Dear All,
I just tried the 2.7.1, but seems that the GPS cannot be recognized! The GCS shows no GPS was found. Does the new firmware supports all ublox GPS even the speed is 9600 or 57600?
Thanks,
Eric
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Replies
Now the GPS can be recognized. Originally the GPS's speed 9600 of GPS 6M cannot be recognized by the ArduCopter 2.7.1!
Config.h
# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 update to
# define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
Add the below code of System
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO byte ublox_set_pos[16]={0xB5 ,0x62 ,0x06 ,0x01 ,0x08 ,0x00 ,0x01 ,0x02 ,0x00 ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x13 ,0xBE}; byte ublox_set_sta[16]={0xB5 ,0x62 ,0x06 ,0x01 ,0x08 ,0x00 ,0x01 ,0x03 ,0x00 ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x14 ,0xC5}; byte ublox_set_vel[16]={0xB5 ,0x62 ,0x06 ,0x01 ,0x08 ,0x00 ,0x01 ,0x12 ,0x00 ,0x01 ,0x00 ,0x00 ,0x00 ,0x00 ,0x23 ,0x2E}; byte ublox_set_sba[16]={0xB5 ,0x62 ,0x06 ,0x16 ,0x08 ,0x00 ,0x00 ,0x03 ,0x03 ,0x00 ,0x51 ,0x62 ,0x06 ,0x00 ,0xE3 ,0x27}; byte ublox_set_5hz[14]={0xB5 ,0x62 ,0x06 ,0x08 ,0x06 ,0x00 ,0xC8 ,0x00 ,0x01 ,0x00 ,0x01 ,0x00 ,0xDE ,0x6A}; byte ublox_set_384[28]={0xB5 ,0x62 ,0x06 ,0x00 ,0x14 ,0x00 ,0x01 ,0x00 ,0x00 ,0x00 ,0xD0 ,0x08 ,0x00 ,0x00 ,0x00 ,0x96 ,0x00 ,0x00 ,0x03 ,0x00 ,0x03 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x8F ,0x70}; uint8_t i; Serial1.begin(9600); for (i=0;i<16;i++) Serial1.write(ublox_set_pos[i]); delay(100); for (i=0;i<16;i++) Serial1.write(ublox_set_sta[i]); delay(100); for (i=0;i<16;i++) Serial1.write(ublox_set_vel[i]); delay(100); for (i=0;i<16;i++) Serial1.write(ublox_set_sba[i]); delay(100); for (i=0;i<14;i++) Serial1.write(ublox_set_5hz[i]); delay(100); for (i=0;i<28;i++) Serial1.write(ublox_set_384[i]); delay(1000); Serial1.begin(38400,128,16); #endif Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE "\n\nFree RAM: %u\n"), memcheck_available_memory());