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Hi,Just some precisions about the current GPS dev code:[U]1) hardware setup:[/U]An arduino mega (might change in the future for a promini, but not yet) with the GPS connected on serial port 2 (customizable, but with the typo correction just mentionned by PatrikE). I'm currently using the flyduino MEGA.You must configure the right baud speed of the GPS port according to your GPS device. (#define GPS + #define GPS_SERIAL 2 + #define GPS_BAUD 115200)You need a NMEA GPS compatible (most serial GPS are compatible). Currently multiwii does not configure the GPS device (will change in the future). So your GPS device must be already configured to output these frames. A 5 or 10Hz is preferable. This update rate is not configurable inside multiwii, multiwii takes what it receives. I'm now using the 10Hz FMP04 GPS with the GPS BOB from flyduino.All the sensors GYRO+ACC+MAG are mandatory. Your multi must be perfectly tuned in level and heading (mag) mode. Your mag direction should not be altered by running motors (this point is very important). Your MAG arrow must point the north direction.Baro is not mandatory, but a working baro config in preferable.[U]2) visualization[/U]If the GPS is correctly connected and configured. You should see the GPS blinking in the GUI (around the grey rosace N/S/E/W in the GUI) according to its update rate.A specific Status LED blink pattern occurs when motors are disarmed and once a fix is ok.Once a fix is ok, you should see the number of satellites and the distance to the first fix position (home) in the GUI.[U]3) activating the GPS[/U]The GPS must be activated (via checkbox and AUX configuration) only if a fix is ok. The home will be set with the first fix.The GPS can be only activated if level mode if also activated. (MAG mode activation or BARO mode activation are not mandatory)The current implementation only supports Return To Home function (PH will be easy to add)Once activated, the GPS will rely on 3 parameters to workdistance to the target point (calculation obtained from GPS device)absolute direction to the target point (calculation obtained from GPS device)heading direction (calculation obtained from MAG+ACC device)The target point distance is used to determine an angle inclination.A PID has been added to the GUI, but it's not currently a real PID.P is used to tune the proportion of inclination regarding the distance to the target point.I is not usedD is used to limit the max inclinationThe combination of direction to the target point+heading direction is used to apply a mix on the motors to follow the right direction. [URL=http://www.multiwii.com/forum/memberlist.php?mode=viewprofile&u=53]Alexinparis[/URL]