http://diydrones.com/profiles/blogs/ac2 ... -tuner-sim PID tuning simulator. Cant take the credit for it as its from the EOSBandi GPS setup document. I have updated the GPS functions using code from EOSBandi and NEB. SEarch for GPS.zip from EOSBandi on this site and then add the following into the stated places. I found that it improved my GPS even in the house
1. replace gps.ino with gps.zip
2. add to gps.ino some of this code already exists find the first line and add up to and including #define DIGIT_TO_VAL
// This code is used for parsing NMEA data
#if defined(GPS_SERIAL)
#if !defined(UBLOX)
/* Alex optimization
The latitude or longitude is coded this way in NMEA frames
.....
This function converts this format in a unique unsigned long where 1 degree = 10 000 000
EOS increased the precision here, even if we think that the gps is not precise enough, with 10e5 precision it has 76cm resolution
with 10e7 it's around 1 cm now. Increasing it further is irrelevant, since even 1cm resolution is unrealistic, however increased
resolution also increased precision of nav calculations
*/
/////////////// NEB (Carlonb) from Eosbandi idea
// Autosetup for serial GPS MTK 3329 chipset
// The strange think is that the new serial speed update will be accepted only if the GSP chiset is in default state at 9600 bps ???!!!
// My GPS will go back in default setttings after 2 days unpowered.
// With this, if GPS is in default state, OK, will be updated with new param, if not, no problem, will not accept these commands and nothig happens,
// simply means that already has these new parameters (115200bps, 10Hz, GGA and RMC NMEA strings).
void NMEA_MTK_NEB_init(void) // NEB
{
const unsigned long baudrates[5] = {9600U, 19200U, 38400U, 57600U, 115200U};
//const unsigned long baudrates[4] = {9600U, 19200U, 38400U, 57600U};
//#define NMEA_MTK_RESET "$PMTK104*37\r\n" // Reset to factory default
#define NMEA_MTK_STRING "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" // Command for only GGA & RMC NMEA strings
#define NMEA_MTK_SET_SPEED "$PMTK251,115200*1F\r\n" // 115200 bps
//#define NMEA_MTK_SET_SPEED "$PMTK251,57600*2C\r\n" // 57600 bps
//#define NMEA_MTK_SET_SPEED "$PMTK251,9600*17\r\n" // 9600 bps
#define NMEA_MTK_SET_HZ "$PMTK300,100,0,0,0,0*2C\r\n" // 10Hz
//#define NMEA_MTK_SET_HZ "$PMTK300,200,0,0,0,0*2F\r\n" // 5Hz
//#define NMEA_MTK_SET_HZ "$PMTK300,1000,0,0,0,0*1C\r\n" // 1Hz
for (uint8_t i=0; i<6; i++) { // Carlonb from idea of EOSBANDI (autosearch of default baud rate)
SerialOpen(GPS_SERIAL,baudrates[i]);
delay(200);
SerialWriteBuffer(GPS_SERIAL, (uint8_t *)NMEA_MTK_SET_SPEED, sizeof(NMEA_MTK_SET_SPEED)-1); // NEB set GPS serial speed
delay(200);
SerialEnd(GPS_SERIAL);
delay(200);
}
SerialOpen(GPS_SERIAL,GPS_BAUD); // NEB changed 57600 with GPS_BAUD
delay(200);
SerialWriteBuffer(GPS_SERIAL, (uint8_t *)NMEA_MTK_SET_HZ, sizeof(NMEA_MTK_SET_HZ)-1); // NEB set GPS refresh rate (Hz)
delay(200);
SerialWriteBuffer(GPS_SERIAL, (uint8_t *)NMEA_MTK_STRING, sizeof(NMEA_MTK_STRING)-1); // NEB set GPS for GGA & RMC NMEA strings only
delay(200);
SerialEnd(GPS_SERIAL);
delay(100);
}
void SerialWriteBuffer(uint8_t port, uint8_t *buffer, uint8_t size)
{
uint8_t i;
uint8_t *ptr;
ptr = buffer;
for (i=0;i<size;i++) {
SerialWrite(port,*ptr);
ptr++;
}
}
/////////////// NEB mod end
#define DIGIT_TO_VAL(_x) (_x - '0')
.........................................................................
3. add to multiwii.ino
#if defined(GPS_SERIAL)
///////////// EOSBANDI
#if defined(UBLOX)
UBLOX_init();
delay(200);
#endif
#if defined(MTK)
MTK_init();
delay(200);
#endif
#if defined(NMEA) // NEB added for NMEA MTK setup
NMEA_MTK_NEB_init();
delay(200);
#endif
///////////// EOSBANDI
SerialOpen(GPS_SERIAL,GPS_BAUD);
#endif
....................................................................................
4. add to config.h
#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
#define GPS_BAUD 115200 // 57600
#define NMEA
//#define UBLOX
//#define MTK
#define GPS_LEAD_FILTER
//#define GPS_FILTERING
//#define NAV_SLEW_RATE 30
