Color GPS Mark III/AP Nearby spot Touch ZONE Menu Touch ZONE AP touch zone Specifications 65536 Color 3.2 Inch display with LED backlight Touch sense operated Fast 32 RISC 48 MHz processor for high precision calculations Can be used all over the World 200 memory locations for storing of spots Home function Boat battery monitoring with alarm (7-13 volts) Display battery monitoring with alarm Zone alarm selectable 5,10,20,40 meters Steering with flagged marker and left/right indicators Auto zoom Radio link distance 1000 meters on ISM band 869.4 MHz (sub band 6) license free to use in whole Europe using FHSS Long Range duplex! Transmitter output power 50 mw (+17 dam) 1
Receiver display can be bind to TX with unique ident Fast update of position 2x second! Built in battery 4.8volt LiMH 2700ma, chargeable via cord from 10-12 volt battery or mains adaptor Maximum plot range 999 meters Ublox Neo6 next generation GPS receiver maximum 60 satellites tracking Accuracy Position 5 meters 2D-RMS 1 meters 2D RMS WAAS Current consumption transmitter (boat site) 90 ma (0.09Amp) Current consumption Display 120ma (aprox 15-20 hours of operation with 2700 ma battery s without charging AP included in software (option), suitable for boat systems 1 motor/ 1 rudder 2 motors boat, 1 nozzle/jet boat Max range of AP 999 meters, accuracy of arriving to selected spot within 1 meters Failsafe build in: max range/blocking by obstructions/rf link failures Easy setup of AP, using simplified menus Automatic feeding at selected spot Calculates track with 10 GPS updates/seconds! TX can be powered from RC RX 2
With this ColorGPS locator you will be able to refind your way to previous stored spots. The transmitter module is located in the bait boat powered by the boat s battery. A tuned small antenna of 10 cm and high power transmitter module gives you a range of aprox 500 meters, far beyond the point you will be able to identify with your bait boat. The software can be extended (option) with an Autopilot to obtain automatically steering to the selected spot. After loading your pre stored spot, you will see in the plotting screen: The distance to the spot (in meters) Heading to steer, a flag ahead of you gives you the indication how to steer. 2 arrows for steeringdirection left and right The boats actual speed in km/hours Information about the actual number of satellites insight, 3D or 2D. The altitude of you current location The battery of the display indication: Blue/Yellow or RED/White when the voltage dropped below 4.5 volts a warning alert will be given The actual latitude longitude position of the bait boat (in decimal degrees) The actual voltage of your bait boat battery. In case when the voltage drops down a certain level this will be indicated in RED/WHITE and an alert will be given. Actual local time with automatic daylight saving adjustment (summer/wintertime) Note: the time is fixed on west central Europe (+1 hour). In other parts of the world you will get an offset due the fact that the GPS satellite is transmitting UTC time. HOME indication that the departure location has be stored. This will help you to find your back to the shore. RF field indication, showing the received signal strength 3
Inhoud EXAMPLES... 4 Home function... 7 Autopilot... 7 Failsafe autopilot... 9 Basic Menu... 10 Saving a spot... 12 Loading a Spot... 14 Modifying Latitude/Longitude Manual Inserting Latitude/Longitude from Google Earth... 15 Nearby Spots... 17 TOOLS... 18 Factory Settings... 20 Calibration of the Touch panel... 21 Erase all data... 22 Binding the GPS display to the TX module... 22 Charging the batteries... 23 Hooking up the AP... 25 Calibration of the RC... 28 Adjustment of the PidController Rudder... 31 Adjustment of Motor gain and Motor Integrator factor... 34 EXAMPLES The boat is 69 meters away from the spot, scale 100 meters. You will get the flag to indicate the direction to steer. In this case the spot is a little to the left, so steer a little to the left to get back on track. 4
The spot is far behind you, you need to turn around The boat is drifting away from the spot; make a strong turn to the left. The arrow is indicating left When the boat comes closer to the spot: The flag become a circle this circle will become bigger the more you come in range of the spot. -indicating you almost there. In this case the spot is more to the left, so steer the boat to the left 5
In this case the boat has almost arrived at the spot (scale 25 meters), but a bit to the right, so steer to the right to get on the spot. (Slow speed!!!) The spot is behind the bait boat but on the right side. Steer to the right to turn the boat around. (Slow speed!!). Here we are arrived exactly on the spot; the circle is wrapped around the triangle. Start fishing! 6
Home function The moment you power on the display, the actual GPS location will be stored in a volatile memory. Only in case there a more then 4 satellites! So first always power your boat on, wait until the GPS has captured the first 5 satellites. Then switch the display off, and switch it on again. The position is stored. Then you can enter the desired spot when there is no spot just go. To refind your way back to the shore, just simply hit the HOME icon, as showed in the example. After you have touched the home zone, the name of the spot will change to HOME. None of your stored spots will be erased; this is only an indication that your HOME location has been loaded. Autopilot The GPS has a build in autopilot, capable to steer the boat within 1 meter range of the selected spot. To operate the autopilot follow the indicated steps. 1. First select a spot, this spot has to be within the range of 999 meters of the start position, see also failsafe autopilot. 2. Be sure you got at least 6 satellites, best performance will be with 10 sats or more 3. Open the autopilot menu by clicking in the left-down corner of the main screen. 4. Arm the autopilot by clicking on the AP-OFF icon to AP ON. (figure 2) 5. Select which feeder bay (1 or 2) has to be used. In case of only 1 feeder container user Feeder 1. 6. Close this menu 7
7. Be sure that you have the gpsdisplay with the antenna upwards and at least 1 meter above the ground. The range will be significantly decreased when the gps display is lying on the ground. The gps display has to keep contact with the boat during the trip, otherwise the failsafe will become active and the boat will return! 8. Steer the boat manually full throttle in the direction of the spot for at least 5 seconds. The autopilot will be switched on after 5 seconds, a bell sound fill be given on the GPS display, and in the left in the display the sign AP will be painted. Release the throttle stick to neutral as soon you hear the gps active bell sound. Always steer the boat in a free direction. The autopilot has to settle during the first seconds and thus making large turns. Never steer the boat towards shore site, always towards a free area. Remember the autopilot will make a straight line to the spot, any obstruction between start point and waypoint will block the boat. 9. To disable the autopilot, give FULL reverse throttle for at least 1 second. The AP arming will also be disabled. If you want to enable the AP again, repeat steps from point 3 1 8
Figure 2 In case the TX-calibration warning is given, it means the AP cannot operate before it has been calibrated! The Boatspeedmenu is used to specify the cruise speed of the bait boat. To change the speed click on the line and a menu will be open to input a new speed. Note: the speed regulation is depending on the settings in the AP settings menu. The boat speed will be depending mainly on the full stick position given at the start, and will be throttled to the specified speed. Failsafe autopilot To insure that in case of some error the boat will stop of return to base some features has been added into the autopilot. 9
1) The maximum range the autopilot can operate is 999 meters from the start point. In autopilot mode the boat will stop when the distance is more than 999 meters from start point. 2) In case the duplex link between the GPS display and TX module has been interrupted for more than 30 seconds, the boat will return to the start point so called failsafe. 3) The failsafe doesn t work if the boat is in the range of 20 meters of the start point. 4) The start point is activated/stored the moment that the autopilot was armed and has given 5 seconds full throttle. This will say that the failsafe will never become active if the boat wasn t operated in the autopilot mode! In other words: the failsafe won t become active in manual mode (no ap used). 5) If the boat is blocked by some obstructions, the motor(s) will cut off after 15 seconds. Therefore the slowest cruise speed cannot be lower than 1.5 km/h this to avoid this failsafe to become active. This is not active in the manual mode! Basic Menu This menu can be reached by touching the central area of the standard plotting display (see example) 10
Here you can access the sub-menu for storing the actual spot A shortlist of near-by located spots (max 5) Or load a pre stored spot (or edit a preloaded spot) Adjustments (tools) access Switching between high-medium and low energy mode. High energy will give a bright display, but also uses a lot more current from the batteries. Low energy will give a dimmed display, for use in the night this is perfect, and you will save the batteries. 11
Saving a spot In this submenu you can store the actual spot. To do so, only hit the Save Icon You will get a confirmation screen after saving. Any time you can go back by touching the Back Icon In case you want to change the spot s name, simply touch the marker name in this example P2. A keyboard screen will come up. After 12
closing this keyboard screen, you will be returned to this Save Menu to save the spot. Note: you can always change afterwards the name of the spot. Note: in case there a too less satellites, the Store Menu is not available. An indication will be given that you have to wait for more satellites, this to avoid inaccuracy of the location. To modify the name of the marker simply touch several times on DELETE then type (touch) in the keyboard the new name (max 18 chars). To save your modified spot name touch on ENTER Icon Any time you can go back by touching the BACK Icon For Upper/lower chars touch on caps field. For Upper Chars this field will be showed as CAPS, for lower chars the fields is presented as caps. 13
Loading a Spot In this submenu you can see the datum/time of a previous stored spot. Also the latitude/longitude is given.+distance to the actual boat position Note: the latitude and longitude is in decimal format. Walk through all you stored spots by selecting the right bar. Scrolling in steps of 5 by the up/down touch zones. Select a spot (for loading as actual spot) touch the Load Icon (disk) 14
Erasing of a spot: touch the Erase icon a screen will come up for confirmation of the action. Anytime you go back to the plotting screen by touching the left Back icon To change the name of the spot, simply touch the Marker name (in this example P3) and the keyboard will come up. To modify the name of the marker simply touch several times on DELETE then type (touch) in the keyboard the new name (max 18 chars). To save your modified spot name touch on ENTER field Any time you can go back by touching the BACK field For Upper/lower chars touch on caps field. For Upper Chars this field will be showed as CAPS, for lower chars the fields is presented as caps. Modifying Latitude/Longitude Manual Inserting Latitude/Longitude from Google Earth 15
In this example 4 spots are predefined by looking up their position in Google Earth. Using the Decimal degree option from Google Earth the spots can be entered so the user can steer the boat right away to this spot. An accuracy of 1 meter can be obtained, when all digits are entered. Don t forget to insert N, S, W, and E before the number so the GPS know what quadrant of the globe you are talking about. (For Europe this is Nord and East. For UK this might be E or W, and North First save some spots from the GPS (doesn t matter which spot, as long you save one. Modify the spot name, and after that touch the latitude or longitude row. A new screen will open where the lat/long can be modified 16
Delete the old latitude or longitude by pressing the C key, and after that FIRST enter an N/S/E/W and after that the position you found on Google Earth. Close the screen by ENTER. Just fill the N/S/W/E on the first position, otherwise it won t work, see example. Nearby Spots 17
This submenu gives you access to the 12 most close-by spots. This avoiding searching through the whole database. Selecting a spot just simply hitting the presented field in the left row Any time you can return by hitting the Back icon Note this menu can be accessed directly from the plotting screen by hitting the upper left corner (see example) Max sports are 12, hit the arrow right to see next page TOOLS 18
In this submenu you can access the Tools (adjustments), and in case needed the factory settings To return just hit on the Back field The sunrise/sunset s local time, for help how much time there is left before the morning comes up or evening comes up. (+/- 15 min) All options in this submenu can be changed by hitting on the icons Zone alarm. 4 standard zones can be selected by hitting on this field. 5 meters, 10 meters, 20 meters and 40 meters. Zone alert gives you a sign the moment you enter the zone, so you be alerted you are close by the location of the spot. Changing through the 4 fixed values by hitting on this field Vector Mode On/Off. This is a way of presenting the direction you have to steer. Battery warning on/off. No alarm will be given when a boat or display battery drops under a certain level. Battery voltage: Here you can insert the under limit for warning. To do so hit in this field and a numeric keyboard will show up. First clear the old value, and then insert the new value. Decimal values must be entered with the decimal. 19
Selection of the language: 5 languages are available. Just simply by hitting on this field, you can select GERMAN, DUTCH, FRENCH ENGLISH and POLISH. About: Some info about the firmware of your display and transmitter module. (To see the transmitter firmware, you should power this on) Returning by hitting on the Back Field Factory Settings 20
This sub menu can only be accessed by first entering the right code in the code numeric keyboard This firewall has been made to avoid mistakes by resetting or changing certain data of the display. First delete the question marks???? And then enter the right code. After that hit on ENTER When you entered the correct code, the factory submenu comes up. Any time you can go back by hitting on the Back field Calibration of the Touch panel Each display the touch zone has to be calibrated one time. To do so, hit on this field. This has also to be done after erasing the memory of the display! A new sub menu comes up 21
Note: you need to operate very carefully, as after completing this screen the collected data will be stored. A wrong calibrated touch screen will give you difficult access to any key field. The key fields can be lower/higher or more left/right then graphic displayed boxes around the text. Use a small pencil to touch on the presented spots. 3x times you have to enter on the spots (upper left, midtown, and midnight). After that the touch panel is calibrated and the new values are stored. Any time you can go back by hitting the Back field Erase all data CAREFULL by hitting on this key, you will erase all spots and adjustments. Do this only in case you really need to clean up the display s memory. You will prompted which following screen to accept the erasing Binding the GPS display to the TX module Standard from factory the TX module and GPS display are already bound to each other. You might generate a new bind in following way: 22
Press the button in the TX module and after that power on the TX module. Release the bind button in the TX module as soon you see the LED fast flashing. Switch on the GPS display and go to settings- factory settings. Insert the secret code and select the bind button. The GPS display will show for a short moment this picture, and when the bind is complete the next picture. After that switch off the TX module and the GPS display. Next time both units are powered on the bind will be effective. Resetting the bind to factory installation. Press the Bind button in the TX module and power on the TX module. Keep the bind button pressed until you see the led stops fast flashing after aprox 10 seconds). The TX unit is then resetted to factory bind. Resetting the gps to factory bind installation. Open the settings menu, and after that the factory installation menu. Insert the secret code and press on the bind icon. Press Restore Default Ident. Switch off both TX module and GPS display. Next time the system is powered on the system is resetted to factory bind. Charging the batteries The display has a build in charger which is under control of the microprocessor. To start the charging process: Leave the TX OFF 23
Switch on the Display The display should be in SIM mode Plug-in the wall adaptor (10-12 volts) Within 4 seconds the display will detect the wall adaptor, and the charging screen will come up. In this screen you can survey the charging process, the amount of time, the ma charged and the actual voltage of the batteries. The charges uses delta peak to detect the maximum of charge. 24
Also as a second protection to avoid overcharging a time limit will be active. This time limit is standard 10 hours, but can be modified by the user. To modify the time limit: hit the timer icon and a new screen will come up. Adjust the new time. Attention: be care full not to use a limit more than 10 hours! Also the delta peak detection can be switched off (recommend when the batteries are discharged for a long time or brand new, thus the delta peak is uncertain for each of the 4 batteries). To switch off the delta peak detection, just hit the icon. At the end of the charging cyclus, a beep will be given, and in the display the user will be prompted to remove the wall adapter. Note: you can also charge the batteries by leaving the display OFF, but in that case there is no control on overcharging of the batteries. The unit can become very hot if the batteries are overcharged, so better to avoid this. Note: for new batteries or batteries which are fully discharged, the display sometimes stops the charging process too early (the batteries are not completely charged). In that case just reconnect the wall adapter to start the charging. Hooking up the AP 25
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Calibration of the RC The autopilot needs to be setted for the configuration of the boat and the used Radio command. This can easily be done with a specialized menu. Before start of the RC calibration you need to set up your RC 1-Make sure that your sticks are all in the middle (neutral) position. 2-Make sure that the trims are in neutral position 3-Make sure you don t use travel limits for motor or rudder. 4-Switch on the RC and switch on the boat. The autopilots need to be powered. Switch on the GPS display. 5-Go to the settings menu and after that factory settings menu. Enter the secret code. The factory menu will come up 28
Select TX Calibration. You will get the first command to move the throttle stick to maximum forward position. After that release the stick back to neutral position. You should get a Beep as acceptance. If you don t hear the beep, repeat the same step, never go to the next step! Next put the Throttle stick to minimum position (full reverse). After that again release the stick to neutral position. Again you should hear a beep as conformation. Again: if you don t get the beep, don t step ahead but repeat the same step! 29
Third step is to calibrate the rudder. Move the rudder stick to maximum RIGHT position. After that release the stick to neutral. You should hear again a beep Again: if you don t get the beep, don t step ahead but repeat the same step! Last step is to move the rudder stick to maximum LEFT position, and then release it back to neutral. Again a beep should come as acceptance. Final you should get the results of the calibration, see picture Most importance of the information is that the program should correct indentify the type of boat that is in use: in this example the motor is connected to channel 1 and the rudder is connected to channel 2. So in this example we have a boat with 1 motor and 1 rudder. Type boat Channel 1 Channel 2 1 motor 1 rudder +/-M +/-R 2 motors +/-M1 +/-M2 30
The system should be recalibrated in case of changes in RC hardware or settings in Motor/Rudder channel. Also when the GPS display or TX module has been changed, the calibration has to setup again. Adjustment of the PidController Rudder This is an important setting for the behavior of the autopilot. The gain of the rudder has to be found by try and error. Prepare the boat for a test ride to a spot. Launch the boat with AP on. Open the settingsmenu factorysettings pincode AutoPilot 6 parameters are presented. Adjust the parameters on the test ride as following; see also Rudder Gain Examples diagrams Calm Weather 3 Beaufort Start 31 Boat has oscillating behavior Rudder Limit 100 100 100 Rudder gain 50 Lower in steps of 5 Rudder-I 0 0 0 Motor Limit 100 100 100 Motor Gain 0 0 0 Large bow track to spot Increase in steps of 10
Motor I 0 0 0 Let the boat sail to a spot on Autopilot and observe the behavior of the boat. The track to the spot should at least be 100 meters. When the behavior of the boat is oscillating like the blue curve in RudderGainExamples diagram degrease the Rudder gain. When the boat is slow responding to the rudder commands=large bow track to the spot like the red curve in the RudderGainExamples diagram, increase the Rudder Gain. Perfect is when the boat is making a track like the black track in RudderGainExamples diagram Normally you should find a value of 50-70% for boat systems with 1 motor, 1 rudder, and 40% for dual motorboat systems After the Rudder Gain has setted for a good track hunting, the adjustment of Rudder-I factor can be done, but only with wind at least beau fort 4. Never adjust Rudder-I factor when Rudder gain procedure is not finished! 32
Weather 4-5 beaufort start Boat drifts away due wind Unstable behavior Rudder limit 100 100 100 Rudder Gain xx xx xx Rudder-I 0 Increase in steps of 5 Motor Limit 100 100 100 Motor Gain 0 0 0 Motor I 0 0 0 Decrease in steps of 5 Normally the Rudder I factor should be low, around 5-15%. Be careful with high values of the Rudder I factor, a high factor can make heavy responses when the boat is changing course. (Instable behavior) 33
Adjustment of Motor gain and Motor Integrator factor These parameters are very boat depending. Only adjust these factors when the parameters of the Rudder have been found. To start a value of 50 for the Motor-I factor can be a good value, leaving Motor Gain at 0. Set the cruise speed in the AP menu at around 2.5km/h and launch the boat for a trip. The boat speed should be reduced from max speed to around 2.5km/h. Try to increase the Motor-I to 100 and check the behavior of the boat. When a good value of Motor-I is found the Motorgain factor can be increased slowly, but keep this at a low value. 0-40%met The Motor gain settings and Motor I settings are used for the 34
approach phase to the spot when the boat has to slowdown his speed to 1.2km/h weather 2-5 Beaufort start values 2 km 2 km Rudder limit xx xx xx Rudder gain xx xx xx Rudder-I xx xx xx Motor limit 100 0 0 Motor Gain 0 0 Increase in steps of 4 to max 40 Motor I 50 Increase in steps of 10 to max 100 France 6 jan 2015. Version 1.3 webversion 35