User Manual

MultiWii GPS assited Position Hold and RTH functions
For code release r33
Document version 1.0
Written By EOSBandi
Table of Contents
Implementations ......................................................................................................................... 2
GPS receivers and their configuration ....................................................................................... 2
Configuring and using Multiwii GPS functions .......................................................................... 3
Setting GPS connection for serial GPS ................................................................................... 3
Settings for I2C_GPS ............................................................................................................... 3
Magnetic declination ............................................................................................................... 3
Tail control .............................................................................................................................. 3
Additional GPS settings .............................................................................................................. 4
GPS Filtering ........................................................................................................................... 4
Low speed D term cancelation ................................................................................................ 4
Waypoint radius ...................................................................................................................... 4
Minimum navigational speed .................................................................................................. 4
Maximum navigational speed ................................................................................................. 4
Slow navigation ....................................................................................................................... 5
Maximum allowed banking ..................................................................................................... 5
PID controls ............................................................................................................................. 5
Getting ready for flight ................................................................................................................ 6
Clearing the EEPROM ............................................................................................................. 6
Compiling the code .................................................................................................................. 6
First test and tuning .................................................................................................................... 6
Pre flight tests .......................................................................................................................... 6
First test Position Hold .............................................................................................................7
Once Poshold is ok, then you can try RTH. ..............................................................................7
Additional information ................................................................................................................7