User Manual

sketch connect your usb/serial dongle to the board (cross connect TX/RX) and follow the update
procedure above . (Latest Navigatron modules reported to preset to 115200/10Hz)
Once you have a new firmware, you can use the MiniGPS program from the update package to
test your module, and you can set default parameters (Just press Shift+ctrl+S to display
additional tabs). Make sure that your GPS receivers default settings are match with the expected
settings above.
Configuring and using Multiwii GPS functions
Setting GPS connection for serial GPS
#define GPS_SERIAL 2 // Sets the serial port used for GPS
#define GPS_BAUD 115200 // Sets the serial port speed
//#define I2C_GPS //Comment out I2C_GPS since using Serial GPS
Settings for I2C_GPS
//#define GPS_SERIAL 2 // Comment out serial gps
//#define GPS_BAUD 115200 // Comment out serial gps speed
#define I2C_GPS // Enable I2C-GPS
Magnetic declination
Magnetic declination is the angle between magnetic north (the direction the north end of a
compass needle points) and true north. For a precise navigation we have to know this variance
and use it during our calculations. You can get your location’s magnetic declination from this
website : http://magnetic-declination.com/ The value must be converted to a decimal degree by
the degree+minutes*(1/60) formula. For example the magnetic declination for Budapest is 3°
58' EAST so the value that you have to enter into config.h is 3+58*(1/60) which is 3.96. EAST
means that the value is positive, WEST means it’s negative ( at Pittsburg it is 9° 13' WEST which
is -9.21 ). Enter the calculated value to config.h, in the #define MAG_DECLINIATION line,
please add an f after the number to indicate a decimal number.
#define MAG_DECLINIATION 3.96f
Tail control
There are three settings that control the copter’s heading during RTH. DO NOT COMMENT
OUT THESE DEFINES just change the value true/false.
#define NAV_CONTROLS_HEADING true
If this is true then during RTH the copter will always turns its head towards the home point. The
heading control is governed by the MAG P value, lower P means the copter will turn slow, higher
P equals quick turn. MAGHOLD must be active for this function. (and for all heading control
functions)
#define NAV_TAIL_FIRST false