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AP_HAL_FLYMAPLE: Add notes to FlymaplePortingNotes.txt re GPS selection.

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Mike McCauley 2014-02-05 10:25:47 +10:00 committed by Andrew Tridgell
parent 54a0b04c12
commit 4f9f87a8c6
1 changed files with 25 additions and 0 deletions
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libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt
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@ -297,6 +297,31 @@ You may (like me) need to reverse the Roll servo, using the Radio Calibration pa
on Mission Planner, else the vehicle will steer in exactly the wrong direction
when on Auto, but will be OK on Manual.
GPS notes
I tested intially with an EM-405A GPS (This is a 5Hz, 5V GPS, and therefore I
also needed a voltage divider to make the received data compatible with the
Flymaple 3.3V GPS input on pin D0). This GPS was unsatisfactory due to long
time lags in changing ground track and speed, and also due to large random
ground speeds up to 1.0 m/s when stationary. I was able to get ok behaviour
with very large values for NAVL1_PERIOD of around 40. Dont use this GPS.
I also tested with a Eagle Tree GPS$v, which is a 10Hz, 3.3V GPS board
containing a GTPA010 GPS. This GPS worked much better with the suggested
tuning configuration from
http://rover.ardupilot.com/wiki/tuning-steering-and-navigation-for-a-rover/
For the record, the tuning I used with this was:
CRUISE_SPEED 3 m/s
CRUISE_THROTTLE 40 %
NAVL1_DAMPING 0.76
NAVL1_PERIOD 10
SPEED2THR_D 0.2
SPEED2THR_I 0.2
SPEED2THR_IMAX 4000
SPEED2THR_P 0.7
Remaining issues:
1. Many alignment warnings emitted by the compiler from libraries/GCS_MAVLink