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GPS Navigation Ground Test #1 - Waypoint Tracking Algorithm

So after a period of absence of over a month (feel depressed everytime I say it), I got back into the groove of things. Decided not to wait to get back on the field to test the pitch and roll autopilot and decided to start working on the waypoint tracking algorithm. The advantage of having your own home with a garden is that you no longer struggle to get a GPS lock (There's no more concrete flats surrounding us yeah!!!).

So got familiar with my gear again. Also decided to buy a piezo buzzer that could be used as a replacement of the serial monitor. The aim was to increase the intensity of sound as you got closer to the next waypoint. In such a way you will know if you're going the correct way.

Decided to use GPS Visualizer to get waypoints on the property. Re-formatted the points into the code uploaded it onto the controller. It must add that I managed to successfully run arduino from the linux command line and use the program screen as a serial monitor. Not only is it much faster, I no longer have to Virtual LAN into LXDE environment just to use the Arduino (very slow) IDE. now I edit my code using VIM, GREP and multi terminal sessions. Brilliant.

Anyway, so I took the tablet connected to the controller for a spin (on Debug mode). The waypoint index incremented and the distance between my position and the next waypoint showed the right trend (distance decreased as I approached the next waypoint). Conclusion: the waypoint tracking algorithm works!!!!

NEXT: Testing the heading error algorithm that will be used to give the aircraft a roll command. Fingers crossed!!!

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  1. Unknown2 February 2015 at 13:40

    I have gone through your post . It is very informative. I would like to share this.

    It is without doubt that the Phantom Drone has renewed interest in the use of technology in social security. The New Phantom drone is exceptional in many ways indeed. The fpv transmitter will need to be improved as it will help the persons sending and receiving data. It is therefore of big importance that the drone autopilot keeps in mind that the signal sending should be full of clarity.

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