Unterschiede zwischen den Revisionen 1 und 2
⇤ ← Revision 1 vom 27.03.2012 17:03 →
Größe: 5344
Autor: HolgerB
Kommentar: New page
← Revision 2 vom 27.03.2012 17:10 → ⇥
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Autor: HolgerB
Kommentar:
Gelöschter Text ist auf diese Art markiert. Hinzugefügter Text ist auf diese Art markiert.
Zeile 5: Zeile 5:

You can open the File with:
 * a text editor
 * GoogleEarth (shows the flight path)
 * Our simple GPX-Viwer: [[http://mikrocontroller.com/files/GPX_Viewer.exe|Download]]
 * the graphical [[MK_GPX|MK_GPX]] Tool

Inhaltsverzeichnis

  1. Data Logging
  2. Description of the GPX-tags
    1. Header
    2. Trackpoints
    3. MK-Data

Data Logging

The NaviCtrl records the flight data in a GPX and a KML file on the Micro-SD-Card (max. 2GBytes - fat16 formatted)

You can open the File with:

Description of the GPX-tags

The file starts with this header:

  • <?xml version="1.0" encoding="UTF-8" standalone="no" ?>

  • <gpx creator="NC" version="2.0" >

  • <metadata>

  • <link href="http://www.mikrokopter.de">

  • <text>MikroKopter</text>

  • </link>

  • <desc>FC HW:2.1 SW:0.88e + NC HW:2.0 SW:0.28h</desc>

  • </metadata>

There you can see the Hard- and software version of FlightControl and NaviControl

Trackpoints

  • <trk>

  • <name>Flight</name>

  • <trkseg>

  • <trkpt lat="+53.2856050" lon="+7.4849955"> --> Gps-Position

  • <ele>2.379</ele> --> GPS-Altitude in m and mm

  • <time>2012-03-23T15:00:04Z</time> --> GPS-Time

  • <sat>9</sat> --> Number of Satelites

MK-Data

  • <extensions>

  • <Altimeter>20,' '</Altimeter> --> Barometer altitude in 5cm -> (20 = 1m)

  • <Variometer>15</Variometer> --> rate of rising/falling

  • <Course>194</Course> --> GPS course over grund (independent from the compass of the MK

  • <GroundSpeed>286</GroundSpeed> --> ground speed in cm/sec

  • <VerticalSpeed>49</VerticalSpeed> --> Vertical Speed in cm/s

  • <FlightTime>3</FlightTime> --> Flight duration in seconds

  • <Voltage>16.1</Voltage> --> Lipo voltage in [V]

  • <Current>21.1</Current> --> Lipo Current in [A]

  • <Capacity>44</Capacity> --> Capacity in [mAh]

  • <RCQuality>194</RCQuality> --> Quality of the PPM-Signal (not the signal strength in case on 2,4GHz receiver!)

  • <RCRSSI>0</RCRSSI> --> Signal strenght of (old) ACT 35MHz receivers

  • <Compass>189,196</Compass> --> Gyro stabilized Compass signal ; raw compass signal

  • <NickAngle>-13</NickAngle> --> actual Nick-angle in [°]

  • <RollAngle>000</RollAngle> --> actual Roll-angle in [°]

  • <MagnetField>093</MagnetField> --> strength on the current magnet field in [%]. This is compared to the field during calibration. Should be between 85 and 115%

  • <MagnetInclination>75,06</MagnetInclination> --> Actual messured inclination of the magnetic (compass) vector ; inclination error compared to the theoretic inclination at your location

  • <MotorCurrent>21,42,31,53,32,29,15,22,0,0,0,0</MotorCurrent> --> current of the BL-Ctrls 1-12 in [0,1A]

  • <BL_Temperature>23,23,27,25,26,26,25,25,0,0,0,0</BL_Temperature> --> temperature of the BL-Ctrls 1-12 in [1°C]

  • <AvaiableMotorPower>255</AvaiableMotorPower> --> available maximum power of the BL-Ctrls (255 = 100%)

  • <FC_I2C_ErrorCounter>000</FC_I2C_ErrorCounter> --> counter of Errors on the I2C bus to the BL-Ctrls

  • <AnalogInputs>10,10,10,10</AnalogInputs> --> free analog inputs of the NC (1024 = 3,3V)

  • <NCFlag>0x84</NCFlag>

    • Bitcodes status:

    • NC_FLAG_FREE 0x01 --> GPS off

    • NC_FLAG_PH 0x02 --> GPS in Position Hold mode

    • NC_FLAG_CH 0x04 --> GPS in Coming Home or Waypoint mode

    • NC_FLAG_RANGE_LIMIT 0x08 --> GPS Target Position is outside the range limit

    • NC_FLAG_NOSERIALLINK 0x10 --> The NC doesn't receive KopterTool-Data

    • NC_FLAG_TARGET_REACHED 0x20 --> GPS Waypoint reached

    • NC_FLAG_MANUAL_CONTROL 0x40 --> Position manual controlled

    • NC_FLAG_GPS_OK 0x80 --> Satfix

  • <Servo>128,128,0</Servo> --> (Poti-) Setpoint for the Nick Servo (Raw); (Poti-) Setpoint for the Roll Servo (Raw); POI-Nick control (Or Waypoint-Nick Setpoint) in [°]

  • <WP>P123,2,29,43</WP> --> Name of the actual target-Waypoint ( here P123) ; Waypoint 2 of 29 ; Actual Value of the Waypoint event (here 43)

  • <FCFlags2>0x00,0x00</FCFlags2> --> Flight control status flags 1 and 2

    • Flight control status flags 1

    • FC_STATUS_MOTOR_RUN 0x01 --> Motors are running

    • FC_STATUS_FLY 0x02 --> MK is Flying

    • FC_STATUS_CALIBRATE 0x04 --> MK is Calibrating

    • FC_STATUS_START 0x08 --> MK is Strating

    • FC_STATUS_EMERGENCY_LANDING 0x10 --> Emergency gas in case of RC-Lost

    • FC_STATUS_LOWBAT 0x20 --> Low Lipo-Voltage

    • FC_STATUS_VARIO_TRIM_UP 0x40 --> Altitude control in Vario-Mode trimming up

    • FC_STATUS_VARIO_TRIM_DOWN 0x80 --> Altitude control in Vario-Mode trimming down

      • Flight control status flags 2

    • FC_STATUS2_CAREFREE 0x01 --> CareFree is active

    • FC_STATUS2_ALTITUDE_CONTROL 0x02 --> Altitude control is active

    • FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 --> The FC has RC-Lost and the Failsafe-feature is active

    • FC_STATUS2_OUT1_ACTIVE 0x08 --> The Output 1 of the FC is active

    • FC_STATUS2_OUT2_ACTIVE 0x10 --> The Output 2 of the FC is active

  • <ErrorCode>000</ErrorCode> --> Actual ErrorCode

  • <TargetBearing>000</TargetBearing> --> Direction to the Target

  • <TargetDistance>0</TargetDistance> --> Distance to the Target

  • <RCSticks>-27,-3,0,-23,3,3,127,3,3,127,127,127</RCSticks> --> current values of the RC-Sticks in this order: Nick; Roll ; Yaw ; Gas ; Poti 1-Poti8

  • <GPSSticks>2,3,0,'W'</GPSSticks> --> current influence of the GPS-control: Nick ; Roll ; Yaw ;

    • GPS-Modes:
    • '-' = no GPS fix
    • '/' = off
    • '?' = Coming home, but home Position unknown (goes to PH then)
    • 'C' = Coming home
    • 'W' = Flying Waypoints
    • 'D' = Dynamic Position Hold
    • 'P' = Position Hold
    • 'm' = Manual controlled

  • </extensions>

  • </trkpt>