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MK-GPS V3.5


http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/MKGPS/MK-GPS-V3.5/GPS_V3.png?m=1455537523

Shoplink: MK GPS V3.5










MK-GPS V3.5

The new MK-GPS V3.5 is a GPS receiver with integrated compass. New are also a Master and a Salve connection. So you can use the MK-GPS V3.5 as a single modul, or as a twin system on your redundant copter.

Beside the usual American GPS satellites, the Russian Glonas satellite systems or the Chinese BeiDou satellite systems can be received. For suppressing external interference sources (e.g. video systems), the GPS receiver has been equipped with an RF preamplifier, and a SAW RF Filter.

The MK-GPS is required for functions like

All functions that you can use with the navigation system on your MikroKopter, are described here: Features

INFO:
YOu can use the MK-GPS V3.5 only with a MikroKopter Software from version V2.14!




http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/MKGPS/MK-GPS-V3.5/GPS_V3_5_Bema%C3%9Fung.png?m=1455606627

Technical data

  • Weight: 29g (MK-GPS V3.5 include GPS Shield)
  • Dimensions: 90 x 90mm (Hole distanced: 44,6mm x 44,6mm)
  • Voltage: 5V (is supplied by FlightCtrl/NaviCtrl)

  • The latest UBlox technology
  • Twin compass system
  • LEDs for status display
  • Redundant configuration
  • Integrated RF preamplifier
  • Integrated Integrated SAW RF Filter
  • GPS
  • Glonas
  • BeiDou

  • Japanese QZSS system
  • incl. GPS Shield for improved reception







GPS / Glonas / BeiDou

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/MKGPS/MK-GPS-V3.5/Settings_ini.png?m=1455549610

Beside the usual American GPS satellites, the Russian Glonas satellite systems or the Chinese BeiDou satellite systems can be received.
So you have much more satellites for a much better navigation (especially in areas with inadequate GPS coverage).

You can set which satellite you want to use.
Auf der microSD Karte (in der NaviCtrl / FlightCtrl V3.0) befindet sich die Datei SETTINGS.ini.

Mit einem Text-Editor kann man diese Datei öffnen und den Wert für GPS_SYSTEM_CFG ändern:

  • 1 = GPS + Glonas (Default)
  • 2 = GPS + BeiDou

  • 3 = GPS
  • 4 = Glonas
  • 5 = BeiDou

Zusätzlich kann das Japanese QZSS system per GPS_QZSS_DGPS_ON (de)aktiviert werden:

  • 0 = OFF (Default)
  • 1 = ON







GPS Info

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/MKGPS/MK-GPS-V3.5/GPS_V3_5_GPS-Data.png?m=1455548420

Via the KopterTool you can see:

  • the current GPS deviation (the copter should be at the bottom)
    • {i} the center position can be moved by right-clicking with the mouse

  • the current signal strength of the satellite
    (Note: outside at least one satellite should have 50dB signal strength.
    A GPS-Shield is recommended for a better reception.)

  • Position of the satellites in the sky:
    • light-green satellites: Satellite is used with SBAS-correction data for the navigation
    • dark-green satellites: Satellite is used without SBAS-correction data for the navigation
    • turquoise satellites: Satellite is not used yet for navigation
    • red satellites: signal is bad or Satellite is not useable
    • lila satellites: transmits SBAS-correction data

GPS Navigation-Satellites have the letter "G", SBAS-Satellites "S".
The number is the ID of the satellite (PRN Code).
Details about the satellite is also be shown by moving the mouse over the satellite.

/!\ Note: If that is in use, the KopterTool directly accesses the GPS module and the NaviCtrl reports "Error: No GPS Communication"







Calibrate Compass

The compass (and the GPS) is needed for the automated control of the MikroKopter.
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.
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.





The calibration

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.

When you have problems after the calibration (e.g. an err22), a magnetic problem on your copter can be the problem.
Informations for the "magnetic error" can be found here:: MagnetError



The calibration will be done in 5 steps:

Step

Funktion

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
Initiate compass calibration

Nick down
(and hold)

then

Throttle up + Yaw left

(The Kopter beeps 1x)

http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_2.jpg?m=1484305663

Step 2
Start Calibration

Pull Nick down 1x

(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
(Arrow direction of the FlightCtrl)
pointing to the South or North,

then

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°.
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
Finish the calibration of the X and Y-Axis

Pull Nick 1x down

(The Kopter beeps 3x)

http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663

Step 4
Start calibration of the Z-Axis (Yaw-Axis)

Pull Nick 1x down

(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).

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
Finish the calibration of the Z-Axis.

Pull Nick 1x down

The Kopter confirms it with 2 beeps

http://gallery3.mikrokopter.de/var/thumbs/intern/KompassKalibrieren/MC32_CompassKali_1_Roll_down.jpg?m=1484305663



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







Videos









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






Check via KopterTool

Here you use:

  • a MK_USB or a wireless connection between Copter and Computer
    +

  • you have calibrate the Gyros (throttle up + yaw left).

http://gallery3.mikrokopter.de/var/albums/intern/KopterTool_ab_V2_0/Details/KopterTool-Display_MagneticField.png?m=1455608488



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.
(If the value for "Field" (or for "Inclination") is ~10%-15% higher/lower then 100%, recalibrate the compass)








Check via HoTT transmitter

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

    How to open it:

    • 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.


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


  • http://gallery3.mikrokopter.de/var/albums/intern/HoTT/Display1/HoTT-Display-MAG_EN.jpg?m=1500015794







NMEA

Since the software version 2.02a for NaviCtrl, the UBlox Modul can also send a NMEA Format.
This allows to send the data of the position of the copter to e.g. a camera with integrated data logging.

You can grab the data from the Debug-Port at the NaviCtrl or from the serial pads at the FlightCtrl V3.0.
The data is on PIN9 (Data) and PIN7 (GND) with 57600 Baud.




Settings


http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/NaviCtrl/NaviCtrl-V2.1/Settings_ini_NMEA.png?m=1455620619

To send the NMEA signal via PIN9, we need a microSD-Karte (max. 2GB/FAT16) in the NaviCtrl / FlightCtrl V3.0.
If you use a new empty micro SD Karte the first time in your copter, the "SETTINGS.ini" will be created automatically on the SD card. The "SETTINGS.ini" includes then the needed parameter NMEA_INTERVAL.

INFO:
If you already use a microSD card in your copter, you have to clear the "SETTINGS.ini" on the SD card after an software update. Then the new Software will create automatically a new "SETTINGS.ini" with all needed parameters.

With a text editor you can open and edit the parameter NMEA_INTERVAL in the "SETTINGS.ini".
Here you can adjust the data output interval (in ms):

  • 0 = disabled (Default)
  • 1 - ... = output interval in ms

The output is always at 57600 baud. This value is fixed can not be changed.

In the terminal window the output of NMEA can look like this:
http://gallery3.mikrokopter.de/var/albums/tech/NMEA_Output.gif?m=1413206426




Connection


In these examples you can see how to connect the cable:

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/NaviCtrl/NaviCtrl-V2.1/NC_V2_10pin-connector_NMEA.png?m=1455618949

http://gallery3.mikrokopter.de/var/albums/intern/MK-Baugruppen/FlightCtrl/FlightCtrl-V3.0/FC_V3_0_10pin-connector_NMEA.png?m=1455618964

NaviCtrl

FlightCtrl V3.0




Additional information about NMEA


More information about the NMEA format can be found here: