Unterschiede zwischen den Revisionen 11 und 12

Firmware-2.08

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Inhaltsverzeichnis

Firmware-2.08
1. Release date 13th october 2014
2. Links:
Download
1. How to update?
Compatiblity
Boat Mode: Switch on, calibrate and start under moving conditions
Flight simulation
New Parameter for altitude hold
Failsafe:
Waypoint Timeout (Setting on the SD-Karte)
Reminder: how to start & stop the motors
KopterTool: notification in case of newer Versions
Misc

Firmware-2.08

Release date 13th october 2014

Lizence: LICENSE.TXT

Download

Here you can download the single files:

FlightControl V2.08a for black (FC2.1 - 2.5) (MEGA1284)
FlightControl V2.08a for red FC 2.0 (MEGA644)
Navi-Ctrl V2.08a
MikroKopter-Tool V2.08d

How to update?

SoftwareUpdate

Compatiblity

The settings are reset

Boat Mode: Switch on, calibrate and start under moving conditions

If you want to start a MikroKopter, there is a problem when you are in a moving environment (like on a ship), because you can't calibrate the Gyros. The same if you have a wobbly landing gear or you have to launch from hand.

New: during ACC-Calibration the Gyro-Calibration data is also stored in non-volatile memory of the FC.

Use the stored calibration data:

If the pitch / roll stick is pressed into the bottom right corner during calibration, the Boat-mode is activated.
The Boat mode can only be terminated by switching off and an. This means that if you 'normal' calibrated just before the start, the Baot mode remains active.
We do not know exactly the long-term stability of the gyros. How therefore recommend to do the ACC calibration at least a few hours or 1-2 days before using the 'Boat' mode.

Flight simulation

We implemented a physical model in the NC that behaves like it would really fly. The model uses the original NC-Navigation routines that allows an original behaviour.

(Logfile)

So it is possible to simulate a flight path. It works in manual flight as well as with Waypoints.

1. for Training

how to control the MK with the transmitter
try CareFree
how to start waypoint flight

2. for Testing

Simulation of waypoint flights
camera angle test on Flights with POI
Triggering the camera
create and test logfiles

3. for Development tool for 3rd party Software-Tools

the vitual MK acts on the serial interface as it would really fly

How to:

connect the MK to the PC
load a map
click into the map to select the starting point - that will be the Home-Position
press "start motors" (the don't really start) to start the virtual flight

Damit kann man sowohl manuell fliegen, als auch Waypoints usw. benutzen

See also: FlightSimulator

New Parameter for altitude hold

There is a new parameter under "Altitude", that is called "Tilt Compensation" Normally that is around 100-110% (In Version 2.06 it was 100%)

you can also put it onto a Poti to find the right value

With that parameter the MK increases the gas-value immediately if the MK is tilted. That avoids the MK from descending because of the tilt angle.

We tested it on a normal 'flat' Hexa and Okto.

If the value is below 100, the MK immediately sinks if the attitude is tilted -> after the move the MK climbs back to the desired altitude.
If the value is above 120, the MK immediately rises if the attitude is tilted -> after the move the MK descends back to the desired altitude.
default value is now 110%

Failsafe:

the default time for RC-Lost failsafe is set to 60 sec
the MK decends automatically at the home-position, no matter if the "use vario for failsafe" was selected in the settings
bugfix: when a seperate channel is used for the failsafe, the nick/roll channels were not set to zero
the correct failsafe behavior is activated as default

Waypoint Timeout (Setting on the SD-Karte)

Under windy conditions it can happen that the MK doesn't reach the Waypoint under the set target radius (for example 2m).

Now the target radius is automatically incresed (1m per second) after the timout time.

it can be set by a Parameter on the SD-Card:

WP_TIMEOUT = 5

Reminder: how to start & stop the motors

Pitch/roll stick must be pushed into the bottom corner to start or stop the motors

This is not new -> it was already implemented in Version 2.00

Number one cause of crashes is still accidentally switching off the Motors in flight - which is now effectively avoided

(The pitch / roll stick can be pushed into a corner either left or right)

KopterTool: notification in case of newer Versions

Misc

Camera trigger with defined distances now faster than 1sec
Bugfix: one NMEA Sentence was not valid
Setting on SD-Card "MinWP-Event" was removed
New datapoint on the SD-Card: "Gas + Hovergas"

KategorieFirmware/FC

-  ⇤ ← Revision 11 vom 20.04.2015 12:19 → 
  Größe: 13414
  Autor: HolgerB
  Kommentar:
+   ← Revision 12 vom 20.04.2015 12:24 → ⇥
  Größe: 7727
  Autor: HolgerB
  Kommentar: Cut &  paste failure
-Gelöschter Text ist auf diese Art markiert.
+Hinzugefügter Text ist auf diese Art markiert.
 Zeile 13:
-= Firmware-2.10 =
+= Firmware-2.08 =
 Zeile 22:
- * Public Beta 2.09 forum thread: [[http://forum.mikrokopter.de/topic-post521678.html#post521678|Forum]]
+ * Public Beta 2.07 forum thread: [[http://forum.mikrokopter.de/topic-post521678.html#post521678|Forum]]
 Zeile 30:
- * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.10a%2FHex-Files%2FFlight-Ctrl_MEGA1284p_V2_10a.hex|FlightControl V2.10a for black (FC2.1 - 2.5)]] '''(MEGA1284)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.10a%2FHex-Files%2FFlight-Ctrl_MEGA644_V2_10a.hex|FlightControl V2.10a for red FC 2.0 ]] '''(MEGA644)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV2.10a%2FHex-Files%2FNavi-Ctrl_STR9_V2_10a.hex|Navi-Ctrl V2.10a]]
 * [[http://svn.mikrokopter.de/websvn/filedetails.php?repname=FlightCtrl&path=%2FMikroKopter-Tool%2FKopter_Tool_V2_10a.zip|MikroKopter-Tool V2.10a]]
+ * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.08a%2FHex-Files%2FFlight-Ctrl_MEGA1284p_V2_08a.hex|FlightControl V2.08a for black (FC2.1 - 2.5)]] '''(MEGA1284)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.08a%2FHex-Files%2FFlight-Ctrl_MEGA644_V2_08a.hex|FlightControl V2.08a for red FC 2.0 ]] '''(MEGA644)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV2.08a%2FHex-Files%2FNavi-Ctrl_STR9_V2_08a.hex|Navi-Ctrl V2.08a]]
 * [[http://svn.mikrokopter.de/websvn/filedetails.php?repname=FlightCtrl&path=%2FMikroKopter-Tool%2FKopter_Tool_V2_08d.zip|MikroKopter-Tool V2.08d]]
 Zeile 47:
-Zeile 49:
+Zeile 50:
-= Changes =
+= Boat Mode: Switch on, calibrate and start under moving conditions =
<<YouTube(ffA8vvu3peg)>>
-Zeile 51:
+Zeile 53:
-== Yaw direction for ComingHome ==
+If you want to start a MikroKopter, there is a problem when you are in a moving environment (like on a ship), because you can't calibrate the Gyros.
The same if you have a wobbly landing gear or you have to launch from hand.
-Zeile 53:
+Zeile 56:
-You can choose if the MK should turn automatically while using ComingHome
+New: during '''ACC-Calibration''' the Gyro-Calibration data is also stored in non-volatile memory of the FC.
-Zeile 55:
+Zeile 58:
-[[http://gallery3.mikrokopter.de/var/albums/tech/KT_CHomeOrientation.gif?m=1422005715|{{http://gallery3.mikrokopter.de/var/resizes/tech/KT_CHomeOrientation.gif?m=1422005717|User image}}]]
+Use the stored calibration data:
-Zeile 57:
+Zeile 60:
-Possible directions:
 * No change
 * Front to Home (for FPV)
 * Rear to Home (makes manual control easier)
 * Direction like orientation at start

== 16 Motors supported ==

{{http://gallery3.mikrokopter.de/var/resizes/tech/16Mixer.gif?m=1426692153|User image}}
 

= Waypoint flight =

== New: Failsafe points ==
You can set destinations that uses the MK in case of Failures (RC-Lost or undervoltage)

[[http://gallery3.mikrokopter.de/var/albums/tech/FailsafePoints.gif?m=1426691832|{{http://gallery3.mikrokopter.de/var/resizes/tech/FailsafePoints.gif?m=1426691833|User image}}]]
 
 * MK always takes the point that is closest 
 * It aslo uses the home point if it is the closest
 * you can see the currently active failsafe point by the color in KopterTool

With this feature you can plan long waypoint flights, with parts of the mission that are too far away from the home position.
 

== visualisation of the trigger locations  ==

{{http://gallery3.mikrokopter.de/var/resizes/tech/TriggerPoints.gif?m=1426691827|User image}} 

The KopterTool now always paints a yellow dot onto the map where the camera is triggered (when driving from Out1 trigger output of the FC)  

== trigger counter (ShutterCounter)  ==

{{http://gallery3.mikrokopter.de/var/resizes/tech/TriggerCounter.gif?m=1426695452|User image}} 

 * Counts how many times the camera has been triggered (if it is connected via the output of the FC-Out1)
 * The counter is also written into the log file .
  * So you can find the photos easier by comparing the picture counter
 * Sensor calibration resets the counter
+{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=154354&g2_serialNumber=1}}
-Zeile 98:
+Zeile 63:
-== Automatic trigger by distance as parameter for waypoints  ==
+ * If the pitch / roll stick is pressed into the bottom right corner during calibration, the Boat-mode is activated.
 * The Boat mode can only be terminated by switching off and an. This means that if you 'normal' calibrated just before the start, the Baot mode remains active.
 * We do not know exactly the long-term stability of the gyros. How therefore recommend to do the '''ACC calibration''' at least a few hours or 1-2 days before using the 'Boat' mode.
-Zeile 100:
+Zeile 67:
-{{http://gallery3.mikrokopter.de/var/albums/tech/WP_Auto3.gif?m=1426695700|User image}}

Now you don't have to worry about the settings of the FC, because you can configure it separately from point to point.

== Flight radius ==

 Visulalisation of Flying range (if defined in the Settings) and the Max.Waypoint range.
 
 [[http://gallery3.mikrokopter.de/var/albums/tech/KT_Circles.gif?m=1427122247|{{http://gallery3.mikrokopter.de/var/resizes/tech/KT_Circles.gif?m=1427122248|User image}}]] 
 
 '''Hier im Beispiel:'''
 * '''Grün:''' Waypoint Operationsradius 
 * '''Rot:''' Max. flight radius 
 * '''Pink:''' Descend Range 
 
 The circles are automatically drawn around the home-pos.
+{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=154357&g2_serialNumber=2}}
-Zeile 118:
+Zeile 70:
-= Area mapping now easier  =
+= Flight simulation  =
-Zeile 120:
+Zeile 72:
-== Cameratool calculates picture overlapping  ==
+We implemented a physical model in the NC that behaves like it would really fly. The model uses the original NC-Navigation routines that allows an original behaviour.
-Zeile 122:
+Zeile 74:
-For the measurement certain overlappings are required for the photos.
+[[http://gallery.mikrokopter.de/main.php/v/tech/Eifelt_02_Arrow.gif.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=154477}}]]
-Zeile 124:
+Zeile 76:
-[[http://gallery3.mikrokopter.de/var/albums/tech/KT_CameraTool2.gif?m=1422005725|{{http://gallery3.mikrokopter.de/var/resizes/tech/KT_CameraTool2.gif?m=1422005727|User image}}]]
+[[http://gallery.mikrokopter.de/main.php/v/tech/Eifelt_02_GE.gif.html?g2_imageViewsIndex=2|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=154481}}]]
-Zeile 126:
+Zeile 78:
-It depends on altitude, focal length of the camera and chip size.
+[[http://mikrocontroller.com/files/upload/14080110.GPX|(Logfile)]]
-Zeile 128:
+Zeile 80:
-The KopterTool now automatically creates the grid with the desired overlappings.
+So it is possible to simulate a flight path. It works in manual flight as well as with Waypoints.

== 1. for Training ==
 * how to control the MK with the transmitter
 * try CareFree
 * how to start waypoint flight

== 2. for Testing ==
 * Simulation of waypoint flights
 * camera angle test on Flights with POI
 * Triggering the camera
 * create and test logfiles

== 3. for Development tool for 3rd party Software-Tools ==
 * the vitual MK acts on the serial interface as it would really fly

== How to: ==
 * connect the MK to the PC
 * load a map
 * click into the map to select the starting point - that will be the Home-Position
 * press "start motors" (the don't really start) to start the virtual flight

Damit kann man sowohl manuell fliegen, als auch Waypoints usw. benutzen

 * See also: [[en/FlightSimulator|FlightSimulator]]
-Zeile 131:
+Zeile 107:
-== Wegpunkt-Raster jetzt einfacher ==
+= New Parameter for altitude hold =
-Zeile 133:
+Zeile 109:
-You can take pictures of large areas in a short time by using only a few waypoints.
As a result, the flight will be faster and more smooth.
+There is a new parameter under "Altitude", that is called "Tilt Compensation"
Normally that is around 100-110% (In Version 2.06 it was 100%)
-Zeile 136:
+Zeile 112:
-=== Complicated Version: ===
 [[http://gallery3.mikrokopter.de/var/albums/tech/WP_single.gif?m=1426695444|{{http://gallery3.mikrokopter.de/var/resizes/tech/WP_single.gif?m=1426695446|User image}}]] 
 
=== Simple version: ===
 [[http://gallery3.mikrokopter.de/var/albums/tech/WP_Auto2.gif?m=1426695436|{{http://gallery3.mikrokopter.de/var/resizes/tech/WP_Auto2.gif?m=1426695438|User image}}]] 
 
=== Result:: ===

 [[http://gallery3.mikrokopter.de/var/albums/tech/WP_Auto1.gif?m=1426695427|{{http://gallery3.mikrokopter.de/var/resizes/tech/WP_Auto1.gif?m=1426695429|User image}}]]

=== Example of 50% picture overlapping: ===
[[http://gallery3.mikrokopter.de/var/albums/Luftbilder/EvenburgKopterTool2.gif?m=1426783261|{{http://gallery3.mikrokopter.de/var/resizes/Luftbilder/EvenburgKopterTool2.gif?m=1426783263|User image}}]] 

= New parameter: ACCLanding pulse  =

 {{http://gallery3.mikrokopter.de/var/resizes/tech/LandingPuls.gif?m=1426689765|User image}} 

<<BR>>
During the descending the MK detects a landing by the accelerometer (ACC).

When exceeding a certain value, the MK takes out the gas and says, "landing".

Now it has been found that there are MKs, for which the threshold is too sensitive.

Then the function already responds in certain maneuvers in flight. This can be recognized that the MK speakes "landing" during flight.

Now you can set that value to a higher value if needed. 

= new HoTT menu: Motor test =

 {{http://gallery3.mikrokopter.de/var/resizes/tech/HOTT_Motortest.jpg?m=1426693667|User image}} 
 
Motor test in HoTT menu (Text-Telemetry)

Instructions with video: here [[http://wiki.mikrokopter.de/Firmware-0.86_HoTT+|hier]] (German)
 
= ACC calibration during flight  =

 On a clam day you can fin-tune the neutral attitude of the MK
  
== Manual ==
 * open the menu
 * Start the MK and fly with altitude control
 * GPS must be off!
 * The sticks of the transmitter must be trimmed to zero (Check in the menu)
 * use the menu keys to fine-tune the MK 
 * You can see the ACC-tuning values on the display
 * Land and switch off the motors
 * Store 

== HoTT: ==
[[http://gallery3.mikrokopter.de/var/albums/tech/HoTT_ACC2.gif?m=1426869859|{{http://gallery3.mikrokopter.de/var/thumbs/tech/HoTT_ACC2.gif?m=1426869860|User image}}]] 

Video (German): [[http://wiki.mikrokopter.de/Firmware-0.86_HoTT+|here]] 

== Jeti: ==

{{http://gallery3.mikrokopter.de/var/thumbs/tech/ACC_Cal_Jeti2.gif?m=1426869893|User image}} 

== KopterTool: ==

{{http://gallery3.mikrokopter.de/var/resizes/tech/ACC_Cal_PC2.gif?m=1426869121|User image}} 

/!\ '''Note:''' the 'normal' (old) ACC-Calibration is still Stick -> upper right corner. But now the stick must be pressed '''minimum 5 seconds'''.

This avoids unwanted deleting of a correct ACC-Calibration setting

= pre-defined Servo-Positions for Failsafe-cases =

Now it is possible to lift up the camera-lens or release a landing gear.

[[http://gallery3.mikrokopter.de/var/albums/tech/KT_ServoFailsafe.gif?m=1428582257|{{http://gallery3.mikrokopter.de/var/resizes/tech/KT_ServoFailsafe.gif?m=1428582258|User image}}]]
+{i} you can also put it onto a Poti to find the right value
-Zeile 210:
+Zeile 115:
-The Positions are active in these cases:
 * RC-Lost
 * Auto-Landing at undervoltage
+With that parameter the MK increases the gas-value immediately if the MK is tilted.
That avoids the MK from descending because of the tilt angle.

[[http://gallery3.mikrokopter.de/var/albums/tech/TiltCompensation.gif?m=1411666430|{{http://gallery3.mikrokopter.de/var/resizes/tech/TiltCompensation.gif?m=1411666431}}]]
-Zeile 215:
+Zeile 121:
-= MULTIPLEX Servo-Bus integrated (SRX-L 12 / 16) =
+We tested it on a normal 'flat' Hexa and Okto.
 * If the value is below 100, the MK immediately sinks if the attitude is tilted -> after the move the MK climbs back to the desired altitude.
 * If the value is above 120, the MK immediately rises if the attitude is tilted -> after the move the MK descends back to the desired altitude.
 * default value is now 110%
-Zeile 217:
+Zeile 126:
-[[http://gallery3.mikrokopter.de/var/resizes/tech/Multiplex_RX-4.jpg?m=1429090338|{{http://gallery3.mikrokopter.de/var/thumbs/tech/Multiplex_RX-4.jpg?m=1429090337|User image}}]]
[[http://gallery3.mikrokopter.de/photos/39566|{{http://gallery3.mikrokopter.de/var/thumbs/tech/Multiplex_RX-7.jpg?m=1429090343|User image}}]]
[[http://gallery3.mikrokopter.de/var/albums/tech/KT_Multiplex.gif?m=1429090349|{{http://gallery3.mikrokopter.de/var/resizes/tech/KT_Multiplex.gif?m=1429090350|User image}}]]
+= Failsafe: =
-Zeile 221:
+Zeile 128:
-Now a MULTIPLEX receiver can be connected directly.
+ * the default time for RC-Lost failsafe is set to 60 sec
 * the MK decends automatically at the home-position, no matter if the "use vario for failsafe" was selected in the settings
 * bugfix: when a seperate channel is used for the failsafe, the nick/roll channels were not set to zero
 * the correct failsafe behavior is activated as default
-Zeile 223:
+Zeile 133:
-{i} Note: only channel data - no telemetry support
+= Waypoint Timeout (Setting on the SD-Karte) =
Under windy conditions it can happen that the MK doesn't reach the Waypoint under the set target radius (for example 2m).
-Zeile 225:
+Zeile 136:
-{i} Note: The data on the B/D Output of the reveiver must be set to 'digital servo data (SRXL)'. That is possible by the PC-Software 'Multiplex Laucher'
+Now the target radius is automatically incresed (1m per second) after the timout time.
 
{i} it can be set by a Parameter on the SD-Card:
-Zeile 227:
+Zeile 140:
-= Redundancy =
There are new messages in the display:
 * ERR 36: Redundancy -> the second FC is not ready and can't be used in failsafe-case
 * ERR 37: Redundancy test -> one of the test switches is in "test" position
+ * WP_TIMEOUT       = 5
-Zeile 233:
+Zeile 143:
-= Logging =
 * now the data is safed after every GPX-Block to the SD-card (Flush() )
 * in case of Power-Off the data is safe. In the past versions up to 3 seconds could be lost in case of sudden power off.
 * it was sucessfully tested up to 200ms logging
 * GPX-logging starts with motor start. In older Versions the logfile started after liftoff.
-Zeile 239:
+Zeile 144:
-== neu im Logfile ==
  * <GeoMag> with one comma value 
  * <GpsVersion> in Logfile 
  * <Compass> with one comma value 
  * <Receiver> Receiver type in logfile 
  * <MagSensor> Magnetsensor type in logfile 
  * <Kalibr.> Sensor Data at ACC-Calibration (Boat-Values) 

= Misc I =
 * timing for the blinking pattern for ATOT-Distance can be selected as PArametre on the SD-Card [10ms]. So it is possible to trigger fsater than 0,8sec
 * Rotation rate for automatic direction changed limited to 100°/sec
 
== Misc II ==
 * Changed: GPS version detection
 * SPI communication optimized -> some Data are faster, some are slower 
 * BL-State (Current, Temperature,...) are now faster transferred for Logging 
 * Altimeter in Data3D (serial data) - Bugfix: Output LED Blinking when RC-Lost 
 * bugfix: uBat in 16Bit 
 * AnalogLable CRC implemented -> KopterTool doesn't need to read them every time 
 * Config "Disable CameraCompensation" disables also Roll-Compensation now 
 * AccZ in 3D-Datastructure (for Ben) - Redundant Slave: copy the Current, State and Temperature from the UART Data 
 * new structures for the NC-OSD-Dataframe: splitted in small parts for higher efficency 
 * Messbereichsumschaltung (nur FC2.2 und 2.5)
  * beim Steigen alle ca. 100m macht der Kopter eine Messbereichsumschaltung - das wurde jetzt von 0,7sek auf 0,1 sek verkürzt - fällt in der Regel nicht weiter auf
 * Datenstruktur von "'''ExternalControl'''" geändert -> damit kann sich der MK nun komplett seriell bedienen lassen - auch ohne Sender
 * Die '''Höhenmessung''' wurde neu kalibriert -> der alte Wert war bei Meereshöhe ca. 5% zu hoch 

  * [[http://gallery3.mikrokopter.de/photos/38432|{{http://gallery3.mikrokopter.de/var/thumbs/tech/Compare_Altitude_V2_09.gif?m=1415795261|User image}}]] 
 
###########################################################################################################################################################
-Zeile 280:
+Zeile 155:
-== ACC-Calibration ==
/!\ '''Note:''' the 'normal' (old) ACC-Calibration is still Stick -> upper right corner.
+= KopterTool: notification in case of newer Versions =
-Zeile 283:
+Zeile 157:
-But now the stick must be pressed '''minimum 5 seconds'''.
  
###########################################################################################################################################################
+{{ http://gallery3.mikrokopter.de/var/albums/tech/KopterTool_NewFirmware.gif?m=1413212420 }}


= Misc =
 * Camera trigger with defined distances now faster than 1sec
 * Bugfix: one NMEA Sentence was not valid
 * Setting on SD-Card "MinWP-Event" was removed
 * New datapoint on the SD-Card: "Gas + Hovergas"

Firmware-2.08

Release date 13th october 2014

Links:

Download

How to update?

Compatiblity

Boat Mode: Switch on, calibrate and start under moving conditions

Flight simulation

1. for Training

2. for Testing

3. for Development tool for 3rd party Software-Tools

How to:

New Parameter for altitude hold

Failsafe:

Waypoint Timeout (Setting on the SD-Karte)

Reminder: how to start & stop the motors

KopterTool: notification in case of newer Versions

Misc