Connecting GPS

Upon connecting GPS, the following possibilities appear:

• The copter can remain at the same point when flying outside
• Autonomous missions may be programmed in the QGroundControl application
• Flying may be performed by global points in standalone mode using the simple_offboard module.

Useful links:

• https://docs.px4.io/en/assembly/quick_start_pixhawk.html
• http://ardupilot.org/copter/docs/common-pixhawk-wiring-and-quick-start.html
• http://ardupilot.org/copter/docs/common-installing-3dr-ublox-gps-compass-module.html

Connection

The GPS module is connected to "GPS" and "I2C" (compass) connectors of the flight controller.

If GPS is connected, magnetometers are to be re-calibrated in the QGroundControl application via a Wi-Fi or USB connection.

Next, GPS is to be enabled in parameter EKF2_AID_MASK (when EKF2 is used) or LPE_FUSION (when LPE is used). When using LPE the weight of the magnetometer should be more 0 (ATT_W_MAG = 0.1).