請問MWC的GPS設置

tony1157cn

最近準備玩四軸的定點，於是入手一隻Ulbox的GPS模組及arduino pro mini作為I2C-GPS導航板，燒錄了I2C_GPS_NAV_v2.2Beta1-r62固件。
昨晚測試的情況是，GPS信號燈正常，I2C導航板上的指示燈也保持每秒3下的閃動頻率，證明GPS連線正常，但到了GUI裏面GPS_fix雖然是綠色連線狀態，但各項值都是-1的狀態。有說是導航板跟主控的通訊有問題。
請教各位大大
這個是GUI的截圖

這段是I2C导航板的config

1. //////////////////////////////////////////////////////////////////////////////
   
2. // i2C comm definitions
   
3. //
   
4. #define I2C_ADDRESS        0x20                      //7 bit address 0x40 write, 0x41 read
   
5. 
   
6. /* GPS Lead filter - predicts gps position based on the x/y speed. helps overcome the gps lag. */
   
7. #define GPS_LEAD_FILTER
   
8. 
   
9. /* Serial speed of the GPS */
   
10. #define GPS_SERIAL_SPEED 115200
    
11. 
    
12. /* GPS protocol
    
13. * NMEA                        - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
    
14. * UBLOX                - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
    
15. * MTK_BINARY16 - MTK binary protocol (DIYDrones v1.6)
    
16. * MTK_BINARY19 - MTK binary protocol (DIYDrones v1.9)
    
17. * MTK_INIT     - Initialize MTK GPS (if MTK_BINARY16 or 19 is not defined then it goes to NMEA, otherwise it goes for binary)
    
18. * With MTK and UBLOX you don't have to use GPS_FILTERING in multiwii code !!!
    
19. *
    
20. */
    
21. 
    
22. //#define NMEA
    
23. #define UBLOX
    
24. //#define MTK_BINARY16
    
25. //#define MTK_BINARY19
    
26. //#define INIT_MTK_GPS
    
27. 
    
28. 
    
29. //////////////////////////////////////////////////////////////////////////////
    
30. // Sonar support. Based on code mods from Crazy Al
    
31. // Connect Sonar trigger to PC3 (arduino pin A3) and echo output to PC2 (arduino pin A2)
    
32. // Supported sonars :
    
33. // Ping/Pong type sonar modules such as HC-SR04, SRF-04, DYP-ME007 and many others...
    
34. // PWM output continous sonars such as the MAXBOTIX series (connect pin2(PWM out) of the sonar to PC2
    
35. 
    
36. //#define SONAR                                                // USE Sonar
    
37. 
    
38. //Sonar type uncomment only one at a time
    
39. //#define PINGPONG
    
40. //#define MAXBOTIX_PWM                                // PWM output mode sonar
    
41. 
    
42. 
    
43. 
    
44. // Default PID variables
    
45. //////////////////////////////////////////////////////////////////////////////
    
46. // POSHOLD control gains
    
47. //
    
48. #define POSHOLD_P                .11
    
49. #define POSHOLD_I                0.0
    
50. #define POSHOLD_IMAX                20                        // degrees
    
51. 
    
52. #define POSHOLD_RATE_P                1.4                        //
    
53. #define POSHOLD_RATE_I                0.2                        // Wind control
    
54. #define POSHOLD_RATE_D                0.010                        // try 2 or 3 for POSHOLD_RATE 1
    
55. #define POSHOLD_RATE_IMAX        20                        // degrees
    
56. //////////////////////////////////////////////////////////////////////////////
    
57. // Navigation PID gains
    
58. //
    
59. #define NAV_P                        1.4                        //
    
60. #define NAV_I                        0.20                        // Wind control
    
61. #define NAV_D                        0.006                        //
    
62. #define NAV_IMAX                20                        // degrees
    
63. 
    
64. ////////////////////////////////////////////////////////////////////////////////////
    
65. // Navigational parameters and limiters initial values
    
66. //
    
67. #define CROSSTRACK_GAIN            1            // Weighting the cross track error
    
68. #define NAV_SPEED_MIN              100          // cm/sec minimum navigational speed when NAV_SLOW_NAV id false
    
69. #define NAV_SPEED_MAX              300          // cm/sec maximum navigational speed
    
70. #define NAV_BANK_MAX               2500         // 20deg max banking when navigating (just for security and testing)
    
71. 
    
72. ////////////////////////////////////////////////////////////////////////////////////
    
73. // GPS data filtering - moving average filter vector length
    
74. //
    
75. #define GPS_FILTER_VECTOR_LENGTH 5
    

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主控GPS部分的設定

1. /**************************************************************************************/
   
2.   /***********************                  GPS                **************************/
   
3.   /**************************************************************************************/
   
4. 
   
5.     /* GPS using a SERIAL port
   
6.        if enabled, define here the Arduino Serial port number and the UART speed
   
7.        note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
   
8.        in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
   
9.        at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
   
10.       
    
11.     //#define GPS_SERIAL 2         // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
    
12.     //#define GPS_PROMINI_SERIAL   // Will Autosense if GPS is connected when ardu boots.
    
13. 
    
14.     // avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
    
15.     #define GPS_BAUD   115200
    
16. 
    
17.    /* GPS protocol
    
18.        NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
    
19.        UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
    
20.        MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
    
21.        With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
    
22. 
    
23.    
    
24.     //#define NMEA
    
25.     #define UBLOX
    
26.     //#define MTK_BINARY16
    
27.     //#define MTK_BINARY19
    
28.     //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
    
29. 
    
30.    
    
31.     /* I2C GPS device made with an independant arduino + GPS device
    
32.        including some navigation functions
    
33.        contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/
    
34.        You have to use at least I2CGpsNav code r33 */
    
35.     #define I2C_GPS
    
36.     // If your I2C GPS board has Sonar support enabled
    
37.     //#define I2C_GPS_SONAR
    
38. 
    
39.     /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
    
40.     //#define GPS_FROM_OSD
    
41. 
    
42.     /* indicate a valid GPS fix with at least 5 satellites by flashing the LED  - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
    
43.       - No GPS FIX -> LED blink at speed of incoming GPS frames
    
44.       - Fix and sat no. bellow 5 -> LED off
    
45.       - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
    
46.     #define GPS_LED_INDICATOR
    
47. 
    
48.     //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
    
49. 
    
50.     //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
    
51. 
    
52.     /* GPS navigation can control the heading */
    
53.    
    
54.     #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
    
55.     #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first
    
56.     #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
    
57.    
    
58.    
    
59.     /* Get your magnetic declination from here : http://magnetic-declination.com/
    
60.        Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
    
61.        Note the sign on declination it could be negative or positive (WEST or EAST) */
    
62.     //#define MAG_DECLINATION  3.96f              //For Budapest Hungary.
    
63.     #define MAG_DECLINATION  1.16f   //(**)
    
64. 
    
65.     #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
    
66.    
    
67.     //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
    
68.     #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    
69.     #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes
    

複製代碼

各位大大麻煩看看，請問問題出在哪裡

tctdavid

大大，不知你能否試驗一下用2.2的版本，我沒有gps，只有mpu6050，但用2.3版就一直會有I2C error，但是用2.2卻飛得很正常，若是大大試驗2.2可以正常，我也想裝gps來玩玩

tony1157cn

2.2果真沒有I2C Error了，不過因為在辦公室，GPS目前沒有訊號，只有等下班後到室外看能否抓到衛星。可以的話就完美了
附圖一張

tctdavid

tony1157cn 發表於 2014年6月17日 04:57 PM
2.2果真沒有I2C Error了，不過因為在辦公室，GPS目前沒有訊號，只有等下班後到室外看能否抓到衛星。可以的 ...

恭喜，第一步ok了，想請教gps模組沒法直接跟飛控版連接嗎?通常i2c不是有四條線不能直接連上嗎?

還是特定的gps模組才可以直接連，一定需要導航版嗎?可以秀一下你怎麼連接的嗎?謝謝

tony1157cn

在家調試的結果,好像刷2.3也沒多大問題
GPS可以連線了,但數值有點不正常,跳動很大
見圖


另回覆樓上：
328P 的MCU飛控沒辦法直接連GPS模組，因為運算能力不夠，需要一個轉接板，其實也是一片328P，我用Arduino Pro Mini 自己燒錄程序做的。GPS模組的話很多都有售，關鍵字 MWC GPS 就好

tony1157cn

終於 搞定



重新換了連接的杜邦線，估計出現錯誤跟杜邦線連接有問題
另:連接正常後I2C錯誤不再新增，之前爬文有篇有講到這個問題，一時找不到連接，好像是說因為是兩塊板，中間通訊造成的問題。
總之，問題圓滿解決。
後面找時間總結下中間的經驗，有幾個操作要點跟很多地方貼出文章講得不太一樣