meminyanik
commented
6 years ago 1- Autobauding feature is implemented. Current version handles both115200 and 9600 baudrates. 2- GPS uses UBX protocol that provides Velocity NED data. 3- "Smart Hover Detection" feature is added for low speeds. Some more smart features may be added soon. 4- "u-blox 8 / u-blox M8 Receiver Description" document is evaluated and code is updated accordingly. 5- Position Kalman Filter handles GPS unavailability.
1- Autobauding feature should be implemented. At current version, based on HotStart/ColdStart option, if GPS start at 115200 baudrate, it can't establish a connection with FCB at default 9600 baudrate. 2- At low speeds, GPS COG data is not available and velocity measurements in NED coordinate system has error. A software update is needed to calculate COG at low speeds based on Accelerometer measurements. 3- "Smart Hover Detection" feature may be considered in low speeds based on GPS&IMU measurements. 4- "u-blox 8 / u-blox M8 Receiver Description" document at "Onedrive/Kutuphane/Manuals" should be evaluated for all the initial configuration settings. 5- A new Position Kalman Filter with only IMU data should be implemented in case of GPS unavailability.