<> = 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: [[SimpleGpxViewer]] * the graphical [[MK_GPX_MDI|MK-GPX (MDI)]] Tool * the graphical [[MK_GPX|MK-GPX]] Tool (old) Tool for visualisation: SimpleGpxViewer = Description of the GPX-tags = == Header == The file starts with this header: . . . . .'''MikroKopter''' . .'''FC HW:2.1 SW:0.88e + NC HW:2.0 SW:0.28h''' . There you can see the Hard- and software version of FlightControl and NaviControl == Trackpoints == . .Flight . . --> Gps-Position .2.379 --> GPS-Altitude in m and mm .2012-03-23T15:00:04Z --> GPS-Time .9 --> Number of Satelites == MK-Data == . .20,' ' --> Barometer altitude in 5cm -> (20 = 1m) .15 --> rate of rising/falling .194 --> GPS course over grund (independent from the compass of the MK .286 --> ground speed in cm/sec .49 --> Vertical Speed in cm/s .3 --> Flight duration in seconds .16.1 --> Lipo voltage in [V] .21.1 --> Lipo Current in [A] .44 --> Capacity in [mAh] .194 --> Quality of the PPM-Signal (not the signal strength in case on 2,4GHz receiver!) .0 --> Signal strenght of (old) ACT 35MHz receivers .349,344,356,357 --> >Yaw Gyro stabilized Compass signal ; compass signal (raw) ; Compass setpoint (corrected with declination) ; Gyro Compass corrected (declination) .-13 --> actual Nick-angle in [°] .000 --> actual Roll-angle in [°] .093 --> strength on the current magnet field in [%]. This is compared to the field during calibration. Should be between 85 and 115% .75,06 --> Actual messured inclination of the magnetic (compass) vector ; inclination error compared to the theoretic inclination at your location .21,42,31,53,32,29,15,22,0,0,0,0 --> current of the BL-Ctrls 1-12 in [0,1A] .23,23,27,25,26,26,25,25,0,0,0,0 --> temperature of the BL-Ctrls 1-12 in [1°C] .0,0,0,2,0,0 --> "Motor Not Okay" counter for each motor: in this example BL 4 reported two errors (maybe motor stopped) .255 --> available maximum power of the BL-Ctrls (255 = 100%) . 120,100 --> actual gas value, estimated hoover gas .000 --> counter of Errors on the I2C bus to the BL-Ctrls .10,10,10,10 --> free analog inputs of the NC (1024 = 3,3V) <
> .0x84:CH . 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 ~-. Examples: . 0x81:FREE = 0x80 + 0x01 . 0x82:PH = 0x80 + 0x02 . 0xC2:PH manual = 0x80 + 0x02 + 0x40 . 0x84:CH = 0x80 + 0x04 . 0x94:CH = 0x80 + 0x04 + 0x10 . 0xA4:CH Target reached = 0x80 + 0x04 + 0x20 -~ <
> .128,128,0 --> (Poti-) Setpoint for the Nick Servo (Raw); (Poti-) Setpoint for the Roll Servo (Raw); POI-Nick control (Or Waypoint-Nick Setpoint) in [°] .P123,2,29,43 --> Name of the actual target-Waypoint ( here P123) ; Waypoint 2 of 29 ; Actual Value of the Waypoint event (here 43) .0x00,0x00 --> 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_FAILSAFE_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 . FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 --> Motor Running, but still on the ground . FC_STATUS2_AUTO_STARTING 0x40 . FC_STATUS2_AUTO_LANDING 0x80 .0 --> the sentence that the transmitter should speak (see below) .000 --> Actual ErrorCode .12.3,23.4 --> BL-Gimbal feedback: Angle Nick & Roll in [°] .123.4 _-> Distance Laser in [m] .000 --> Direction to the Target .0 --> Distance to the Target .-27,-3,0,-23,3,3,127,3,3,127,127,127 --> current values of the RC-Sticks in this order: Nick; Roll ; Yaw ; Gas ; Poti 1-Poti8 .2,3,0,'W' --> 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 .12.123 --> raw GPS altitude . .50,13,3 -> GPS-Update-Rate in 0.1Hz (50 = 5,0Hz), GPSData_Flags, Type of SatFix . '''Value of the Flags (bit-coded)''' . FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) . FLAG_DIFFSOLN 0x02 // (is DGPS used) . FLAG_WKNSET 0x04 // (is Week Number valid) . FLAG_TOWSET 0x08 // (is Time of Week valid) . FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate . '''interpretation of the GPSData.SatFix''' . 0 = No fix . 1 = SATFIX_DEADRECKOING . 2 = SATFIX_2D . 3 = SATFIX_3D . 4 = SATFIX_GPS_DEADRECKOING . 5 = SATFIX_TIMEONLY == Speak == * 1 : "Error Calibration" * 2 : "Error Receiver" * 3 : "Error Databus (I2C-Bus)" * 4 : "Error Navi" * 5 : "Error" (other error) * 6 : "Error Compass" * 7 : "Error Sensor" * 8 : "Error GPS" * 9 : "Error Motor" * 10 : "Max Temperature" (or max. current of one Motor) * 11 : "Altitude reached" * 12 : "Waypoint reached" * 13 : "next Waypoint" * 14 : "Landing" * 15 : "GPS FIX" * 16 : "Undervoltage" * 17 : "GPS hold" * 18 : "GPS home" * 19 : "GPS off" * 20 : "BEEP" * 21 : "MikroKopter" * 22 : "Capacity" * 23 : "Carefree off" * 24 : "Calibrate" * 25 : "maximum range" * 26 : "maximum altitude" * 38 : "MikroKopter off" * 39 : "Altitude on" * 40 : "Altitude off" * 41 : "100m" * 46 : "Carefree on" * 47 : "Sinking" * 48 : "Rising" * 49 : "Holding" * 50 : "GPS on" * 51 : "Following" * 52 : "Starting" <
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