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Old May 28, 2015, 11:31 AM
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STorM32 BGC - GPS Tracking App

Since I started using a brushless gimbal, I wanted to have the opportunity to track GPS coordinates with it. Although the technology for this already exists, I could not find an existing solution that makes this possible.
For this reason I started to develope a GPS tracking solution on my own.
As a controller I have chosen the excellent STorM32 BGC.
The STorM32 is able to communicate with a Pixhawk which makes it a perfect controller for this purpose.

Here is an example video showing the gimbal tracking with a moving object:
STorM32 GPS Tracking Test #4 (5 min 51 sec)


There are two ways to achieve this Tracking.



First solution (Only 3dr Telemetry required):

For this solution you have to do 3 things to be able to use the App.

1: You need too hook up your STorM32 RX to the TX of the Telemetry module (See the attached picture).

2: You have to set the Baudrate of the STorM32 to 57600

3: You have to change both, the system id and the component id of the STorM to 1.


Basically, the app currently consists of four tabs.
In addition to the tabs there is a button with which you can connect to the copter.

The first tab:
This tab is for manually controlling the gimbal. This includes an on-screen joystick, a button for creating a panorama and a button to switch the pan axis from pan and hold mode.

The second tab:
This tab is responsible for the GPS tracking. Here you can add multiple points on the map on which the gimbal should focus by tapping the screen. In the upper left corner you can set the height of these points. The current point which is activated for tracking is colored blue. You can change them either by tapping on an other point or by tapping the button in the lower right corner. The points can be deleted with the button in the lower left corner.
By pressing the button "Start" the GPS tracking will begin.
If the GPS of the phone should be set as a target, you have to check the check box on the start button.
In addition, an offset for the Yaw axis can be set with the slider on top if the gimbal was not aligned properly.

The third tab:
This tab allows you to send or receive GPS coordinates via the mobile internet. Since communication via the internet is quite complex and a server is required, I have used the library of "Pubnub". This library offers a messenger function , which I used for this purpose. The free version of this service is restricted. So a maximum amount of one million messages can be sent per month and it can only connect 20 different IP addresses within 24 hours. Therefore you will have to create your own account on http://www.pubnub.com/ if you want to use this feature. Among the settings of the app you can then enter your "publish key" and your "subscribe key". When you receive GPS data and you set the check box at the start button, these coordinates will be used for tracking.

The last tab:
This tab is for the settings. Here you can specify the size of the joysticks, configure the panorama function, specify the connection to the copter and so on....

Second Solution (Additional Hardware required):
http://www.rcgroups.com/forums/showp...&postcount=223
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Last edited by digaus; Jul 12, 2016 at 03:33 PM.
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Old May 28, 2015, 12:19 PM
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Lily cam killer! Awesome work!
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Old May 28, 2015, 01:54 PM
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fantastic stuff, digaus!
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Old May 29, 2015, 11:39 AM
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how to connect app to pixhawk ? with 3DR Telemetry?
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Old May 29, 2015, 02:48 PM
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Yes, you can use the usb telemetry kit. Currently the baudrate is set to 57600.
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Old May 30, 2015, 01:06 AM
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but it show "usb" then "connection failed" in seconds.

the telemetry kit is tested in tower and driodpanner.
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Last edited by lijingwei; May 30, 2015 at 01:11 AM.
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Old May 30, 2015, 02:40 AM
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That is weird. Are you sure that the Baudrate of the telemetry kit is set to 57600? I am using the same service as the tower app does. So if you can connect with the tower app, my app should work too.
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Old May 30, 2015, 07:43 AM
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Quote:
Originally Posted by digaus View Post
That is weird. Are you sure that the Baudrate of the telemetry kit is set to 57600? I am using the same service as the tower app does. So if you can connect with the tower app, my app should work too.
retried , OTG not working , i'm using bluetooth - telmetry for Months .
maybe is the Custom phone firmware Issue。
any plan to add bluetooth to you app ?
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Old May 30, 2015, 09:48 AM
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Wait, the Tower App only works with bluetooth and not via otg? Then your phone is the problem here.
I will add bluetooth support in the next update.
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Old May 30, 2015, 10:13 AM
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Great job. I downloaded the app to check it out, but I'm running APM 2.6 still so it doesn't do anything for me. It would be sweet to have the ability to use the app and have access to the settings that are in the windows GUI, for tuning purposes and such, for those of us without pixhawk.
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Old May 30, 2015, 04:27 PM
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I know that there is high demand on a configuration app for the storm.
But as I am not an android developer it would take a lot of time for me to create such an app. In general this should be absolutely no problem but I really dont have the time at the moment.
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Old May 31, 2015, 06:54 AM
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Originally Posted by digaus View Post
Wait, the Tower App only works with bluetooth and not via otg? Then your phone is the problem here.
I will add bluetooth support in the next update.
maybe try another firmware for my phone. ..

add bluetooth support will be great!!
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Old May 31, 2015, 12:46 PM
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Update
Added bluetooth support (not tested). Indicator icon for gimbal direction added to drone icon (not tested) .
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Old Jun 01, 2015, 10:50 AM
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Originally Posted by digaus View Post
Update
Added bluetooth support (not tested). Indicator icon for gimbal direction added to drone icon (not tested) .
bluetooth works ......

the on-screen joystick is very Sensitive and hard to controll ...

GPS tracking will be tested later.
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Old Jun 01, 2015, 12:34 PM
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Originally Posted by lijingwei View Post
bluetooth works ......

the on-screen joystick is very Sensitive and hard to controll ...

GPS tracking will be tested later.
Great! I think I will add Bluetooth Gamecontroller support (bluetooth telemetry wont work then ofcourse).
You still can control the gimbal via a normal transmitter during gps tracking.
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