From 4f9f87a8c631dd81dd3bb68c4612beeced0506cd Mon Sep 17 00:00:00 2001 From: Mike McCauley Date: Wed, 5 Feb 2014 10:25:47 +1000 Subject: [PATCH] AP_HAL_FLYMAPLE: Add notes to FlymaplePortingNotes.txt re GPS selection. --- .../AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt | 25 +++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt b/libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt index 4fe086c871..420a602e9f 100644 --- a/libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt +++ b/libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt @@ -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