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||<class="MK_Nav_Header">'''Calibrate Compass'''||
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##Einfügen_Start 


= Calibrate Compass =

##include_compass_begin

The compass (and the GPS) is needed for the automated control of the !MikroKopter. <<BR>>
Therefore a new compass must be calibrated once for a proper function.

If the compass has not been calibrated, compass and GPS supported features can not be used and you can not start the copter. <<BR>>
An error message (error 31) is then displayed via the telemetry.

A recalibration of the compass is usually only necessary when the Kopter fly under the "PositionHold" function in circles at a remote location.


<<BR>><<BR>><<BR>><<BR>>

~+'''The calibration'''+~

{{{{#!wiki important
'''Please note'''

Calibrate the copter outside, far away from magnetic influences!

During the calibration you have to turn the copter completely around the axis.

The following applies: If you calibrate the compass precisely, the copter will fly perfectly.

If the copter is flying in circles ~-(with activated function !PositionHold and in an altitude above houses and trees)-~, you better calibrate the compass new. <<BR>>

When you have problems after the calibration (e.g. an err22), a magnetic problem on your copter can be the problem. <<BR>>
Informations for the "magnetic error" can be found here:: '''[[en/MagnetError|MagnetError]]'''
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<<BR>><<BR>>

~+'''__The calibration will be done in 5 steps:__'''+~ <<BR>><<BR>>


||<class="MK_THeader" width= 350px>Step||<class="MK_THeader" width= 400px>Funktion||<class="MK_THeader" width= 400px>Beispielansicht / Funktion||
||||Switch ON the Transmitter and connect the Copter with the Lipo.||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/Button-Baugruppe/Copter-FB-ON.jpg?m=1486035200 }}||
||'''Step 1'''<<BR>>Initiate compass calibration||<:>'''Nick down'''<<BR>>(and hold)<<BR>><<BR>>then<<BR>><<BR>>'''Throttle up + Yaw left'''<<BR>><<BR>>(The Kopter beeps 1x)||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_2.jpg?m=1484305663 }}||
||'''Step 2'''<<BR>>Start Calibration||<:>'''Pull Nick down 1x'''<<BR>><<BR>>(The Kopter beeps 2x and the clicking starts)||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663 }}||
||Calibration of the '''X-Axis''' (Nick-Axis)||<:>The Kopter with the front<<BR>>(Arrow direction of the !FlightCtrl)<<BR>>pointing to the __South__ or __North__,<<BR>><<BR>>then<<BR>><<BR>>rotate the Kopter a couple times '''completely''' over the Nick-Axis until the buzzer stops with the clicking.||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MK8-Kalibrierung-front.jpg?m=1484305664 }}||
||Rotate the Kopter||<:>'''Rotate the Kopter by 90°.'''<<BR>>The clicking starts again.||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MK8-Kalibrierung-drehen.jpg?m=1484305663 }}||
||Calibration of the '''Y-Axis''' (Roll-Axis)||<:>Rotate the Kopter a couple times '''completely''' over the Roll-Axis until the buzzer stops with the clicking.||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MK8-Kalibrierung-Seite.jpg?m=1484305664 }}||
||'''Step 3'''<<BR>>Finish the calibration of the X and Y-Axis||<:>'''Pull Nick 1x down'''<<BR>><<BR>>(The Kopter beeps 3x)||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663 }}||
||'''Step 4'''<<BR>>Start calibration of the Z-Axis (Yaw-Axis)||<:>'''Pull Nick 1x down'''<<BR>><<BR>>(The Kopter beeps 4x and the clicking starts)||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663 }}||
||Calibration of the Z-Axis||<:>INFO: Here it doesn't matter if the Kopter shows with the X or Y-Axis towards South (North).<<BR>><<BR>>Rotate the Kopter a few times '''completely''' over the Roll- or Nick-Axis until the buzzer stops with the clicking.||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MK8-Kalibrierung-Seite.jpg?m=1484305664 }}||
||'''Step 5'''<<BR>>Finish the calibration of the Z-Axis.||<:>'''Pull Nick 1x down'''<<BR>><<BR>>The Kopter confirms it with 2 beeps||<:>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663 }}||

<<BR>><<BR>>

'''Now that the Kopter "beeped" 2x after a successful calibration that part is done.''' 
 
##include_compass_end

<<BR>><<BR>><<BR>><<BR>><<BR>><<BR>>

= Videos =

<<Vimeo(21602317)>>
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<<BR>><<BR>><<BR>><<BR>><<BR>><<BR>>

= Check the calibration =

You can now check the calibration of the compass in the !KopterTool or also with a suitable transmitter. 

Please do this also outside, far away from magnetic influences!

Here you have to check two values: 
 * MAG (or Field) = This should be around 100% 
 * Inclination (Incl) = This should be nearly the same value as the one in brackets


'''IMPORTANT:''' <<BR>>
To see the right values you have to calibrate the Gyros first (throttle up + yaw left).<<BR>>
Without calibration you will still see 100% and no Inclination.

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----
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'''__Check via KopterTool__''' <<BR>><<BR>>

Here you use:
 * a MK_USB or a wireless connection between Copter and Computer <<BR>>
 +
 * you have calibrate the Gyros (throttle up + yaw left).

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<<BR>><<BR>>

In the main window of the !KopterTool click the button [!NaviCtrl].

Under the virtual display klick the red arrow (left or right) until the window "Magnetic Field" displayed.

The value for "Field" must be around 100% and the value for Inclination around the value you see in brackets.<<BR>>
~-(If the value for "Field" (or for "Inclination") is ~10%-15% higher/lower then 100%, recalibrate the compass)-~

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----
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##include_compasscheck_begin

'''__Check via [[en/HoTT|HoTT transmitter]]__''' <<BR>><<BR>>

 To see the right values of the calibration you have to calibrate the Gyros again (throttle up + yaw left). <<BR>>
 Now you can check the magnetic value in the lower display of the Graupner HoTT transmitter.<<BR>>

 How to open it: <<BR>>
  * With the right "four-way button" select the middle button '''SET''' to open the Menu
  * Go down to '''Telemetry''' and press '''SET'''
  * In the telemetry window choose '''setting & data view''' and press '''SET'''
  * In the next menu press the '''right''' button until you see the "Text-telemetry"
  * To change the view of "0m/s" to "MAG" press '''SET''' again.
<<BR>>
 The value for "MAG" must be around 100% and the value for Inclination (incl) around the value you see in brackets.<<BR>>
 If the value for "Field" (or for "Inclination") is ~10%-15% higher/lower then 100%, recalibrate the compass!
<<BR>>
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##include_compasscheck_end

##Einfügen_Ende