NOTE : This GPS is End of Life and replaced by the newer/faster uBlox Neo GPS Here
Effective 7 May 2015 the PARIS Sirius™ GPS+Compass MAG is updated to v1r3 - the improved G.Top 013 GPS is faster, features a flat/lower profile antenna. How much faster? = Now a cold Start is only 32 secs (was 95sec) and Warm start 10secs - hot start 1 sec (you land your Quad to change a battery over & home point is recorded in 1 sec when the new battery is connected) - fits all existing Scarab Knife frames - This GPS is I2C based so the Main autopilot receives both Compass and GPS data from this unit - via i2C - see below full data. Compatible with MultiWii23
The PARIS I2C GPS/MAG is for the PARIS Sirius AIR v2 autopilot (or the older PARIS v4 series including PARIS v4r6) to utilise the i2C GPS enabled multwii software release 2.1->2.3 (july 2012->Mar 2015) of MultiWiiCopter. The real significance of this GPS is the Return to Home(RTH) function meaning for the first time a PARIS equipped multicopter can RTH at the flick of a switch - or equally as significant - if it goes out of RF range it can also be set to return to home safely. Position hold is possible by not used in MultiWii as a substitute for pilot skill - learn to hold position by pilot skill or buy a NAZA if you depend on it in place of skill abscence. The RTH function is very important and works very well and is the main reason to purchase this product - it offers "shared control" with the pilot during return home which works very well to avoid obstacles without having to revert to full pilot takeover-crash situations of other brands. Originally this open source GPS code was written by Jason Short of Arducopter and is now ported/coded across to Multiwii open source by Andras EOSBandi who also worked on the hardware design of our PARIS GPS. - EOSBandi designed this PARIS GPS in co-operation with us. The forum thread is HERE
The I2C GPS/MAG pods allow for separate processing of GPS Nav in a 2nd dedicated 328CPU on the PARIS GPS/MAG pod . Importantly a MAG/compass is located on the underside of the GPS board to allow the MAG to be remotely located away from magnetic and electromagnetic interference in the centre of the multicopter. Unlike a car GPS which can assume the car is driving forwards - a multicopter can fly in any direction and the compass (MAG) is critical to good navigation. For this reason we here at MultiWiicopter.com were one of the first drone hackers to realise that the MAG had to be located in the GPS/MAG pod, not on the motherboard. for definitive nav set also your local area declination -see http://magnetic-declination.com/. For users with an existing PARIS Sirius AIR plug in - For older v4r6 users the central MAG is active and must be de-activated when combined with the second compass in the GPS pod - v4r6 this requires you cut the data trace coming from the main MAG as shown below with a dremel diamond tip drill as shown - and upload modified def.h SiriusGPS co-ordinates for the MAG now on the bottom of the GPS MAG pod - this refers to code uploaded into the main CPU/IMU. The GPS software at present allows for return to home RTH and also for position hold PH by switch allocation in the GUI. This can still be done with AUX1 and AUX 2 on any Rx - but it is better to use a PPM SUM receiver with AUX 3 and AUX4 as well. The software is in first release and will improve over time - its important for noob buyers not to misunderstand GPS implementation - there is NO substitute for being a competent pilot and fully understanding FAILSAFE settings set you (or negligently NOT set by you) as the pilot in command and conditions and battery power permit - programmed into your Radio Transmitter. - Thus in the event of loss of radio the aircraft will return to home (if you personally have set correctly the failsafe) this would require sufficient power, Level Mode , MAG mode and GPS RTH mode set in FS) at a pre determined power setting - then hold horizontal position inside a given radius at the home position (Where it was first armed). Ultimately if the GPS has a problem you must disengage it immediately and fly manually - To allow for future improvements as the software for NAV matures - the PARIS GPS/MAG is software upgradeable - comes pre-flashed MTK PA6B with AXN1.51_2722_3329_384.1151100.5 (in the GPS) - we have installed in the 328 GPS CPU the current latest nav software 2.1 (in the GPS 328CPU) at this time (GPS2.1 works fine with PARIS 2.3-CPUMlutiwii code)- you may need to program the GPS with an FTDi in the future to take advantage of future GPS updates if/when they are developed. Because all GPS coupled nav RTH is based off LEVEL/MAG mode - pilots must be able to setup ZERO vibration airframes and avoid any buzz-box accumulated-drift issues. So once again the core skill of prop-balancing will pay dividends.
Features of PARIS GPS / Mag
- Software - Open Source prior to 7 May 2015 was GPS code 2.1 after 7 may 2015 (new version GTOP 013) - now runs GPS v2.2
Includes a bottom mounted remote 5883L MAG Compass essential to accurate NAV ! (cable faces front) away from interference of other components, ESC, LiPo etc - Code Def.h is -X,Y,Z - - Calibrating a MAG means press the CALIB_MAG button in GUI and then rotating the Quad XYZ 360° in 30 secs. For best results do this with everything on and installed in the aircraft outside away from metal objects.
- Latest MediaTek PA6B 10hz GPS operating at 115200 baud 15x15mm antenna,- 1-10Hz (by software setting of the 328 GPS CPU code - not fixed in firmware) - pre-programmed GPS
- MTK AXN1.51 firmware - default is 10hz - also work at 5hz slightly better - later versions run at 5hz)
- Internal LLC - works with any PARIS v4 HV or LV data bus - v4r5 LV bus or v4r6 HV bus - requires Sirius ; Works with PARIS AIR
- Fast Cold Start in 2 mins (first ever power-up orientation takes 5 mins)- requires 5 or more sats to activate/lock (GPS green led 3 fast blinks) - typically finds 8-12 sats in a few secs after LiPo change
- Has an onboard super-cap to remember position data for 6hrs - then Hot start in 2-5 secs - LiPo changes etc
- Large ground plane design 44mm disc - with GPS antenna located clear of all other components for RFI
- Top mounted superbright Green Status LED for GPS lock indication and blue LED for GPS status - on the top - easily visible in sunlight before takeoff - When the GPS is locked on - the lights (on the GPS) will change from slow alternate blue-green-blue-green to -> steady blue - a 3 green pulses - then you are ready to connect your laptop (in sight of the sky)
- Onboard 328 Nav calculations passed to the main CPU by I2C - main flight CPU is not effected by GPS calcs
- Runs from Open Source software - large community based project - note -> We are not responsible for the code efficacy - don't buy this GPS if you don't like open source code projects
- Multiwii I2C GPS code - running in the GPS pod - distributed processing - Can be updated in future with an Ftdi - You can make 100% code changes - depending on your skill set
- RTH - Return to Home - MultiWii GPS code permits pilot inputs during return to home - for example pilot can control altitude himself, or use BARO when the throttle is at 50% - never engage BARO until flying/hover first.
- PH- Position hold - PH is capable of 2-5m radius in calm conditions provided both MAG and ANGLE modes are also on - see SIM to understand this - for windy conditions PID tuning must be refined for each Quad size and weight at take off (if you are older or a noob wanting good position hold then you need to look at a self flyng system like NAZA or for perfect position hold a Wookong M GPS combo solution.
- Micro JST cables 1.25mm pitch - wires sold separately this site (some are still inbound)
- RoHS lead free assembly
How to use the PARIS Sirius™ GPS/MAG (only if you purchased it apart/after your PARIS - later - then PARIS v4 or PARIS AIR or PARIS AIRv2 will need new main-CPU code to enable comms with the GPS/MAG)
- go to wide open spot - playing fields or similar rural area - away from people - in most countries there is a 30m from person rule - never break this rule - never fly over people - For this you need ballistic parachute recovery or similar!
- Aviation GPS requires direct line of sight to satellites in the sky (Sats are blocked by trees and buildings and are all moving all the time - if your next to a house, trees or hill at the start of a flight you might have 8 sats in view - then 15 mins later have 5 in the same location - so we recommend to use an Andoid App like GPSTest + to check the sky or plan a flight - MAG requires no metal objects or buildings or strong electic currents or radio towers - so essentially the best place to practice is in a wide open field - away from your house and car.
- Connect to the HV I2C bus (PARIS v4) with 5v data SDA / SCL GND - or for PARIS v4r6 you can optionally use the LV 3v3 bus. PARIS AIR connect GPS direct to the 4 PIN I2C as supplied
- Power up your Quad-Props OFF - start the motors and a the small compass to check that there is little or no magnetic interference where you plan to put the GPS/Compass and wiring to the GPS. The earths magnetic field is weak and the multicopter is and electro-magnetic storm in most places - this is why we strongly recommend placing it away in the tail.
- Again repeating - Mount the GPS/Compass in the TAIL not directly over ESC's - wire faces forwards - LEVEL and vib free - use foam tape or Velcro - Optional you can mount it on an FPV mount bracket - the idea is to get it away from EMI - Mount the GPS / MAG pod on a firm level - non-ferrous - surface
- The GPS wires should be installed away from any ESC, FPV Tx and ESC wiring in a boom to avoid EMI noise
- The GPS needs 5v power - this is NOT provided by USB in PARIS (but is with PARIS v4r6) - power comes from the 5v BUS centre pins on the rear of the PARIS - for PARIS AIR this means one or more ESC RED wires - for testing remove props, connect all ESCs, connect the C1 CAP and then connect the main LiPo - you should see alternating GREEN/BLUE led 1/sec at power-up on th eGPS itself (if you do not see any LED on the GPS then GPS is not receiving 5v power - on PARIS AIR this is usually becuase you only have USB connected)
- Activate I2C GPS in code v2.3 on the main PARIS CPU (already done if purchased together ie you purchased an AIR +GPS this is done already) - if you are an advanced coder/user UPLOAD any new sketch to PARIS AIRv1 or PARIS AIRv2 (different code) (using Arduino 1.0.5) - having commented to suit your aircraft - There is nothing (no code) required for the GPS itself - just plug the GPS into a host PARIS board which has firmware for GPS active, with power off - then power up the ESC via main LiPo to PARIS, then connect USB last.
- In the GUI check/Set the magnetic variation/declination for your zone in code ; yes v2.3PARIS AIR or later in the GUI itself - for example at 11°East , I set 11.0 in the GUI 2.3/SETTINGS TAB/READ then enter 11.0 then press write http://magnetic-declination.com/
- Allocate one switch position for PH(if you want to use it) and a 2nd position Switch for RTH (always recommended) - this is done in the GUI, white boxes, then press write - I use a combo so BARO active with RTH - this prevents it descending or climbing more than a few metres providing the throttle was at 40-50% at the time this mode is activated
- Power up the Copter and wait for GPS sat lock (go to an open area OUTSIDE for this the first time (this cannot be achived next to a wall nor a building nor out a window) - You MUST have a clear view the entire sky - your body must be out the way too - takes about 3-5 mins the very first time) - Initially the GPS must aquire its home position and Sats called a cold start - after about 3 mins the blue LED on the GPS MAG will go solid blue - and then the GPS green LED will pulse 3per/sec short green pulses - pause - 3 short green - pause (these pulses are 3 short pulses in 1 sec) to show sat lock (5 sats) - If you have the PARIS code enabled (default) it will flicker the PARIS green trimming LED = the PIN 13 LED (on the PARIS) or the entire LED ring Andromeda will pulse/flicker rapidly to indicate a full SAT lock - if (andromeda) fitted and if PARIS v5 or AIR is DISARMED. The LEDRing (if fitted to vampire) can also show the search and then acquired number of sats.
- Connect to your Laptop in sight of the full open sky (does not work inside or underground or inside near a window) - check the v2.3 GUI to see the number of sats; and the grey ring pulsing - check your switches to understand when PH or RTH are active (requires LEVEL and MAG on as these 2 modes are used in combination with GPS data to fly autonomously back)
- Its recommended to arm the Copter nose out - in a wide open area 30m from persons. This will be recorded as the home position (each time you arm).
- Apply LEVEL & MAG modes to on - GPS cannot navigate/operate at all in multiWii ACRO mode with MAG off. The self level and compass are required to be ON.
- Fly away in LEVEL mode - MAG on - land 15 m out in front - disarm and re-arm(new home position) - maintain altitude with power lever - THRO - then activate PH (if used) - to test - make sure BARO is off - the GPS software will attempt to hold this position as a reference point - you can still fly but its not advisable for long as the copter will bias the central stick position away from centre. Release the PH switch - fly to a new hover point and then activate PH again. The position does not automatically update. it is permanently locked to the position where the PH is activated.
- For RTH - PH is best set to off - then activate the RTH switch the copter will rotate 180 degrees immediately and start to fly back to the recorded home position where it was first armed. When it considers it is over that position - it will rotate around to face the original MAG on heading - during RTH the power and altitude is controlled by the pilot - turn off RTH - land normally - the landing is manually controlled by the pilot. RTH is essentially a very good recovery system for pilots who may have lost orientation for a short moment. Always take PH off when the aircraft returns to home.
- PIDS - fly on default GPS PIDS :) - we have found that each quad or Hex is different - but make VERY smalll changes (Pos=0.11 try it first! -> increase in 0.01 increments only then fly - 0.16 is a radical increase! )- large changes will cause erratic overshoots - to better understand GPS PID tuning http://diydrones.com/profiles/blogs/ac2-loiter-tuner-sim
- Check then set your RC Radio Failsafe - MAKE SURE YOU DO THIS properly - test it in the GUI - we recommend GUI RTH be set for LEVEL mode , MAG on, GPS RTH on, throttle at hover power setting or above slightly, BARO on. However this is 100% your decision as Pilot in command
- Do your full RC Radio range check - always do it - find a problem before take off - not after the aircraft is airborne
- Do NOT attempt to take off or fly around with GPS modes or BARO "on" - GPS RTH should only be activeted after take off, when flying at 50% hover throttle
- 1 x PARIS I2C GPS /remote MAG pod (precoded - ready) - with protective clear heatshrink - to install into a Scarab Knife or Armour - simply warm the GPS/heatshrink to 100°C hairdryer or heatgun - and push it up into the preprepared slots - allow to cool for 10 secs - heatshrink is soft when warm
- 1 x 200mm Cable with 5way/4 way micro JST 1.25mm connector - plug n play with PARIS v4r6 - for v4r3 choose alternate solder cable 175mm - (for v4r5 we now have the cable here - 200mm - 14 Aug 2012)
- Note 1 : Do not remove the heatshrink - it protects the product from short circuit on Carbon !
- Note 2 : On PARIS Sirius™AIR the CPU starts faster than the GPS CPU and an error of "3" is normal with the GPS fitted - "3" means working perfect - If your GPS came with a PARIS AIRv1 ; or a PARIS AIR HeroV2 then it is already coded and tested and works - DO NOT TRY TO RECODE IT !!! (code for a v1 AIr is totally different to a v2 AIR - each autopilot has the latest code on that products page) - if you disconnect the GPS it will create rising errors in the GUI ; if you dont power the PARIS AIR 5v external first - it will create errors (ESC power via ESC BEC) ; if you power cycle (remove the LiPo) and forget to disconnect the USB it willgenerate errors becuase the USB powers the AIR CPU - but USB does not power peripheral devices. The correct way to power cycle an AIR is to remove the USB - disconnect the LiPo - wait 3 secs - reconnect the LiPo (ESC are powered by the LiPo and supply 5v to PARIS AIR) - then connect USB last. for more details about PARIS AIR - see the respective page for PARIS AIR v1 or PARIS aIR v2 this website.
- Requires matching and activated I2C GPS code v2.3 in the main PARIS CPU and GUI 2.3 (this is already done if you order the GPS with your PARIS controller) - for advanced users download the sample v2.3 PARIS AIR code for then respective page for AIR v1 or v2 etc - or see below for code changes needed if doing your own coding - AT YOUR OWN RISK ! if you have an issue - assume it is NOT A CODE problem - it is usually a lack of 5v power or device not connected or device not powered itself
- for 4vr6 or older Requires corrected Sirius -X Y Z in Def.h tab - main PARIS CPU - this mag is on the bottom side you the defines are different from a Sirius MAG - see below
- for 4vr6 or older Requires Main MAG SDA line on Sirius is cut with a dremel - see bottom this page
- Requires locating the GPS MAG pod level, on foam tape, wire lead facing forward away from RMI/ESC/LiPo/Motors - can be the tail - or the very top under the bubble as high as possible. Tail is best. Excludes Velcro.
- Requires connection to any PARIS v4r6 HV I2C bus - 4 wire connection 5v data lines - cables available separately - the purple wire is ment to be not connected at the GPS side.
- Requires the aircraft is in LEVEL mode with MAG active and re-calibrated for 2.3 - re-calibration must be done with PARIS & GPS/MAG mounted on the aircraft and LiPo installed - do this 2m from any metal table or objects.
- Requires you fully understand that you as the pilot must set failsafe in your Radio Tx for RTH(you need a radio cabable of full failsafe such as Futaba or FrSky Modules/Rx in a 9x)
- Requires your local Magnetic declination be inputed to the Main PARIS CPU code Config.h panel for accurate nav
- Requires that you understand that RTH is unguided - you must be able to see the aircaft - LOS - and correct the power for available battery remaining and if necessary - disengage to avoid obstacles, people or animals - fly manually.
Who should buy this GPS = People who want Return to Home :)
- The easy way : If youre a bit stressed by setup (but otherwise have good flying skills) and cutting the mag trace for a PARIS with GPS worries you - just order them TOGETHER (PARIS AIR + GPS) in the same order - we will program/test the PARIS AIR and the PARIS GPS for you to work together:) - so all you have to do is calibrate your Tx :)
- Suits Experienced MultiWiiCopter pilots with previous MultiWii experience and skills based RC time, already comfortable nose in or side on,having the ability to use Arduino 1.0.5 and the GUI 2.3 - Yes ! - this product is great insurance for you - the RTH feature being valuable to you when your drone will fly back nose in - best of all you can manually assist the RTH - so you control power and even add more forward speed etc - plus if you want to look a way for a sec, the PH works for that. PH is reasonable and certainly allows you to look away or wipe your brow
- Suits Quite achiver types - new pilots who love to take their time - understand things - read everything twice - good pc skills - use check lists - set failsafes - YES - Pilots who dont assume things but rather inclined to double check everything first - YES - you will benefit from this and have a lot of fun.
- Pro Photographers looking for a total auto-drone experience in their first Multicopter which can fly and hover by itself - no do not buy this - choose WookM here
- Not for Pilots who cannot yet get good LEVEL mode performance for a full 10mins flight and not able to tune their Quad to be stable in ACRO & LEVEL modes - NO - Most likely your still reluctant to learn prop balancing and have a vibration issue - MultiWii GPS requires a silk smooth Multicopter
- Not suited to people who have "no time" to read
- NOTE : People who get on forums and talk about GPS fly aways = nonesense - Lets be clear about this myth - EVERYBODY who ever claims a GPS fly-away has failed his/her duty of care to understand their equipment prior to get airborne. The aircraft will only fly away/blow away if home position is not recorded. or ; if you programmed your GPS/Tx/Rx Failsafe wrongly. for example you think GPS is in RTH mode but its actually not at all - Futaba for example requires setting of every Ch failsafe 1 by 1. NEVER ASSUME anything - do tests - do Range checks.
NOTE 1: GPS can be damaged by rushing and incorrectly "live connecting/live disconnecting" - Make sure all power is OFF during wiring - make sure never to attempt to connect backwards - make sure never to pin-jump ; use glasses or magnifying glass to make sure you have the connecter the correct way around. Reversed voltages will damage the GPS and also the PARIS and also the voltage regulators circuits as well - BE VERY CAREFUL - all power off and connect correctly - double-check - then all power on.
Heat shrink NOTE: Make sure to use the supplied heatshrink to insulate all connectors from short circuit - keep away from Andromeda pins voltages (16.8v) !! - keep away from any contact with PARIS pins. Make sure you DO NOT SHORT TO Carbon Fibre
Hardware changes required & Reference guide for older PARIS v4
Cutting the central MAG SDA (data ) line - reason for this is when you plug in the GPS/MAG pod - you are adding a second MAG - (now underneath) which requires a code change - see above def.h
Use a blade to cut the trace (green circle area) - 20-30 small scratching motions - or; a dremel tool under a magnifier ; use a DMM to check the line is broken (continuity test)
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