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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 23.12.2007 |
3 | As of 24.12.2007 |
| 4 | Please note 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). |
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| 12 | 12 | ||
| - | 13 | UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction |
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| 13 | UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction of the kopter |
14 | ( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter |
| 14 | and the north direction of the compass is represented as follows 0...360 Grad 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 |
|
| 15 | (A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the correct values via the Koptertool |
17 | correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation: |
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| 16 | The "Kompass" debug value has to show the correct orientation: kopter front oriented to north => value approx 0 Degree) |
18 | kopter Motor vorne orientated to north => value approx 0 Degree) |
| 17 | 19 | ||
| - | 20 | Other requirements: |
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| 18 | Other requirements: |
21 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
| 19 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter. |
22 | as exactly as possible. |
| 20 | 23 | ||
| - | 24 | Parameters: |
|
| 21 | Parameters: |
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. |
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| - | 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 |
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| 22 | The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), UserParameter3 = D(ifferential). |
28 | oscillating. |
| 23 | Standardvalues for P,I and D are 90,24,130. |
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. |
|
| 24 | 31 | ||
| 25 | - | ||
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| 26 | Requirements for GPS_Hold: |
32 | Requirements for GPS_Hold: |
| 27 | 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. |
| 28 | The red led on the FlightCrtl flashes with a 4 Hz rate. |
34 | Without a succesfull position fix at calibration the GPS functionality ist completely disabled. |
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| 29 | 35 | The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix. |
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| - | 36 | ||
| 30 | 37 | Enabling GPS_Hold in fligh: |
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| 31 | 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. |
| 32 | 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. |
| 33 | Moving the stick disables immediately the Hold mode. |
40 | |
| 34 | 41 | ||