Starting off as a bit of a work in progress, this short guide is intended to help getting a GPS module connected and configured in Naze32 flight controllers using Baseflight and Cleanflight software.

It should be pointed out at the start that Timecop, the originator of Naze32, does not endorse or encourage the use of GPS with Naze32 for flight modes.  However, it can be useful as pointed out by @teslahed on this forum, to use GPS to populate an  OSD with relevant navigation information. 

However, in this thread it is my intention to add a GPS to Naze32 specifically for the purposes of exploiting the two MultiWii flight assist modes GPS_HOLD (Loiter) and GPS_HOME (RTL/RTH).  These are variously supported in Baseflight (less so) and Cleanflight (more so and improving with time).

GPS Types
Baseflight will work with GPS units that commmunicate using the following protocols:
NMEA, UBLOX, MTK(NMEA) and MTK(Binary)
Cleanflight will work with GPS units that communicate using:
NMEA, UBLOX (at this time I do not know if it will support the others)

For the purposes of this exercise I will be using a CN06-V2 clone purchased from EBay and used very successfully in a MultiWii Pro and several APM 2.5 FCs.  It is a known worker.

This is a typical example of such a GPS - prices have dropped dramatically if you shop around and don';t mind the Far East wait. Typically around £8 gets you one : http://www.ebay.co.uk/itm/Aircraft-Flight-Controller-For-Arduino-New1PC-Ublox-NEO6MV2-GPS-Module-/130981208556?pt=UK_ToysGames_RadioControlled_JN&hash=item1e7f16a1ec

Physical Connections
Typcally, a GPS will require four connections to the host FC.  These are Ground, Positive, Transmit (TX) and Receive (RX). 

Note that the terminology TX and RX are relative to the particular equipment, in this case the GPS and Naze32.  So to connect these together you must cross the TX of one with the RX of the other.  Thus, TX on the Naze32 connects to the RX of the GPS, and the TX of the GPS connects to the RX of the Naze32.

You cannot do any damage if you get the TX/RX wired incorrectly (TX to TX, RX to RX) it simply will not pass any data.

Naze32 Pinout
In the Naze32 the Receiver port is used to support GPS TX and RX.  It is described in the manual thusly

Quote
When GPS feature is enabled, channels 3 and 4 are are used for 3.3V GPS connection.
(3:TX, 4:RX). with CPPM receiver, these are normally unused, with standard receiver,
connect AIL to 1, ELE to 2, THR to 5, RUD to 6, and AUX1/2 to channels 7 and 8.

In my case I am using a "standard receiver" - that is one with discrete wires for each of the channels. And it is important to recognise that once GPS is enabled in the Naze32 CLI that this pinout changes from the default 1 - 8. 

click to see full picture


However, in any event, it is pins 3 and 4 that will be used for the GPS TX and RX respectively.

So, connect Naze32 pin 3 (TX) to the GPS RX, and connect Naze32 pin 4 (RX) to the GPS TX pin.

Power for the GPS may be picked up from a spare Motor port on the Naze, or if that is not available then any 5v and ground source on the multi-rotor may be used.

Configuring the Naze32
Firstly you will have to enable GPS functionality on the Naze32.  That is done in the CLI using the command feature gps and then use the command save to commit the change.

The serial data stream used by an FC to talk to GPS units operates at a set speed. By default in Naze32 that is 115200 (bits per second or bps).  Depending upon your GPS you may need to change this, and to do so use the command set gps_baudrate = 57600 (for example, change the number to whatever speed you need).  Alternatively, change your GPS to use 115200bps.

Next you will need to check or change the GPS type, and the commands to do this vary between Baseflight and Cleanflight. However, by default the GPS type is set to NMEA, the global standard.

Baseflight
GPS serial speed is set with the command set gps_baudrate = x where x is a speed index as follows:
0 = 115200
1 = 57600
2 = 38400
3 = 19200
4 = 9600

The GPS type is set with the command set gps_type = x
0 - NMEA
1 - UBLOX
2 - MTK(NMEA)
3 - MTD(Binary)

Cleanflight
GPS serial speed is set with the command set gps_baudrate = 115200 or whatever legitimate serial speed you require.

The GPS type is set with the command set gps_provider = x
0 - NMEA
1 - UBLOX

Inspect your work
At this point you have physically connected your GPS to the Naze32 FC and configured the FC to recognise the GPS unit. You can then validate that the GPS is working by using the GUI app (BaseflightGUI or CleanflightGUI) and navigate to the GPS tab to witness whether or not you have a GPS 3D lock, the number of satellites, the GPS location in Lat/Lon and some other detail.

Setting the Mode switches
When using either the GPS_HOLD or GPS_HOME feature you must also enable MAG, BARO and either of ANGLE or HORIZON mode for that switch position. ANGLE would probably be the better of the two as it is more stable - you don';t really want the multi-rotor performing acro loops on its return home.  If you do not include the three features then the GPS mode you select will behave erratically at best, dangerously at worst (fly away). 

see column AUX3 for an example of how the features should be grouped


And finally ... in use
Before arming and flying your multi-rotor you must allow the GPS to lock on to the satellites.  How quickly it does so depends on the specific GPS unit you have.  Some work very quickly, they warm start in seconds.  Others will cold start each time you apply power to the aircraft. 

In any event, allow a full three minutes before arming and flying - or take a look at the Naze32 FC';s LEDs, if the red LED is flashing then it indicates a 3D lock and flight is okay to proceed.

Caution:  Home position is recorded when the FC is armed. So, if you do not allow a 3D lock then there is a fair chance that the FC will record home as some random place on planet earth. In such a case switching to GPS_HOME will probably be the last you see of your multi-rotor!  You have been warned.  Don';t be impatient.

I hope this helps you with setting up GPS on your Naze32.  Do please share your own experiences below.

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great guide danny, never thought of using gps on naze but you made it sound pretty simple here, i recently won a full naze too maybe a will get a gps antenna for it and stick on qav. will see how others get on 1st though 

Just a quick note ... if you have added a buzzer to you Naze32 make sure there is plenty of clearance between it and the FC ... preferably several inches.  The one I got from ebay puts out a stronger magnetic field than the wiring loom on my 450.

I used this piezo buzzer, same as I';ve used on APM 2.5 multis. Will check on its magnetic characteristics. Thanks for alert

Hi iv just got one of these off ebay and i also got a case that i thought would fit but unfortunately it wont fit inside, 
i would be grateful if you could post some photos of how you installed yours to your airframe :-) do the 2 parts of the GPS need to be apart or can the be double sided taped together 

                                                    Thanks Gary

you can solder the gps unit directly onto the back of the pcb , I just heat shrunk it and glued it to my frame after that

ah right   do you solder directly to the 4 contact points on the board ?   

Quote from: Gary on Wednesday,December 10, 2014, 18:11:20
ah right   do you solder directly to the 4 contact points on the board ?   

If you mean the four large contact pads on each corner of the board then yes. Although you only really need to solder to any one of the four and then as DH has said, wrap the whole shebang in heat shrink (allowing for the four connection holes for pins or wires for TX/RX +ve and -ve.

A reply from another forum which may help.

I believe the Flip32 is the same as the Naze32 and I have just gone through the task of getting a GPS working with that. Not exactly plug n play worst luck.

This worked for my GPS unit
In the Configuration screen I ticked Enable GPS
Selected Type NMEA, Baudrate 115200,ground Assist Type Auto Detect.
Then save

Then in CLI type set and checked the following
gps_type = 0 which equals Type NMEA
gps_baudrate = 0 which equals Baudrate 115200

Now this is totaly wrong according the the instructions that came with the GPS as it says type UBLOX and 9600 baudrate so go figure.

Also every time you change something you have save and reboot the board so disconnect in the software.

Also the GPS needs your flight battery connected as the USB wont power anything other than the board.

If you see the GPS tab at the top of the screen turn green then the GPS is working but until it gets 4 satellites it dosn`t seem to show any GPS info and it also takes ages in doors.

Hope some of this makes sense and helps.

Before switching to Cleanflight I had GPS working [with Baseflight] but since I';ve switched over I';m unable to get any data from the GPS module.  I have two of the uBlox 6M units from Witespy and neither one report anything other than Altitude: 65519m.

Testing is done with the battery attached and all electrical connections are correct. The GPS indicator in the Cleanflight UI is ';green'; but beyond that I';m getting nothing.

Radio is a FrSky Delta 8 using PPM and I have sonar.  Everything else seems to be working correctly.

If someone can spot an error in my CLI dump it would be much appreciated.  Thanks! 



# version
Cleanflight/NAZE Dec 7 2014 / 22:13:36 (227b89e)
# dump master

# mixer
mixer QUADX


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature RX_PPM
feature VBAT
feature GPS
feature SONAR
feature TELEMETRY


# map
map AETR1234


# led
led 0 2,2:ES:IA
led 1 2,1:E:WF
led 2 2,0:NE:IA
led 3 1,0:N:F
led 4 0,0:NW:IA
led 5 0,1:W:WF
led 6 0,2:SW:IA
led 7 1,2:S:WF
led 8 1,1:U:WF
led 9 1,1:U:WF
led 10 1,1:D:WF
led 11 1,1:D:WF
led 12 0,0::
led 13 0,0::
led 14 0,0::
led 15 0,0::
led 16 0,0::
led 17 0,0::
led 18 0,0::
led 19 0,0::
led 20 0,0::
led 21 0,0::
led 22 0,0::
led 23 0,0::
led 24 0,0::
led 25 0,0::
led 26 0,0::
led 27 0,0::
led 28 0,0::
led 29 0,0::
led 30 0,0::
led 31 0,0::


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

set looptime = 3500
set emf_avoidance = 0
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set input_filtering_mode = 0
set min_throttle = 1050
set max_throttle = 1850
set min_command = 1000
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set retarded_arm = 0
set disarm_kill_switch = 1
set small_angle = 25
set flaps_speed = 0
set fixedwing_althold_dir = 1
set serial_port_1_scenario = 1
set serial_port_2_scenario = 2
set serial_port_3_scenario = 0
set serial_port_4_scenario = 0
set reboot_character = 82
set msp_baudrate = 115200
set cli_baudrate = 115200
set gps_baudrate = 115200
set gps_passthrough_baudrate = 115200
set gps_provider = 1
set gps_sbas_mode = 0
set gps_auto_config = 0
set serialrx_provider = 0
set telemetry_provider = 0
set telemetry_switch = 0
set telemetry_inversion = 0
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = 0
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = 0
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 90
set max_angle_inclination = 500
set gyro_lpf = 42
set moron_threshold = 32
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set yaw_control_direction = 1
set acc_hardware = 0

# dump profile

# profile
profile 0

# aux
aux 0 0 0 900 900
aux 1 0 0 900 900
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
aux 20 0 0 900 900
aux 21 0 0 900 900
aux 22 0 0 900 900
aux 23 0 0 900 900
aux 24 0 0 900 900
aux 25 0 0 900 900
aux 26 0 0 900 900
aux 27 0 0 900 900
aux 28 0 0 900 900
aux 29 0 0 900 900
aux 30 0 0 900 900
aux 31 0 0 900 900
aux 32 0 0 900 900
aux 33 0 0 900 900
aux 34 0 0 900 900
aux 35 0 0 900 900
aux 36 0 0 900 900
aux 37 0 0 900 900
aux 38 0 0 900 900
aux 39 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

set gps_pos_p = 11
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 20
set gps_posr_i = 8
set gps_posr_d = 45
set gps_nav_p = 14
set gps_nav_i = 20
set gps_nav_d = 80
set gps_wp_radius = 200
set nav_controls_heading = 1
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set alt_hold_deadband = 40
set alt_hold_fast_change = 1
set deadband = 0
set yaw_deadband = 0
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_direction = 1
set tri_unarmed_servo = 1
set default_rate_profile = 0
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1200
set failsafe_min_usec = 985
set failsafe_max_usec = 2115
set gimbal_flags = 1
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set accz_lpf_cutoff = 5.000
set acc_unarmedcal = 1
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set mag_declination = 1640
set pid_controller = 0
set p_pitch = 40
set i_pitch = 30
set d_pitch = 23
set p_roll = 40
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_pitchf = 2.500
set i_pitchf = 0.600
set d_pitchf = 0.060
set p_rollf = 2.500
set i_rollf = 0.600
set d_rollf = 0.060
set p_yawf = 8.000
set i_yawf = 0.500
set d_yawf = 0.050
set level_horizon = 3.000
set level_angle = 5.000
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 90
set rc_expo = 65
set thr_mid = 50
set thr_expo = 0
set roll_pitch_rate = 0
set yaw_rate = 0
set tpa_rate = 0
set tpa_breakpoint = 1500

#

This is only a guess but you may want to recheck the serial_port scenarios.

Thanks tupour. I';ve tried a number of combinations but so far the only ones that allow the GPS to be recognized are:

set serial_port_1_scenario = 1
set serial_port_2_scenario = 2
set serial_port_3_scenario = 0
set serial_port_4_scenario = 0

=\

Have you tried running the command ';gpspassthrough'; ?

It returns strings of gibberish.  I';d say the baud rate is off but Witespy claims the module is 115200 and switching to 38K doesn';t seem to affect it.

Did you try gps_provider = 0 (NMEA)?  I know it';s a u-blox unit, but can';t hurt trying.

Ok, complete longshot but can you try switching the serial providers? Port 1=2 and vice versa?

PS I';m shooting blind here as I';ve only had a brief dabble with GPS on the Naze32/Flip32 & Cleanflight.

Failing that, you can always check out the  #Cleanflight IRC channel as there is always someone who can help.

Quote from: quadfather on Friday,December 12, 2014, 20:26:35
Did you try gps_provider = 0 (NMEA)?  I know it';s a u-blox unit, but can';t hurt trying.

Just disables GPS.

But thanks.

=)

Quote from: tupoar on Friday,December 12, 2014, 20:27:41
Ok, complete longshot but can you try switching the serial providers? Port 1=2 and vice versa?

PS I';m shooting blind here as I';ve only had a brief dabble with GPS on the Naze32/Flip32 & Cleanflight.

Failing that, you can always check out the  #Cleanflight IRC channel as there is always someone who can help.

Me too.

I didn';t know you could swap ports.  How do you do that?

Currently:
set serial_port_1_scenario = 1
set serial_port_2_scenario = 2

Try:
set serial_port_1_scenario = 2
set serial_port_2_scenario = 1

Quote from: tupoar on Friday,December 12, 2014, 21:00:32
Currently:
set serial_port_1_scenario = 1
set serial_port_2_scenario = 2

Try:
set serial_port_1_scenario = 2
set serial_port_2_scenario = 1

Doh!

Thanks.

BTW, I accidentally disable the USB port by setting set serial_port_1_scenario = 0 and now I can';t access the board.  Sigh.

Fortunately I had a spare Naze and swapped it in.

Any chance that swapping ports as in the above will have the same effect on the USB port?

Ooops! That';s not good. I';m pretty sure there is a way round that.

I';ve run those commands on a board with no ill effect. Just not to zero.... 

Quote from: tupoar on Friday,December 12, 2014, 21:11:51
Ooops! That';s not good. I';m pretty sure there is a way round that.

I';ve run those commands on a board with no ill effect. Just not to zero.... 

Perhaps a cleanflight "feature"?

Quote from: CradyCopter on Friday,December 12, 2014, 21:04:25
BTW, I accidentally disable the USB port by setting set serial_port_1_scenario = 0 and now I can';t access the board.  Sigh.

Can you still access the firmware flasher?  I can';t believe the USB port is completely disabled.

Can you still access the firmware flasher?  I can';t believe the USB port is completely disabled.
[/quote]

Nope.  I started a new thread asking if anyone knows how to undo this.

Huzzah! Even though Witespy says their House GPS module is rated at 115200 I decided to look up the 6M datasheet on the uBlox website and surprise! The module is actually rated at 57200.

After a quick trip back to the CLI and setting gps_baudrate = 57600 the module began reporting data.

Yessssssssssssssssssssssss!

Many thanks for responses I received on this.  Very much appreciated.

=)))

Quote from: CradyCopter on Saturday,December 13, 2014, 02:12:34
Huzzah! Even though Witespy says their House GPS module is rated at 115200 I decided to look up the 6M datasheet on the uBlox website and surprise! The module is actually rated at 57200.

After a quick trip back to the CLI and setting gps_baudrate = 57600 the module began reporting data.

Yessssssssssssssssssssssss!

Many thanks for responses I received on this.  Very much appreciated.

=)))

Excellent news!

Please do a forum post when you get her in the air.  I';m sure others will be interested to see how it works.

Cheers,

Tim

Quote from: quadfather on Saturday,December 13, 2014, 02:20:07
Excellent news!

Please do a forum post when you get her in the air.  I';m sure others will be interested to see how it works.

Cheers,

Tim

Will do.  Thanks again, Tim.

Cheers!

Quote from: CradyCopter on Saturday,December 13, 2014, 02:12:34
Huzzah! Even though Witespy says their House GPS module is rated at 115200 I decided to look up the 6M datasheet on the uBlox website and surprise! The module is actually rated at 57200.

After a quick trip back to the CLI and setting gps_baudrate = 57600 the module began reporting data.

Yessssssssssssssssssssssss!

Many thanks for responses I received on this.  Very much appreciated.

=)))

Absolute result! Glad its sorted. Just need to sort the broken fc now.

Quote from: tupoar on Saturday,December 13, 2014, 08:53:20
Absolute result! Glad its sorted. Just need to sort the broken fc now.

Got the FC sorted as well.  A bit fiddly but I was finally able to get Flash Loader Demo to see the board and make the repair.

http://www.multi-rotor.co.uk/index.php?topic=11143.0

=)