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I have compiled as per http://vrbrain.wordpress.com/development-tools/compiling-vr-brain-c...

FYI the link 

  • Use the dfu file manager in Programs->ST Microelectronics->DFU File manager to convert the HEX in DFU and then follow the instruciotns to upload the firmware here

goes to a page which is deleted, it shoild go to:

http://vrbrain.wordpress.com/quick-start-guide/firmware-2/

Then I programmed my VRbrain as per the instructions here:

http://vrbrain.wordpress.com/quick-start-guide/firmware-2/

All worked ok with compile and programmed the VRbrain.

But, where to change in the code to be able to use the external GPS.

If I program the VRbrain with the file "VRBRAIN_3.1.13_QUAD_EXTGPS.dfu" it works OK

Should I edit the "APM_Config.h" file or?

To use an octa_frame should i edit "APM_Config.h"?

I could not find any instructions on the above.

So to make a file like "VRBRAIN_3.1.13_QUAD_EXTGPS.dfu" what has to be changed and where in eclipse?

Thanks in advance/Goran

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Hello, the way to change GPS port number is in:

Libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp

At line 27 invert 2 and 3 for the uartB and uartC like this:

//_USART1 PIN 3 AND 4 OF THE INPUT RAIL
//_USART2 INTERNAL SERIAL PORT
//_USART3 PIN 1 AND 2 OF THE INPUT RAIL
//_USART6 PIN 5 AND 6 on the INPUT RAIL


// XXX make sure these are assigned correctly
static VRBRAINUARTDriver uartADriver(_USART1,1);
static VRBRAINUARTDriver uartBDriver(_USART3,0);
static VRBRAINUARTDriver uartCDriver(_USART2,0);

For OCTO you can choose your frame in the APM_Config.h. Uncommet this line and put your frame:

#define FRAME_CONFIG OCTA_QUAD_FRAME

Emile

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