Paul Mather
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  • Brunswick, OH
  • United States

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HK GCS Forum Welcome

Started this discussion. Last reply by Evan Daugherty Dec 29, 2012. 1 Reply

HappyKillmore's Ground Control Station

Started this discussion. Last reply by Timo Paso Feb 5, 2012. 144 Replies


Paul Mather's Page

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About Me:
Software developer for Remzibi OSD
Please tell us a bit about your UAV interest
Brunswick, OH

Paul Mather's Blog

Make your own KickStarter style hexa!

Posted on February 1, 2012 at 12:00pm 15 Comments

So there have been a few threads about the failed Kickstarter campaign by Kellie Sigler of Failed not because it they didn't collect enough money in the time alotted,…


Pretty amazing footage

Posted on November 16, 2011 at 12:30pm 3 Comments


NASA captures the earth at night

HK GCS 1.3.0 released - With new instruments from Max Levine

Posted on June 21, 2011 at 1:00pm 56 Comments

A special thanks to Max Levine for his fantastic work on the new instruments. The instruments and 3D model can be set to a "smooth" setting for those of you with processor to spare. This setting can be changed in the File, Settings, Instruments tab. For the best performance, do not select smooth for the instruments and don't select the 3D model instrument. Plus the turn coordinator is…


6 position mode switch for APM - Around $16 total

Posted on June 11, 2011 at 1:00pm 41 Comments

 My last blog post on this subject was incomplete. Now I have photos I actually built and tested it. …


6 Position Knob for APM mode control - DIY for around $16 total

Posted on June 1, 2011 at 1:30pm 45 Comments



After reading a recent blog I have decided I REALLY need to get out there and fly this year. I spend far too much time in front of my computer... So thanks to Max Levine's wonderful blog,…


Comment Wall (29 comments)

At 5:41am on August 27, 2009, Vikram said…
Hi all , i have little doubt in changing GPS Baud rate. Currently its working in binary SIRF protocol in 57600 baud rate.. I would like to change it into 19200 baudrate. So i made few changes in 2.0.1 code and tested it but failed to get the GPS lock. What could be the reason.......

Changes i made were:
1. byte gps_buffer[100]={
// change the buffer with 19200 instead of 57600 and change the Checksum value also

2. Serial.begin(19200); //Universal Sincronus Asyncronus Receiveing Transmiting in init_gps()

3. Serial.begin(19200); // in fastinit_gps()

I cant get the GPS LOCK . I send the command at 4800 BR=> $PSRF100,0,19200,8,1,0*39
but cant get the GPS LOCK what else i have to change?.
At 9:16am on October 18, 2010, Jin said…
Hi, Happykillmore.
I am a new learner on ArduIMU.I only connected the ArduIMU with PC using FTDI cable, and I only changed #define PRINT_BINARY 0 to 1. But in HappyKillmore ArduIMUtest platform I cannot see the smooth change of the image when I touch the IMU.I dont know what's the reason for this.It sounds so strange.
At 6:46am on October 27, 2010, Ritchie said…
I was taught to read using the Commodore Beginners Guide to BASIC that came with the original C64 :D I'd sit on my Mum's lap reading it to my Dad, I was only 4 at the time. Did my "hello world" at 5 (1987) and have pretty much been building ever since. Text based RPG, typing tutors, quoting systems etc. TBH this is the first time I've had a personal goal for it. I love the interface you have so far its perfect "analogue".
Very nice emulator too I'm hoping that I can just class everything up to make it modular for errors (there will be loads :D). Just finished a camera arduino extra that runs off a channel output from the APM (not done the APM code). Servo position represents function so I've just got to get the APM commands sorted.
At 4:36am on December 29, 2010, Marcus Fahlén said…
Hi there Paul,

I'm following your GCS project with great interest and I'm using it when developing firmware for the UDB. Until recently your GCS parsed the "SERIAL_UDB_EXTRA" format just fine, even if I used XBee API activated in the GCS XBee (That means that the data becomes somewhat "garbled" since the API expects the data in packets. The result is that eh XBee adds some characters to the data, but the "raw" data is still there intact. A few versions ago I realized that this didn't work anymore. No great deal since I only use the API mode on the GCS XBee if I need to adjust the XBee aboard the UAV, but nevertheless it was an extra step to do each time. Now, today (29 Dec. 2010) I downloaded the latest(?) version 1.1.25 and can't get it to parse the "SERIL_UDB_EXTRA" format at all. I see the data coming in at 57600, but it doesn't become translated. (I must add that I have some extra strings in my personal telemetry use for controlling the XBee.) The 866MHz PRO has a duty cycle of 10% and therefore has to be reset at least in 6 minutes intervals). I do this via the telemetry data. Another important note is that I use this on a lab bench setup with X-Plane for HIL-simulation. That means that there is no actual GPS in the setup. The GPS data is fed to the UDB from X-Plane and later to the telemetry port. Have you lately changed the parsing so that my setup is "disqualified", or is there anything else going on here?

Otherwise, keep up the great effort of creating a useful GCS for every UAV nut ;)

Kind regards

At 2:12pm on January 17, 2011, Fabiano said…


very impressed on the great GCS sw.

I am developping a new IMU unit. I would like this module being ArduIMU compatible. Could you share the ArduIMU protocol ?


At 4:03pm on January 17, 2011, Paul Mather said…
Fab, the ArduIMU binary or ArduIMU (ArduPilot) ASCII legacy?
At 6:59am on January 18, 2011, Fabiano said…

I would prefer the ASCII legacy as it is "easier" to troubleshoot. But for sure I will prioritize the efficency of the RF transmission (i.e. if binary mode is a must I will take it)


At 2:46pm on January 24, 2011, Fabiano said…


I've found the ArduIMU binary info. However I would be interrested on some samples (i.e commands).


At 3:07pm on January 24, 2011, Paul Mather said…

I'm sorry, I've been busy with other things. From a software standpoint, the legacy is obviously easier to troubleshoot since it's ASCII. I'll see what I can find, but I don't think there's a whole lot of up to date documentation on either the AP Legacy or the ArduIMU binary. Do you have an ArduIMU unit? About the best I could do would be to output from mine and send you the text file. Would that help? I could take a screenshot of my starting lat and long values......wait a minute!!! I have a better idea!!!! If you launch my GPS Emulator you can get output for either the AP legacy or the ArduIMU binary!!!!!!


Download my GCS and then click Start, All programs, HappyKillmore, GPS Emulator. Then select the Protocol menu item and select the ones you want! Examples galore!

At 8:05am on January 28, 2011, Magellan said…
Hi Happy,
Does your GCS support Arducopter?

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