indicate status and direction (Figure 19). These were all
disabled by default, which is fine with the stock setup. The
GPS tab is where we start making changes.
We need to select the QuadrinoNano WithGPS option.
Leave the port and baud rate at their defaults. We also
want to turn on the five-satellite lock indicator and enable
waypoints (Figure 20). Make sure you read the caution link
about enabling waypoints and GPS!
We also need to set
the magnetic declination
of our location so the
flight control algorithm
can resolve the magnetic
and GPS headings when
computing courses. Head
over to www.ma
enter your city. In the pop-up on the Google map,
you’ll see the declination
of your location. Pay
special attention to the
sign of the declination
(Figure 21)! Enter this
into the menu.
The Filters tab lets you
modify the filtering of
acceleration and gyro
data. I’m assuming that
this is a low-pass filter to
help eliminate noise from
vibration, but as the dialog box points out, it’s best to try to
eliminate the source of vibration in the first place! Unless
you have a good reason or have issues, leave the filter
corner at the default of 98 Hz (Figure 22).
The Fail-safe tab configures the behavior of the flight
controller if the signal from the RC transmitter is lost. I
enabled this with a five second delay. The off delay setting
determines how long the motors will run at the set power
40 SERVO 10.2017
Figure 23: Fail-safes are a great way to keep your quad
from flying off in the event of a control signal loss.
Ideally, this fail-safe will bring the quad down gently
instead of falling from the sky at terminal velocity!
Figure 22: I found no issues with the default 98 Hz
filter on the IMU, but if you are having instability
issues, consider making the filter more aggressive.
Figure 21: The website magnetic-declination.com has a very simple
interface to find the declination at your location. Be sure to note the
sign of the declination as well as the value.
Figure 20: I enabled the GPS and waypoint
navigation to try planned missions. Be sure to
read the words of caution in this dialog box and
set the magnetic declination.