GPS library-ish code

They have GPS libraries for Arduino which are fun to play with but not too easy for some one like me to try and make a UGV with. I think it would be a cool idea for diy drones to have code that would just give like distance to your next GPS point and heading needed. You know, a code without all the sensors and outputs but with just the part in figuring out what is needed to get to the next GPS point. I do not know if i am the only one who would like this but there might be others. Or is there is  simple mod for some of the current code that could do this?

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DeveloperPermalink Reply by Doug Weibel on April 18, 2010 at 2:48pm
Hi Patrick - sounds like you (intentionally or unintentionally) have a gain value you need to lower in your scheme.

You will have a bearing to the waypoint and a ground course heading. Your steering input should be based on the difference between them and scaled by a constant value (the gain). This is a P (proportional) controller. You can increase the complexity to a PI or a PID controller for better performance, and even move beyond that to track following and PID. Do a little research on PID control and track following ;)
Permalink Reply by Patrick Mccabe on April 18, 2010 at 3:00pm
Will do. Trying to find that tutorial i had found one day but did not read through it. Matter in fact my maze solving robot code might help me, i did have some proportional control in it. It also seems like i might want to have a given amount of sway on my course heading. Maybe a few degrees that as long as it is with that amount then it is following the course, but at the end i would suppose that it may be too much off the waypoint. Maybe i could decrease the amount of leniency the closer i get to the waypoint. Now when i think about it, kinda sounds like the definition of P control.
Permalink Reply by Patrick Mccabe on April 19, 2010 at 12:33pm
Tried the code today outside by walking. It was able to guide me to the waypoint by serial printing to turn left or right and how far i was to the point. Still not accurate or reliable enough to guide a robot. The distance measures started to get messed up when i got close to the waypoint and stayed still.
Permalink Reply by Patrick Mccabe on April 19, 2010 at 3:03pm
I noticed online that almost all the vehicles in the AUV contest had a compass module, is this really needed? I guess it is hard to turn from one waypoint to another with out it?
Permalink Reply by Patrick Mccabe on April 22, 2010 at 4:09pm
Here is some info on the AGV i am making and a test video of it going to its first GPS waypoint. http://letsmakerobots.com/node/18922
Permalink Reply by Patrick Mccabe on April 22, 2010 at 4:30pm
Here is some info on the AGV i am making and a test video of it going to its first GPS waypoint. http://letsmakerobots.com/node/18922
Permalink Reply by Bill Porter on April 22, 2010 at 5:20pm
Hey Patrick,

Do you live near the Florida Pan-handle? I ask because that's where I live, and I am just finishing up my own UGV, SAGAR.


More here: http://www.billporter.info/?cat=11

To answer you last question, yes, you need a magnetic compass. You will also need at least a PD control system
Feel free to send me a message and I'll send you an email if you want some further help on your project.
Permalink Reply by Patrick Mccabe on April 22, 2010 at 5:31pm
No i live near Tampa, Florida. I ordered a compass that should be here Saturday (i believe it is the same compass you are using) and then i will start on my PD control system and adding the functionality of multiple waypoints. Ah yes, i was looking at your blog the other day. After the test run today i am going to get a better motor controller chip that can deliver more current and am going to make a battery pack with more current. But so far so good, ill email you any questions that may come about.
Permalink Reply by Scotty on June 22, 2010 at 3:20pm
to answer your original post; I know of one library that does exactly what you are asking, the NMEA library, by Maarten Lamers, can be found here. I know it says it's for wiring, and might not work on arduino, but i had it running smoothly on arduino IDE 0015, along with a 328 duemilanove. It doesn't work right now under IDE 0018, but it would be nice....
Permalink Reply by Scotty on June 22, 2010 at 8:57pm
i got it working, let me know if you want the corrected NMEA.h file. It compiles but i'm not sure if it works properly, as i havn't had time to test it.

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