GPS integration

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Re: GPS integration

Postby jevermeister » Wed May 16, 2012 11:55 am

howardhb wrote:I must say that my GPS is working far better after flashing the firmware with:
FMP04_Camled_010327_A1.5E_20110118_10Hz_115200.bin
( see previous post from from @Scotth72 )
Just follow the instructions 100%.
You have to load Flashing firmware for the Flashtool program, AND GPS firmware.....

After flashing, I used the latest version of Mini GPS Tool V1.7.1 ( http://www.gtop-tech.com/jsf/download.jsf )
Set COM port to 38400, then press Connect. NB: Then press Ctrl + Alt + S to show the setup menu.
I was then able to set the GPS to output ONLY GGA, GSA and GSV sentences at 115200baud and 10Hz, and SAVE these settings.

So, after doing this, the MTK3329 (DiyDrones) and code from EOSBandi (both serial and I2C) can be used with confidence, at 115kb and 10Hz.

I had a chance, this morning, to test the new GPS Position Hold.
Position Hold definitely works very well. Hovered for 8 minutes in an area of about 1m radius, hands off!
Conditions were calm, almost no wind, but some small gusts, enough to see copter correcting!
Need to play some more with RTH PID's - overshoots a bit +- 10m, getting progressively worse.
I think lowering NavR P and PosR P will be the place to start.

H.

hey,

Is this neccesary to run the GPS with the nu code what is thhe difference?what is neded to flash the fmp?

thank ya
nils
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Re: GPS integration

Postby EOSBandi » Wed May 16, 2012 12:21 pm

Guys, I found a serious issue with the PID settings, pushed an update please use it.
(I turned out that teh PIDITEMS define is not used in the definitions of the PID arrays :( )

The updated gps firmware adds defuault 10Hz and 115200bps settings, plus allows you to save your desired settings into the flash on the gps module. Which removes the burden of setting the gps module on the fly (which is a kind a tricky and unpredictable especially with navigatron :( )
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Re: GPS integration

Postby LuFa » Wed May 16, 2012 12:26 pm

only at the i2c gps code ?? or also at Serial GPS Code ?
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Re: GPS integration

Postby EOSBandi » Wed May 16, 2012 12:29 pm

howardhb wrote:
I had a chance, this morning, to test the new GPS Position Hold.
Position Hold definitely works very well. Hovered for 8 minutes in an area of about 1m radius, hands off!
Conditions were calm, almost no wind, but some small gusts, enough to see copter correcting!
Need to play some more with RTH PID's - overshoots a bit +- 10m, getting progressively worse.
I think lowering NavR P and PosR P will be the place to start.

H.


Hi. try to increase the D terms... i flew with these last time... and got a quite OK RTH...

#define POSHOLD_P .11
#define POSHOLD_I 0.0
#define POSHOLD_RATE_P 1.4
#define POSHOLD_RATE_I 0.2
#define POSHOLD_RATE_D 0.018
#define NAV_P 1.4
#define NAV_I 0.22
#define NAV_D 0.008

You also can lower the navigational speed max (at the moment it's not wired out to gui, so you have to change it in the i2c_gps_nav config.h NAV_SPEED_MAX to 300...)
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Re: GPS integration

Postby EOSBandi » Wed May 16, 2012 12:29 pm

LuFa wrote:only at the i2c gps code ?? or also at Serial GPS Code ?

Multiwii base code.. :(
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Re: GPS integration

Postby jevermeister » Wed May 16, 2012 12:35 pm

Argh I so want to test your code mate, but I broke my hand and can not use my tx :-(

Are u in contact with alex, will it be in the trunk?

nils
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Re: GPS integration

Postby LuFa » Wed May 16, 2012 12:41 pm

EOSBandi wrote:
LuFa wrote:only at the i2c gps code ?? or also at Serial GPS Code ?

Multiwii base code.. :(


ok

because i have only see a update from the i2c code :?
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Re: GPS integration

Postby howardhb » Wed May 16, 2012 1:32 pm

#define POSHOLD_P .11
#define POSHOLD_I 0.0
#define POSHOLD_RATE_P 1.4
#define POSHOLD_RATE_I 0.2
#define POSHOLD_RATE_D 0.018
#define NAV_P 1.4
#define NAV_I 0.22
#define NAV_D 0.008

Thanks! Will fly again this afternoon. (un-characteristically perfect, windless conditions here! :mrgreen: )

If you wouldn't mind, please push my updated LCD / OLED ... (attached zip)
Attachments
LCD.zip
Added GPS PID's to LCD_CONF
(16.63 KiB) Downloaded 42 times
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Re: GPS integration

Postby EOSBandi » Wed May 16, 2012 1:33 pm

LuFa wrote:
EOSBandi wrote:
LuFa wrote:only at the i2c gps code ?? or also at Serial GPS Code ?

Multiwii base code.. :(


ok

because i have only see a update from the i2c code :?

http://code.google.com/p/i2c-gps-nav/source/detail?r=22
Log message
A serious issue with PID settings identified and corrected.
(PID array definition did not used PIDITEMS define... )
Without this fix r20 and r21 is unflyable!!!!!

Modify /trunk/I2C_GPS_NAV/I2C_GPS_NAV-MultiwiiDev-NAV/MultiWii/MultiWii.ino
Modify /trunk/I2C_GPS_NAV/I2C_GPS_NAV-MultiwiiDev-NAV/MultiWii/Serial.ino
Modify /trunk/I2C_GPS_NAV/I2C_GPS_NAV-MultiwiiDev-NAV/MultiWiiConf/MultiWiiConf.pde
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Re: GPS integration

Postby LuFa » Wed May 16, 2012 1:50 pm

ah ok , you have also the Serial GPS code move to the i2c gps project page :)
because the latest version wich i have use is r10 . Have r10 the same proplem ?

if i understand it right , r22 is for i2c and Serial GPS ?
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