Rev 662 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
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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, 9th 2007 |
3 | As of Jan, 20th 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 |
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| 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. |
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| 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 80,0,120. |
26 | UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,16,80. |
| 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. |
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| 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. |