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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 |
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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 80,16,80. |
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. |
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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. |
| 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. |
|
| - | 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 | There are two ways to enable the GPS Hold functionality: |
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| 34 | Without a succesfull position fix at calibration the GPS functionality ist completely disabled. |
37 | Either enable the GPS flag in the setting OR |
| 35 | The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix. |
38 | disable the GPS flag in the setting AND set UserParameter5 to a value > 75 and < 170. |
| 36 | 39 | ||
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| 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. |
40 | Enabling GPS_Hold in flight: |
| - | 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. |
| - | 43 | ||
| 40 | 44 | GPS Coming-Home function |
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| 41 | 45 | There are tow ways to enable the GPS Coming Home functionality: |
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| 42 | GPS Coming-Home function |
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. |