Subversion Repositories FlightCtrl

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GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
As of 23.12.2007
Please note Licensce_LPGL.txt and Licensce_GPL.txt
This SW is based on Holgers V00.67g.
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Hardware-requirements: 
Calibrated compass of type CMPS03, horizontally adjusted
GPS module of  type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and  "NAV_VELNED"
must be activated with  4 HZ update rate. All messages of type NMEA should be disabled.
The TX port of the GPS module must be connected to the RX input  of the Flight Crtl. Baudrate is 57600 (like Kopter Tool).

UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction of the kopter 
and the north direction of the compass is represented as follows 0...360 Grad Offset corresponds to a value of 0...180. 
(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the correct values via the Koptertool
The "Kompass" debug value  has to show the correct orientation: kopter front oriented to north => value approx 0 Degree)

Other requirements: 
Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter.

Parameters:
The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), UserParameter3 = D(ifferential).
Standardvalues for P,I and D are 90,24,130.


Requirements for GPS_Hold:
The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration.
The red led on the FlightCrtl flashes with a 4 Hz rate.


Enabling GPS_Hold in fligh:
GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms.
Moving the stick disables immediately the Hold mode.


GPS Coming Home function
-- coming later :-) 


Other changes:
-automatically pitch reduction if the battery voltage falls more than 0.2V below the warning limit.
-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
-automatically Yaw gyro compensation if compass is available.