GPS

GPS enables position hold, return-to-home, and telemetry-based navigation for your ornithopter. GPS features in OrniFlight are functional but considered experimental — always fly within visual line of sight.

Supported Protocols

• UBLOX (recommended) — UBlox binary protocol, efficient and reliable
• NMEA — Text-based standard protocol

Hardware

• BN-880, BN-220, or similar UBlox M8N GPS+Compass modules
• Connect: TX/RX to a free UART, plus 5V/GND
• Mount GPS away from power wires and servo cables to minimize interference
• Compass/magnetometer must be away from magnetic sources (power wires, servos)

Configuration

feature GPS set gps_provider = UBLOX set gps_sbas_mode = AUTO set gps_auto_baud = ON set gps_ublox_use_galileo = ON

1. Assign serial port to GPS in Ports tab (default 115200 baud for UBlox)
2. Enable GPS feature
3. Set provider
4. Save and reboot

OSD Elements

GPS data displayed in OSD includes: - Satellite count and fix type - GPS coordinates (lat/lon) - Ground speed - Altitude (GPS) - Distance from home - Home direction arrow

Ornithopter Considerations

• GPS antenna must have clear sky view — mounting location is critical with flapping wings
• Weight penalty is significant on small ornithopters
• GPS-assisted RTH (Return to Home) requires careful tuning of navigation PID values for flapping flight dynamics