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Kommentar: New page
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5619
bei GPSStick Wert 4 ist "Coming Home" nicht 'C' sondern 'H'!
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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_MDI|MK-GPX (MDI)]] Tool * the graphical [[MK_GPX|MK-GPX]] Tool (old) |
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. 'C' = Coming home | . 'H' = Coming home |
Inhaltsverzeichnis
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:
- a text editor
GoogleEarth (shows the flight path)
Our simple GPX-Viwer: Download
the graphical MK-GPX (MDI) Tool
the graphical MK-GPX Tool (old)
Description of the GPX-tags
Header
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)
- 'H' = Coming home
- 'W' = Flying Waypoints
- 'D' = Dynamic Position Hold
- 'P' = Position Hold
- 'm' = Manual controlled
</extensions>
</trkpt>