusted
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GPS module of  type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and  "NAV_VELNED"
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GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and  "NAV_VELNED"
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must be activated with  4 HZ update rate. All messages of type NMEA should be disabled.
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must be activated with  4 HZ update rate. All messages of type NMEA should be disabled.
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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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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
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UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction of the kopter 
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( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual)  of the kopter 
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and the north direction of the compass is represented as follows 0...360 Grad Offset corresponds to a value of 0...180. 
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and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180. 
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(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the 
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(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the correct values via the Koptertool
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correct value via the Koptertool. The "Kompass" debug value  has to show the correct orientation: 
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The "Kompass" debug value  has to show the correct orientation: kopter front oriented to north => value approx 0 Degree)
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kopter Motor vorne  orientated to north => value approx 0 Degree)
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Other requirements: 
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Other requirements: 
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Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter 
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Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter.
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as exactly as possible.
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Parameters:
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Parameters:
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The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), 
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UserParameter3 = D(ifferential). Standardvalues for P,I and D are 90,24,130.
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The i-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid 
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The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), UserParameter3 = D(ifferential).
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oscillating. 
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Standardvalues for P,I and D are 90,24,130.
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Please find out the best values yourself. 
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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:
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Requirements for GPS_Hold:
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The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.
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The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.
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The red led on the FlightCrtl flashes with a 4 Hz rate.
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Without a succesfull position fix at calibration the GPS functionality ist completely disabled.
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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:
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Enabling GPS_Hold in fligh:
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GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
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GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
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Moving the stick immediately  disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw.
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Moving the stick disables immediately the Hold mode.
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