Navi-Ctrl 2

The parameters of GPS wind correction, speed compensation, GPS max. Radius have no direct effect to the GPS-PID-controllers (P, I, D in the tab navigation Ctrl).

Choosing the functions

• Enable GPS

  • Unlock GPS in the software (valid for both Navi-Ctrl tabs).

    (has the same effect like the set up under Configuration)

• GPS Wind correction

  • Throughout crosswind it can come to a deviation of the real flight direction (current course) to the nominal flight direction (bearing to the target).
    This is attempted through a correction angle to minimize the deviation. The parameter controls the strength of this compensation.
    A value of 0 means that the function is turned off.

• ACC Compensation

  • Here it will be set how strong the MikroKopter will slow down in PositionHold-Mode before the position is locked and if you had manually moved the sticks.
    The higher the value the stronger slows down the MK after manual controlling and before it keeps the nominal position.

• GPS maximal Radius

  • This value in meter defines a circular area around the start position. Only inside of this circular area you can set position targets (waypoints/POI).
    If a waypoint-position is outside of this area the target will be set on a spot of the edge of the circle which is close to the nominal position.
    The maximum radius (without a License) is about 250m. That's equal to an area of approx. 500m in a diameter around the start position.
    
    

    The radius is stated as a percentage (%). So 245 is 100% and 1 is 1%. How much the percentage is in meters, you can see in the the virtual display at themain window of the KopterTool.
    For this you have to "click" on the Button "->NaviCtrl" to switch to the NaviCtrl. Then you can choose the display window with the red arrows under the virtual display:
    
    

    

• Only valid for the waypoint-flight! and the Function Use GPS max. radius for dPH.
  The function PositionHold and ComingHome (and also the altitude) are usables in full range of the transmitter/receiver.

• GPS Angle Limit

  • Limits the maximum control influence of the GPS. A value of 100 is equal to an oblique position of 20°.
    Is the value to small it could be possible that the MK can't work against the wind and drifts away.
    Is the value too high the approach to the target will be too fast.

• Position Hold Login Time

  • That's the maximum of time in which the MikroKopter logs the new position after the sticks of the Nick/Roll axis are back into a neutral position.
    Yawing is possible without changing the nominal position.

• Dynamic PositionHold

  • By switching on/off these function you can change the behavior of the Kopter in the function PositionHold.
    
    

    Funktion off:
    

    • Is the function PositionHold (PH) switched on the movement of the Kopter will be directly controlled with the Nick- / Roll stick.
      Here the function PH will be switched off if the sticks are moved.
      At the new position and after releasing the sticks the function PositionHold (PH) will be switched on again.

    Funktion on:
    

    • Also here you can fly the Kopter through movements with the Nick-/Roll stick to a new position.
      The function PH will be not switched on- and off but here the nominal values of the GPS coordinates will be shifted.
      Therefore a more accurate positioning is possible during windy conditions. The Kopter flies slower to the positions.
      
      

      • Note: Dynamic PositionHold is switched on by default settings.
        
        

• Use GPS max. radius for dPH
  

  • If you activate this function, the Kopter will fly only in the GPS-Range if you use the function PositionHold or ComingHome. If the Kopter is oputside this range and you activate a GPS-Function like PositionHold, the Kopter will automaticly fly back into thie GPR-Range.
    You can set this GPS-Range under "GPS max. Radius".

• ComingHome Altitude

  • In the function ComingHome the MikroKopter comes automatically back to the start point (as far as a GPS-Fix is available!).
    The Kopter can fly to the previously set up height. In addition the Kopter is 'parking' on the previously set up height while approaching the ComingHome coordinates.
    During the approach the previously set up height will be flown with 3m/sec. - That's not possible to change!
    
    

    That means:
    

    • 0: OFF -> the actual height of the Kopter will be kept.
      1-247: Value in meter -> this height will be flown directly with 3m/sec. after activating ComingHome (CH).

Some of these sizes you can get while experimenting with the settings to a potentiometer and get the optimal values in a flight ​​erfliegen.