ArduPilot (Legacy) main page

[This original ArduPilot board, now called the "Legacy ArduPilot" is no longer produced or officially supported by the DIY Drones dev team, and this page is maintained just for historic reasons. However, there are still many users of it out there and it still works fine. The user group for Legacy ArduPilot users, for both thermopile and IMU use, is here.]

ArduPilot is a full-featured autopilot based on the Arduino open-source hardware platform. It uses infrared (thermopile) sensors or an IMU for stabilization and GPS for navigation. It is the autopilot used to win the 2009 Sparkfun Autonomous Vehicle Competition.

The hardware is available from Sparkfun for $24.95. An expansion board ("Shield") kits that includes an airspeed sensor, a 3.3v power regulator for 3.3v GPS modules and other sensors and cables and connectors for easy attachment of the XY and Z sensors, is available from our own store for $57.20.

User f

ArduPilot features include:

Can be used for an autonomous aircraft, car or boat.
Built-in hardware failsafe that uses a separate circuit (multiplexer chip and ATTiny processor) to transfer control from the RC system to the autopilot and back again. Includes ability to reboot the main processor in mid-flight.
Multiple 3D waypoints (limited only by memory)
Altitude controlled with the elevator and throttle
Comes with a 6-pin GPS connector for the 4Hz uBlox5 or 1hz EM406 GPS modules.
Has six spare analog inputs (with ADC on each) and six spare digital input/outputs to add additional sensors
Supports addition of wireless modules for real-time telemetry
Based on a 16MhZ Atmega328 processor. Total onboard processing power aprox 24 MIPS.
Very small: 30mm x 47mm
Can be powered by either the RC receiver or a separate battery
Four RC-in channels (plus the autopilot on/off channel) can be processed by the autopilot. Autopilot can also control four channels out.
LEDs for power, failsafe (on/off), status and GPS (satellite lock).

Resources:

ArduPilot requires the free Arduino IDE to edit and upload the code to the ArduPilot board.

The code is currently optimized for the Mutiplex EasyStar three-channel powered glider and FMA sensors, but can be modified for other aircraft and sensors. It uses the rudder/ailerons and elevator to maintain level flight and navigate to GPS waypoints. It supports a desktop setup utility and ground station software. It also includes a "fly-by-wire" mode that simply stabilizes RC flight. The main code is ArduPilot2.x.zip in the download section of our Google Code repository, where x is the latest version.

What you need to make a fully-functional autopilot:
ArduPilot board

Shield expansion kit with airspeed sensor

GPS module (uBlox5 recommended)

XY and Z sensors or ArduIMU+

FTDI cable for programming

[Optional] Two Xbee modules for wireless telemetry. This one in the air and this one with this antenna on the ground/laptop side. You'll also need two Xbee adapter boards. You can connect the airborne Xbee adapter to Ardupilot Mega with jumper wires.

Open source extras:

If you want to build your own board from scratch, the necessary files and component lists are here.
[Note: you shouldn't need this, since this code is loaded on the ArduPilot board at the factory] Latest multiplexer code (for the board's second processor, an Attiny, which runs the failsafe system) is here.
Instructions for loading this code are here.

Recommended UAV setup:

Airframe option one: Hobbico SuperStar (49" wingspan, $95, shown above). This is an inexpensive, good flying high-wing trainer with ailerons. It can be hand launched in a park or take off from a runway, and replacement parts are readily available in case of a crash. If you want much better performance with this aircraft, you can upgrade it to a brushless motor, speed controller and a LiPo battery. [If you don't already have one, you'll also need a balancing charger and power supply.] Note: any stable aircraft with both ailerons (for stabilization) and rudder (for navigation) can work, so feel free to experiment with what you've got.

Airframe option two (recommended for ArduPilot 2.x): EasyStar (shown above). Performance can be improved with the modifications described in this post.

You'll also need:

A six or seven channel RC transmitter and receiver, with at least one toggle switch (ideally three-position but two-position will work, too, although you will have to mix channels to have access to both autopilot modes in the air), such as the Futaba 7C.
Some servos (at least three for ArduPilot 1.0; at least two for ArduPilot 2.x) and at least three female-to-female servo cables to connect the RC receiver to ArduPilot.

Cool optional extras for your UAV:

A GPS logger to record your mission and play it back in Google Earth
A tiny video camera to record the flight
A wireless video setup to see realtime video from the air

Jason: Here it is an extract of the output obtained with the raw GPS application:
egin GPS Test0,80,80,F8,0,78,78,80,80,78,78,80,78,0,78,78,78,80,0,80,F8,80,80,78,F8,80,F8,80,80,78,80,80,78,0,80,0,80,0,78,78,78,78,0,F8,80,78,F8,80,80,80,80,78,F8,80,80,78,80,80,80,0,80,78,80,0,F8,80,80,F8,80,0,78,80,80,78,78,0,80,80,80,80,0,80,0,80,78,80,80,78,0,80,78,F8,80,78,F8,80,F8,80,80,80,F8,80,0,78,78,0,78,78,0,80,80,78,80,F8,80,0,F8,80,0,80,0,78,0,78,0,80,0,F8,80,0,80,0,F8,80,78,80,0,80,0,78,0,78,0,78,78,78,78,80,F8,F8,80,80,0,78,F8,0,80,78,0,80,80,F8,0,78,78,80,78,78,78,78,0,78,78,0,78,0,78,78,78,0,78,78,80,78,78,0,80,80,78,80,F8,80,0,F8,80,0,80,0,78,80,80,78,78,78,80,80,78,80,80,80,0,80,0,80,0,78,F8,78,78,78,78,78,78,80,80,80,80,78,78,0,80,0,80,F8,78,78,F8,78,0,0,78,78,80,0,80,80,78,80,F8,78,80,80,78,80,0,80,78,0,80,78,80,80,F8,80,78,80,0,80,78,0,F8,80,0,78,80,78,0,80,80,0,80,80,78,80,78,0,80,F8,78,F8,80,80,0,78,0,78,78,80,0,0,80,0,0,78,78,F8,80,80,F8,80,80,0,F8,F8,80,80,78,F8,0,78,80,78,F8,80,F8,80,78,0,0,78,80,78,0,78,78,78,80,78,F8,80,78,0,80,0,78,F8,78,80,78,78,78,78,78,F8,80,78,80,80,F8,80,78,80,F8,80,78,80,80,80,0,78,80,0,80,78,78,0,0,78,78,0,0,78,0,0,78,78,80,80,78,0,80,80,78,78,80,80,80,78,80,78,80,78,80,80,78,78,80,80,80,80,80,F8,78,0,78,0,80,78,78,F8,78,80,80,78,78,80,80,0,78,80,0,78,80,78,80,78,80,0,80,78,78,80,80,78,80,80,80,80,80,78,80,0,80,78,80,80,80,0,0,80,78,80,78,80,80,80,80,78,0,80,80,80,78,80,80,80,78,80,78,80,78,80,78,80,80,78,0,80,F8,78,80,80,F8,78,0,80,80,0,F8,80,0,80,80,0,78,F8,80,F8,80,80,F8,80,78,F8,80,0,80,F8,78,78,0,80,80,78,78,80,80,78,80,0,0,80,F8,0,80,80,80,0,F8,80,F8,80,78,0,80,F8,F8,0,80,80,80,80,80,F8,80,78,0,78,0,80,0,78,F8,0,80,78,80,78,0,80,F8,80,78,80,78,80,0,80,80,0,80,F8,78,80,78,78,0,80,80,0,80,80,80,80,0,80,78,80,F8,80,80,80,78,0,78,78,80,80,F8,80,F8,80,78,80,78,0,80,80,78,78,78,78,78,78,80,80,80,0,F8,80,
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Comments

Florin Mingireanu April 5, 2010 at 1:57am

One more question regarding the ConfigTool. I downloaded ConfigTool app from here: http://ardupilot.googlecode.com/files/ConfigTool.zip

When I open it it shows the following message: "If you can read this, your browser is not compatible with Google Maps" exactly in the place where google maps should show up...

I have two browsers installed on my system (Windows XP): Internet Explorer and Mozilla Firefox. Both of them are able to open google maps...

What can be a possible solution for this problem? Has anybody else encountered this problem?

Thanks,
Florin
Florin Mingireanu April 5, 2010 at 12:58am

Hi there,

Thank you for this information: it certainly saved my day :)

Couple of more questions:

1.) Can Arduino autopilot together with Ardushield (V2) reliably share the Ublox with Remzibi OSD? Are there specific firmwares that I have to load in Arduino and Remzibi in order to make this sharing possible?

2.) I am using Ardupilot_25_04 (firmware version). Looking in the events tab I see that there are the following modes (mentioned in a comment- line 22): MANUAL, STABILIZE, FLY_BY_WIRE, AUTO, RTL, LOITER. This means that there are a total of 6 flight modes available...
However further in the code (beginning with line 32), the actual code specifies just 3 switch positions equivalent with 3 flight modes out of the total 6 flight modes commented above. How many flight modes are really available through switch positions?

3.) Is the FLY-BY-WIRE flight mode accesibile during the flight without unplugging the GPS receiver? I saw some discussions on rcgroups where someone mentioned that FLY-BY-WIRE mode can be used only after unplugging GPS receiver.

Thank you,
Florin
3D Robotics

Chris Anderson April 4, 2010 at 1:46pm

Yes, ArduPilot can do elevons and works great with flying wings. See section 1-1 of the config file.

//1-1
#define MIXING_MODE 0 //Servo mixing mode 0 = Normal, 1 = Elevons (or v tail)
Florin Mingireanu April 4, 2010 at 1:22pm

Hi there,

Another question: what if one wants to use Ardupilot on flying wings?
Do you recommend using an external electronic mixer?
Is there any ardupilot code section where one can activate the elevon mixing?

Thank you,
Florin
Florin Mingireanu April 4, 2010 at 11:45am

It works! Yes, it wasn't programmed for working with Arduino autopilot. Programming it according to Chris Anderson advice solved the problem!
I hope this resolution is useful for other people as well!

Best regards,
Florin

Extract:

lat/lng * 10^7:454196597, 280179714, alt: 37m, gs: 0.3799999952m/s
lat/lng * 10^7:454196617, 280179698, alt: 37m, gs: 0.3199999809m/s
lat/lng * 10^7:454196652, 280179696, alt: 37m, gs: 0.9100000381m/s
lat/lng * 10^7:454196651, 280179699, alt: 37m, gs: 0.9899999618m/s
lat/lng * 10^7:454196669, 280179687, alt: 37m, gs: 0.5400000095m/s
lat/lng * 10^7:454196668, 280179705, alt: 36m, gs: 0.8800000190m/s
lat/lng * 10^7:454196685, 280179717, alt: 36m, gs: 1.1499999761m/s
lat/lng * 10^7:454196688, 280179716, alt: 36m, gs: 0.7699999809m/s
lat/lng * 10^7:454196699, 280179708, alt: 36m, gs: 0.5199999809m/s
lat/lng * 10^7:454196711, 280179696, alt: 36m, gs: 1.0499999523m/s
lat/lng * 10^7:454196711, 280179688, alt: 36m, gs: 0.8399999618m/s
lat/lng * 10^7:454196715, 280179670, alt: 36m, gs: 0.5899999618m/s
Florin Mingireanu April 4, 2010 at 11:36am

Jason: Here it is an extract of the output obtained with the raw GPS application:
egin GPS Test0,80,80,F8,0,78,78,80,80,78,78,80,78,0,78,78,78,80,0,80,F8,80,80,78,F8,80,F8,80,80,78,80,80,78,0,80,0,80,0,78,78,78,78,0,F8,80,78,F8,80,80,80,80,78,F8,80,80,78,80,80,80,0,80,78,80,0,F8,80,80,F8,80,0,78,80,80,78,78,0,80,80,80,80,0,80,0,80,78,80,80,78,0,80,78,F8,80,78,F8,80,F8,80,80,80,F8,80,0,78,78,0,78,78,0,80,80,78,80,F8,80,0,F8,80,0,80,0,78,0,78,0,80,0,F8,80,0,80,0,F8,80,78,80,0,80,0,78,0,78,0,78,78,78,78,80,F8,F8,80,80,0,78,F8,0,80,78,0,80,80,F8,0,78,78,80,78,78,78,78,0,78,78,0,78,0,78,78,78,0,78,78,80,78,78,0,80,80,78,80,F8,80,0,F8,80,0,80,0,78,80,80,78,78,78,80,80,78,80,80,80,0,80,0,80,0,78,F8,78,78,78,78,78,78,80,80,80,80,78,78,0,80,0,80,F8,78,78,F8,78,0,0,78,78,80,0,80,80,78,80,F8,78,80,80,78,80,0,80,78,0,80,78,80,80,F8,80,78,80,0,80,78,0,F8,80,0,78,80,78,0,80,80,0,80,80,78,80,78,0,80,F8,78,F8,80,80,0,78,0,78,78,80,0,0,80,0,0,78,78,F8,80,80,F8,80,80,0,F8,F8,80,80,78,F8,0,78,80,78,F8,80,F8,80,78,0,0,78,80,78,0,78,78,78,80,78,F8,80,78,0,80,0,78,F8,78,80,78,78,78,78,78,F8,80,78,80,80,F8,80,78,80,F8,80,78,80,80,80,0,78,80,0,80,78,78,0,0,78,78,0,0,78,0,0,78,78,80,80,78,0,80,80,78,78,80,80,80,78,80,78,80,78,80,80,78,78,80,80,80,80,80,F8,78,0,78,0,80,78,78,F8,78,80,80,78,78,80,80,0,78,80,0,78,80,78,80,78,80,0,80,78,78,80,80,78,80,80,80,80,80,78,80,0,80,78,80,80,80,0,0,80,78,80,78,80,80,80,80,78,0,80,80,80,78,80,80,80,78,80,78,80,78,80,78,80,80,78,0,80,F8,78,80,80,F8,78,0,80,80,0,F8,80,0,80,80,0,78,F8,80,F8,80,80,F8,80,78,F8,80,0,80,F8,78,78,0,80,80,78,78,80,80,78,80,0,0,80,F8,0,80,80,80,0,F8,80,F8,80,78,0,80,F8,F8,0,80,80,80,80,80,F8,80,78,0,78,0,80,0,78,F8,0,80,78,80,78,0,80,F8,80,78,80,78,80,0,80,80,0,80,F8,78,80,78,78,0,80,80,0,80,80,80,80,0,80,78,80,F8,80,80,80,78,0,78,78,80,80,F8,80,F8,80,78,80,78,0,80,80,78,78,78,78,78,78,80,80,80,0,F8,80,
0,80,80,F8,0,78,78,80,80,78,78,80,78,0,78,78,78,80,0,80,F8,80,80,78,F8,80,F8,80,80,80,80,80,80,78,0,80,0,80,0,78,78,78,78,0,F8,80,78,F8,80,80,80,80,78,F8,80,80,78,80,80,80,0,80,78,80,0,F8,80,0,80,0,78,80,80,78,78,0,80,80,80,80,0,80,0,80,78,80,80,78,0,80,78,F8,80,78,F8,80,F8,F8,80,0,80,0,78,78,0,78,78,0,80,80,78,80,F8,80,0,80,F8,80,80,0,78,0,78,0,80,0,F8,80,0,80,0,F8,80,78,80,0,80,0,78,0,78,0,78,78,78,78,80,F8,F8,80,80,0,78,F8,0,80,78,0,80,80,F8,0,78,78,80,78,78,78,78,0,78,78,0,78,0,78,78,78,0,78,78,80,78,78,0,80,80,78,80,F8,80,0,80,F8,80,80,0,78,80,80,78,78,78,80,80,78,80,80,80,80,F8,80,80,F8,80,0,78,F8,78,78,78,78,78,78,80,80,80,80,0,78,80,78,0,80,0,78,78,0,0,78,78,78,78,80,80,F8,78,F8,F8,80,80,80,78,0,0,80,0,0,F8,78,80,80,F8,80,78,80,0,80,78,80,F8,0,0,78,80,78,0,80,80,0,80,80,78,80,78,0,80,F8,78,80,F8,0,0,78,0,78,78,80,0,0,80,0,80,78,78,F8,80,80,F8,80,80,0,78,F8,80,80,78,F8,0,78,80,78,F8,80,F8,80,78,F8,0,78,80,78,0,80,80,F8,0,78,0,78,0,F8,78,78,F8,78,80,78,78,78,78,78,F8,80,78,80,80,F8,0,80,80,F8,80,78,80,80,80,0,78,80,0,0,78,78,0,0,78,78,0,0,78,0,78,78,78,80,0,80,78,80,78,0,78,80,F8,80,78,F8,78,80,0,78,F8,80,78,F8,0,80,78,0,80,80,0,80,0,80,F8,78,78,F8,78,80,80,78,78,80,80,0,78,80,0,0,80,F8,0,78,80,80,0,78,80,78,80,78,80,78,80,F8,0,F8,80,80,0,80,80,80,80,78,80,78,80,78,F8,80,80,F8,80,78,0,80,80,0,80,80,F8,0,F8,80,80,0,F8,80,80,80,80,78,0,80,80,78,80,80,80,78,0,80,80,0,78,F8,80,80,F8,80,78,0,80,80,80,78,F8,80,78,F8,80,0,80,F8,78,78,F8,78,78,78,78,80,80,78,80,80,78,0,80,80,0,80,80,0,80,78,F8,80,F8,0,0,80,F8,78,80,78,80,78,80,80,F8,80,78,F8,80,78,0,80,0,78,F8,0,80,78,80,78,0,80,F8,80,78,80,78,80,80,80,78,80,F8,80,0,80,80,78,0,80,80,80,0,80,80,78,0,80,F8,80,F8,F8,0,80,78,78,78,78,78,80,80,80,78,80,80,80,80,78,80,0,80,78,78,78,78,78,78,80,F8,78,78,0,78,
0,80,80,F8,0,78,78,80,80,78,78,80,78,0,78,78,78,80,0,80,F8,80,80,78,F8,80,F8,80,80,F8,80,80,80,78,0,80,0,80,0,78,78,78,78,0,F8,80,78,F8,80,80,80,80,78,F8,80,80,78,80,80,80,0,80,78,80,F8,80,80,F8,F8,80,0,78,80,80,78,78,0,80,80,80,80,0,80,0,80,78,80,80,78,0,80,78,F8,80,78,F8,80,0,80,0,F8,80,0,78,78,0,78,78,0,80,80,78,78,F8,80,78,F8,80,0,80,0,78,0,78,0,80,0,F8,80,0,80,0,F8,80,78,80,0,80,0,78,0,78,0,78,78,78,78,80,F8,F8,80,0,80,78,0,80,78,0,80,80,F8,0,78,78,80,78,78,78,78,0,78,78,0,78,0,78,78,78,0,78,78,80,78,78,0,80,80,78,78,F8,80,78,F8,80,0,80,0,78,80,80,78,78,78,80,80,78,0,80,78,80,78,80,0,78,F8,78,78,78,78,78,78,80,80,80,80,78,78,F8,0,80,78,0,80,F8,78,78,F8,78,78,0,78,78,80,80,F8,80,F8,F8,80,80,80,78,0,80,80,0,0,F8,78,80,80,78,80,78,80,80,80,78,80,80,80,80,78,80,78,78,80,80,80,80,0,80,80,80,0,80,78,80,80,0,80,80,78,78,78,78,80,0,78,80,0,80,0,78,80,80,80,78,80,78,80,78,F8,80,80,78,80,80,78,80,78,F8,80,F8,80,78,0,80,78,80,78,0,78,78,80,80,F8,78,80,0,80,80,78,78,F8,78,78,78,78,78,78,78,F8,80,78,80,80,F8,78,80,80,F8,0,80,80,80,0,78,80,0,80,78,78,0,0,78,78,0,0,78,0,0,78,78,80,F8,80,0,80,80,0,78,80,80,80,F8,80,80,0,80,F8,78,78,80,80,78,0,80,F8,78,80,0,80,80,0,78,F8,0,80,80,78,78,80,0,78,80,0,0,80,78,F8,78,78,80,80,78,78,80,F8,78,80,80,80,F8,0,F8,80,80,0,80,80,80,0,0,80,78,80,78,80,80,80,F8,0,0,F8,80,0,78,80,80,80,78,80,78,80,78,80,78,80,80,78,0,80,80,78,80,80,F8,78,0,F8,80,0,F8,80,0,80,80,0,0,F8,80,F8,78,F8,F8,80,78,F8,80,0,80,F8,78,78,F8,78,78,80,78,78,80,0,80,80,78,0,80,F8,0,80,80,80,0,78,80,F8,80,78,0,80,F8,78,80,78,80,80,80,78,0,80,80,78,80,78,0,80,0,78,F8,0,80,80,78,78,F8,78,80,80,F8,80,80,80,0,80,80,F8,80,F8,78,80,80,78,0,80,80,0,80,80,80,80,78,0,80,F8,78,80,80,F8,0,78,0,78,78,80,80,80,78,80,80,F8,80,78,80,0,80,78,78,78,78,78,78,80,80,80,80,78,0,78,
0,80,80,F8,0,78,78,80,80,78,78,80,78,0,78,78,78,80,0,80,F8,80,80,78,F8,80,F8,80,80,0,F8,80,80,78,0,80,0,80,0,78,78,78,78,0,F8,80,78,F8,80,80,80,80,78,F8,80,80,78,80,80,80,0,80,78,80,80,80,80,0,F8,80,0,78,80,80,78,78,0,80,80,80,80,0,80,0,80,78,80,80,78,0,80,78,F8,80,78,F8,80,F8,80,80,80,F8,80,0,78,78,0,78,78,0,80,80,78,80,F8,80,80,F8,80,F8,F8,80,0,78,0,78,0,80,0,F8,80,0,80,0,F8,80,78,80,0,80,0,78,0,78,0,78,78,78,78,80,F8,F8,80,F8,80,80,78,0,80,78,0,80,80,F8,0,78,78,80,78,78,78,78,0,78,78,0,78,0,78,78,78,0,78,78,80,78,78,0,80,80,78,80,F8,80,80,F8,80,F8,F8,80,0,78,80,80,78,78,78,80,80,78,80,80,80,F8,80,80,80,F8,80,78,F8,78,78,78,78,80,80,80,78,80,0,80,80,0,78,F8,0,0,78,78,78,78,80,80,80,78,80,80,F8,80,78,80,0,80,0,0,F8,78,80,80,78,F8,78,80,80,80,78,80,80,0,F8,78,80,80,78,0,80,80,80,0,80,80,78,0,80,F8,78,80,80,80,80,78,78,78,78,80,0,0,80,F8,80,78,80,F8,80,80,F8,80,80,0,78,F8,80,80,78,80,80,78,80,78,F8,80,80,80,0,F8,78,78,80,78,0,80,78,F8,78,78,0,78,0,80,0,78,F8,78,80,78,78,78,78,78,F8,80,78,80,80,80,78,80,80,F8,78,80,80,80,80,78,78,80,80,78,0,0,78,78,0,0,78,78,0,0,78,78,80,0,80,78,80,78,80,78,80,F8,80,78,80,78,80,78,80,80,78,F8,78,80,78,0,80,F8,78,80,78,0,80,0,78,F8,78,80,78,78,80,80,78,78,80,0,0,80,F8,0,78,80,80,0,78,80,F8,80,78,80,78,80,F8,78,F8,80,80,78,80,80,80,78,0,80,F8,0,78,80,80,80,F8,0,0,80,F8,0,78,80,80,F8,0,F8,80,80,0,F8,80,80,80,0,78,F8,F8,0,78,80,F8,0,78,F8,78,0,78,80,0,F8,80,78,0,F8,80,80,78,F8,80,0,78,0,80,0,80,F8,78,78,0,80,80,78,78,80,0,78,80,0,0,80,F8,0,80,80,80,0,F8,80,F8,0,78,80,78,80,F8,0,78,80,0,80,80,F8,0,78,0,78,0,80,F8,78,78,F8,78,80,80,78,78,F8,78,80,80,F8,80,80,80,80,78,80,80,F8,0,80,80,78,0,80,80,0,80,80,78,80,78,0,80,F8,78,80,80,80,0,78,78,78,78,80,0,80,80,78,F8,80,0,80,78,0,80,80,78,78,78,78,78,78,78,80,80,0,F8,80,78,
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Florin Mingireanu April 4, 2010 at 11:34am

The GPS module is mounted near a window frame. No significant metal around: just wood and plastic.
Florin Mingireanu April 4, 2010 at 11:33am

Hi Extra,

The blue LED is just flashing. I know that solid means signal locked but didn't manage to get solid blue LED light. I reprogrammed the GPS module according to the advice given by Chris Anderson above... Right now everything is ON and I am waiting for a GPS fix... I hope it will happen.

Florin
Developer

Jason Short April 4, 2010 at 11:13am

http://code.google.com/p/ardupilot/downloads/list
Extra260 April 4, 2010 at 11:07am

Florin,

Did you see the blue led light on solid on the Mega board? This indicate the GPS signal locked.

thanks

of 107

This reply was deleted.