if enabled, define here the Arduino Serial port number a n d the UART speed
note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
in NMEA mode the GPS must be configured to output GGA a n d RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
#define GPS_BAUD 115200
/* GPS protocol
NMEA - Sta n dard NMEA protocol GGA, GSA a n d RMC sentences are needed
UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
MTK_BINARY16 a n d MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
With UBLOX a n d MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
//#define NMEA
#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate a n d GGA & RMC sentence or binary settings
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBa n di http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
#define I2C_GPS
// If your I2C GPS board has Sonar support enabled
//#define I2C_GPS_SONAR
/* GPS data readed from Misio-OSD - GPS module connected to OSD, a n d MultiWii read GPS data from OSD - tested a n d working OK ! */
//#define GPS_FROM_OSD
/* 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
- No GPS FIX -> LED blink at speed of incoming GPS frames
- Fix a n d sat no. bellow 5 -> LED off
- Fix a n d sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR
//#define USE_MSP_WP //Enables the MSP_WP comma n d, which is used by WinGUI to display a n d log Home a n d Poshold positions
//#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)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for it
#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction
/* Get your magnetic declination from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINATION 3.96f //For Budapest Hungary.
#define MAG_DECLINATION 1.16f //(**)
#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes
if enabled, define here the Arduino Serial port number a n d the UART speed
note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
in NMEA mode the GPS must be configured to output GGA a n d RMC NMEA sentences (which is generally the default conf for most GPS devices)
at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
//#define GPS_SERIAL 2 // should be 2 for flyduino v2. It's the serial port number on arduino MEGA
//#define GPS_PROMINI_SERIAL // Will Autosense if GPS is connected when ardu boots.
// avoid using 115200 baud because with 16MHz arduino the 115200 baudrate have more than 2% speed error (57600 have 0.8% error)
#define GPS_BAUD 115200
/* GPS protocol
NMEA - Sta n dard NMEA protocol GGA, GSA a n d RMC sentences are needed
UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
MTK_BINARY16 a n d MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
With UBLOX a n d MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
//#define NMEA
#define UBLOX
//#define MTK_BINARY16
//#define MTK_BINARY19
//#define INIT_MTK_GPS // initialize MTK GPS for using selected speed, 5Hz update rate a n d GGA & RMC sentence or binary settings
/* I2C GPS device made with an independant arduino + GPS device
including some navigation functions
contribution from EOSBa n di http://code.google.com/p/i2c-gps-nav/
You have to use at least I2CGpsNav code r33 */
#define I2C_GPS
// If your I2C GPS board has Sonar support enabled
//#define I2C_GPS_SONAR
/* GPS data readed from Misio-OSD - GPS module connected to OSD, a n d MultiWii read GPS data from OSD - tested a n d working OK ! */
//#define GPS_FROM_OSD
/* 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
- No GPS FIX -> LED blink at speed of incoming GPS frames
- Fix a n d sat no. bellow 5 -> LED off
- Fix a n d sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
#define GPS_LED_INDICATOR
//#define USE_MSP_WP //Enables the MSP_WP comma n d, which is used by WinGUI to display a n d log Home a n d Poshold positions
//#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)
/* GPS navigation can control the heading */
#define NAV_CONTROLS_HEADING true // copter faces toward the navigation point, maghold must be enabled for it
#define NAV_TAIL_FIRST false // true - copter comes in with tail first
#define NAV_SET_TAKEOFF_HEADING true // true - when copter arrives to home position it rotates it's head to takeoff direction
/* Get your magnetic declination from here : http://magnetic-declination.com/
Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
Note the sign on declination it could be negative or positive (WEST or EAST) */
//#define MAG_DECLINATION 3.96f //For Budapest Hungary.
#define MAG_DECLINATION 1.16f //(**)
#define GPS_LEAD_FILTER // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
//#define GPS_FILTERING // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
#define GPS_WP_RADIUS 200 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
#define NAV_SLEW_RATE 30 // Adds a rate control to nav output, will smoothen out nav angle spikes
