Hello, I have successfully tested the GPS position hold with my TrIMUpter (a VTOL tricopter).
The full stabilisation process is simply done with:
- an ArduIMU+ V2 flat,
- a triple axis magnetometer (HMC5843),
- a GPS EM406,
so this is a very cheap setup.
Below a photo of the setup used:
The TrIMUpter is stabilised by the firmware TriStab v2.1
Some features of the firmware v2.1:
- Full stabilisation process required for a multicopter,
- GPS position hold, tested with the GPS EM406, and compatible with Ublox, NMEA, and Mediatek MTK ,
- a true Heading Lock for the yaw with 2 modes: inertial heading lock or magnetic heading lock,
- self-calibration of the IMU sensors,
- self-test at the startup for valid datas from the HMC5843 triple axis magnetometer,
- the switch from the "stabilisation mode" to "the GPS position hold" is done with switch linked to the ch5,
- the Roll/Pitch PID gains can be easily tuned via the transmitter knob linked to the ch6,
- the main servo mixer is placed in one function "call_servomix()" and can be easily modified for multicopters
and also helicopters...
The firmware TriStab v2.1 can be downloaded here.
Have fun and happy dev,