1. When you plug in the power, initialize the GPS module.
   Even if the battery discharge, it is possible to be using without the calibration of the magnetometer.

2. Support the extended ultra sonar sensor. (FlyCam Sonar, Max Sonar, Extended Barometer)
  FlyCam Sonar and Max Sonar are similar in the performance.
  Extended Barometer will sell with module.

3. If one of the barometer, accelerometer and magnetometer lose the function.
  The copter is controlled by the blackboard.
  If this occur, don't switch the copter off and can check the sensor status connecting the FlyCam Ground Station.
  The naviboard need A/S.

4. Increased the time of the magnetometer initialization.
   (rotate it 90 degrees until the sounder will beep and repeat three times.)

5. Improved more altitude hold by the barometer.
   But altitude hold need to be careful by the inaccuracy of barometer.
   When you are the coming home and waypoint, the low altitude that in below 15m doesn't recommend the altitude hold.

6. When the naviboard and blackboard is connected, the stick responding of the blackboard is quickly.
   It need the firmware v2.5. if the stick responding is very quickly, can set the EXP in your Tx.
   Don't adjust D/R,Travel Adjust, Endpoint and etc.

7. Improved more the GPS position hold.
   The copter is responsive to in the wind.

8. When you have the comming home, add in a partial speed controll.
   Decrease the status that it has not been able to return to home position.

9. Added the GPS waypoint in two ways.
   It is able to register maximun 32 point and no limit the distance.
   The ways of the registering are as follows.

10.Added the GPS follow me function.
   This function change 9'th channel to the 3 position switch and work case of no register point.
   It is able to run the postion hold, comming home
   For using this fuction, it need one more naviboard and the communications equipment like Zigbee, bluetooth and etc.
   We will post the connecting method in setting manual.
 
The way of the registering in PC
  You can register the waypoint with mouse click and drag through google map in running FlyCam Ground Station v1.1.
  If the copter goes into the radius of the check point, is regarded to be passing the check point.
  If set the radius to 0m, set automatically the radius to 5 ~ 10m based on the status of the GPS.
  "wait" after the copter goes into the radius, set wait time with seconds.
  "heading" when the copter is heading for the check point, turn heading to check point or not.
  If you check heading, is always heading for the check point.
  In this case, you can turn heading by rudder stick but if the stick release, the heading change automatically for the check point.
  To transfer from the register waypoint to the navi board, press " Write Waypoint".
  To display a storage waypoint in the naviboard, press " Read Waypoint".
  Futher instructions refer to link video.

The way of stopping the waypoint flight in Tx
  1. Free flying mode
  2. Change 9'th channel to the 1 position switch. 
 
The way of deleting the check point in Tx
 ( be careful an order, if not, the copter become the position hold in waypoint flight.)
  1. Position hold
  2. Change 9'th channel to the 3 position switch.
  3. Deleted the storage waypoint. 

 A storage waypoint remains until the deleting or unplugging.
 The waypoint flight is completed and  run again the waypoint, start again from the beginning.

 In the waypoint flight mode, if the position hold, become the hovering.
 And change the free flight mode, the waypoint flight, which had been momentarily stopped, run again.

 9'th channel should be the 3 position switch.

 9'th channel used fixed heading, and turn heading to home.
 This function is valid yet( be careful an ordering )
  1. Run Coming home
  2. Change 9'th channel to the 2 position switch.
   ( Run delete in reverse order )

 It is able to run the postion hold, comming home and free flight  during waypoint flight.

 We recommend the waypoint flight the copter which is completed fully the position hold.
 It need to practice through image traning for the register,delete,run in Tx.
 Regarding GPS function ,a beep sound indicating or not. if sound, the magnetometer isn't being in good condition.
 In this case, repeat initializing the compass.

There is a  comparative table that is the GPS gain for setting  in the naviboard firmware v1.3 for reference.
The GPS gain have to be a different setting based on length, motor, propeller, battery, weight and etc.
The main cause among them is the length of frame and the size of the propeller.
Please refer to as shown below table.
Set the GPS Roll, Pitch gain by the standards of the distance of the edge of the propeller and the center of the copter.
In case of the asymmetric structures, the roll axis and pitch axis is different distance.
Can set the gain with the measurement of the each distance.

Set up the operating attitude, altitude, GPS control in C,D parts.

 ※PID default can change through the firmware upgrade.

Set up the servo for the camera stabilizer in E part.
  
- if select the digital servo
 Analog servo work in 50Hz.
 Digital servo work in 400Hz
- Tilt servo delay ( 0 ~ 10 )
 Set up the delay time of the servo.
 If zero, there is no delay. If 10, work very slow.
- Reverse
 Decide the direction of the servo to react dependent upon a tilt of the copter.
 Click , store PID and Servo setting in NaviBoard..
  - If success
  

  - if failure
  
  Print  "Write Setting failed", click "write" again.


Store the setting value with a file.



Read the setting value in a file.

Apply to setting value that it read in a file, click "write".

Confirm the all kind of sensors used in the NaviBoard in F part.

 - Attitude
 The left and right of the roll tilted an angle of degree.
 The front and back of the pitch tilted an angle of degree.
 The direction of the yaw( the combination of gyro and magnetometer).
 Barometer altitude (cm)
 Sonnar sensor(cm)
 
 Sys time : the timing of the power on .
 Flying time : after arming, the timing of proceed.


  - Gyro : Gyro sensor value of Roll,Pitch,Yaw
  Offset is default value , it is decided this value when arming.
  Be caution to bring the wrong value as slight moving when arming.


  - Accel : Accelerometer sensor value of X,Y,Z.
  Offset is default value and the copter tilted very important value that it calculate an angle.
  As the throttle is down, when the rudder is the right direction for 3seconds ,this value is decided.
  Be caution to bring the wrong value as slight moving when arming.


  - Accel : Accelerometer sensor value of X,Y,Z
  Offset is default value and the copter tilted very important value that it calculate an angle.
  As the throttle is down, when the rudder is the right direction for 3seconds ,this value is decided.
  Be caution to bring the wrong value as slight moving when arming.

  If the magnetometer proceed normally, Offset mark number which it is not zero.

Can view sensors value with graph in G part.

  If check box select, can view sensors value with graph.
  Indicate mouse to drag the graph range of the printing, Click with the right mouse button to bring up a sub menu.


View the information of the naviboard in H part
    - MainBoard : the board information
　 - Firmware : the board version information



Release date: Dec 16, 2011