Simple GPS Position Hold using KK Flight Controller and Arduino |Compass QMC5883l|GPS Neo 6M |HTG

Here I tried to implement GPS based Position Hold feature to a kk flight controller. Although the results were not as good when compared with pixhawk or APM flight controller, still it worked decently with very little manual assistance at times.

NOTE: Since the QMC5883l compass is not very user-friendly Here we need to make sure to manually place the front of the drone towards the north direction before activating the position hold mode.

Author -Harsh Dokania a.k.a HTG
Link for Code: https://github.com/htgdokania/GPS_hold
Complete Connection Diagram: https://drive.google.com/file/d/1VhrIh-didb2eGaoyQvRH4EW-ekAKIKF9/view?usp=sharing

Please Watch the altitude hold Video by me for better understanding :
Link: https://youtu.be/x5YZY6KX_N4
Also, watch the Direction hold video which is part of this video series :
Link: https://youtu.be/Pn8q4QcCYu8

In this video, I have used a
1.kk flight controller along with
2.An Arduino nano and
3.A GY-271 compass module (QMC5883l)
4.Neo 6M-0-001 GPS Module
For Compass Refer: https://www.youtube.com/watch?v=Ndtg6WKLXYE
To understand PinChangeInterrupt better refer here:

To add the feature of Direction Control using the initial direction as a reference and applying a proportional controller.
The first challenge was to accurately read the radio receiver's PWM signal for which I referred to
1.Joop Brokking's channel (the ultimate source to make drones using Arduino)
channel link:https://www.youtube.com/user/MacPuffdog

This channel also helped me change the GPS refresh rate to 5 Hz from default 1 Hz.

Видео Simple GPS Position Hold using KK Flight Controller and Arduino |Compass QMC5883l|GPS Neo 6M |HTG канала Magical Electronics