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| Informations for the "magnetic error" can be found here:: '''[[enMagnetError|MagnetError]]''' | Informations for the "magnetic error" can be found here:: '''[[en/MagnetError|MagnetError]]''' |
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| Ist die Funktion !PositionHold aktiviert, hält der Kopter automatisch seine Position.<<BR>> Möchte man nun die Position des Kopters verändern, bewegt man den Nick/Roll Stick einfach in die entsprechende Richtung. Je nachdem ob die Funktion ''Dynamic !PositionHold'' aktiviert oder deaktiviert ist, ist die Steuerung des Kopters ein eingeschalteter Funktion !PositionHold '''(PH)''' unterschiedlich: <<BR>><<BR>> * Funktion ''Dynamic !PositionHold'' deaktiviert: <<BR>> * Der Kopter wird durch Bewegen des Nick- / Rollstick __direkt__ gesteuert. Hierbei wird die Funktion !PositionHold (PH) ausgeschaltet, wenn die Sticks für Nick und Roll am Sender bewegt werden. An der neuen Position und nach dem Loslassen der Sticks, wird die Funktion PH wieder automatisch eingeschaltet. * Funktion ''Dynamic !PositionHold'' aktiviert:<<BR>> * Auch hier kann der Kopter durch Bewegen des Nick- / Rollstick auf eine neuen Position geflogen werden. Hierbei wird allerdings __nicht__ PH aus- und eingeschaltet, sondern die Sollwerte der GPS-Koordinaten verschoben. Dadurch kann der Kopter sehr weich und genau gesteuert werden und eine genauere Positionierung, auch bei Wind, ist möglich. Aktivieren kann man diese Funktion in den Einstellungen unter dem Reiter ''!EasySetup'': [[MK-Parameter/Easy-SETUP|MK-Parameter]] ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Signaltöne = Bei korrekt angeschlossener Navigationseinheit hat man zusätzliche Kontrolltöne. Diese Töne sagen folgendes aus: * Sat-Fix Kontrolle => Piepen im Sekundentakt (siehe: Sat-Fix) * Umschalten per 3-fach Schalter auf OFF-PositionHold-ComingHome) => je ein Piep * Aktivieren von CareFree => ein längerer Piep ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Softwareupdate und Funktionsprüfung = Über das KopterTool kann man die Software auf der !NaviCtrl erneuern und auch die Funktion überprüfen.<<BR>> Die aktuelle zueinander passende Software (!KopertTool, !NaviCtrl und !FlightCtrl) kann man hier herunterladen: '''[[Download]]''' <<BR>><<BR>> Über den Anschluss '''Debug''' auf der !NaviCtrl kann das [[MK-USB]] oder eine drahtlose Verbindung (wie z.B. der RangeExtender) für die Verbindung zum Computer angeschlossen werden. |
If the position function !PositionHold is activated, the copter automatically hold the position.<<BR>> When you will change the position of the copter in the air, move the Nick/Roll Stick on your transmitter. The function of the mode PositionHold (PH) is different if Dynamic PositionHold is enabled or disabled: <<BR>><<BR>> * Function ''Dynamic !PositionHold'' disabled: <<BR>> * The copter is directly controlled by moving the nick / roll stick. Here the function PositionHold (PH) will be automatically switched off if you move the sticks. At the new position and after you release the sticks, the function PH will be automatically switched on again. * Function ''Dynamic !PositionHold'' activated:<<BR>> * Also here you can fly the Kopter through moves with the Nick- / Rollstick to a new position. But in that way PH will be __not_ disabled/enabled but the nominal values of the GPS-coordinates will be moved. An more accurate and exact positioning of the Kopter is possible even in windy conditions. The Kopter will fly a little bit slower to the position, moves more sluggish. Here you can change the settings under ''!EasySetup'': [[en/MK-Parameter/Easy-SETUP|MK-Parameter]] ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Beeps = With correctly connected navigation unit you hear additional beeps. This beeps are: * Satfix control => beep every second (see: Sat-Fix) * Using the 3 way GPS switch from OFF to PositionHold orComingHome) => one beep for each using * Enabling Carefree => a long beep ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Softwareupdate and Functionality Tests = With the KopterTool you can change the Software on the !NaviCtrl and also check the function.<<BR>> The current mating software (!KopertTool, !NaviCtrl and !FlightCtrl) can be downloaded here: '''[[en/Download|Download]]''' <<BR>><<BR>> Connect the [[en/MK-USB|MK-USB]] with the '''Debug''' port on the !NaviCtrl, or use a wireless connection (like e.g. the RangeExtender) to connect the copter with the computer. |
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| Hat man das Terminalfenster im !KopterTool geöffnet, kann man den Akku am Kopter anstecken (Einschalten des Senders nicht vergessen ;-)). <<BR>> Im Terminalfenster sollte man dann die Initialisierung sehen. Diese zeigt z.B. das Erkennen der SD Karte, die aktuelle Hardware- und Software-Version, ob ein interner oder ext. Kompass genutzt wird und (sofern vorhanden) was für eine Lizenz erworben und genutzt wird: |
Open the terminal window in the !KopterTool and connect then the copter with the battery (Dont forget to switch on the transmitter ;-)). <<BR>> In the terminal window you should now see the initialization of the !NaviCtrl. Here you see e.g. if a micro SD card is in use, the hard- and software version. if you use the internal or an external compass and if you use a license or not: |
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| Für ein Update der Software klickt man im Terminalfenster auf den Button ''Update Software (serial)...'' und wählt dann die Datei mit der neuen Software aus. Ein Klick auf ''Öffnen'' startet das Update. Das Update selber wird in grün angezeigt. Sobald die weiße Initialisierung wieder durchgelaufen ist, ist das Update beendet. |
To update the software "click" on the button ''Update Software (serial)...'' and chose the software for the !NaviCtrlund. A click on '"Open" starts the update. The update itself is displayed in green. When you see the white initialization the update is done. |
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| = MicroSD-Karte = In die NaviCtrl kann eine '''Micro SD-Karte''' in der Größe '''bis 2GB''' (in '''FAT16''' formatiert) eingesetzt werden.<<BR>> Hierauf werden dann automatisch alle Telemetriedaten des Kopters in einer GPX und KML Datei gespeichert. Das aufgezeichnete LOG-File kann dann (bei Bedarf) mit unserem Programm '''GPX-Viewer''' ausgewertet werden.<<BR>> Informationen zum GPX-Viewer und dem Inhalt der LOG Datei findet man hier: [[GPXViewer]] Die SD-Karte wird wie unter ''Montage / Anschlüsse'' zu sehen ist, in die NaviCtrl eingesteckt.<<BR>><<BR>> Ist die Karte eingesteckt, wird nach einstecken des Akku automatisch eine Datei ''SETTINGS.INI'' angelegt.<<BR>> Beim ersten Flug zusätzlich noch ein Ordner ''LOG'' in dem dann die LOG-Dateien abgelegt werden. |
= Micro SD-card = You can use a '''micro SD-Karte''' (up to 2GB / FAT16) in your !NaviCtrl.<<BR>> All telemetry data of the copter will be automatically saved on the micro SD card in a GPX and KML file. After the flight you can take a look on the recorded data in the LOG file (if required) wit our program '''GPX-Viewer'''.<<BR>> Informations for the GPX Viewer can be found here: [[en/GPXViewer|GPX-Viewer]] Plug in the SD card as you can see under ''Mounting / Connections''.<<BR>><<BR>> If the card is inserted, the needed file ''SETTINGS.INI'' will be created automatically after you connect the battery with the copter.<<BR>> Also a folder ''LOG'' will be created automatically when you do your first flight. |
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| Wird eine neue Softwareversion eingespielt, können neue Funktionen über die ''SETTINGS.INI'' vorhanden sein.<<BR>> Um diese dann nutzen zu können, sollte man nach dem Einspielen der neuen Software in die NaviCtrl, die auf der SD Karte vorhandene SETTINGS.INI löschen. Nachdem der Akku am Kopter neu eingesteckt wurde, wird diese Datei automatisch neu mit den benötigen Werten, erzeugt. |
If you update the Software, it can be that there are new functions. <<BR>> To use all the new functions you should clear the ''SETTINGS.INI''. It will be created automatically new with the right new values that are needed. |
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| In der Datei ''SETTINGS.INI'' sind einige Einstellungen hinterlegt, die normalerweise nicht verändert werden müssen.<<BR>> Möchte man dennoch hieran Änderungen vornehmen, kann man dies einfach per Editor auf dem Computer. |
The file ''SETTINGS.INI'' includes some settings you normally have not to change.<<BR>> If you must change a value you can do it with an normal windows editor. |
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| Die Werte in der ''SETTINGS.INI'' sind weitestgehend selbsterklärend. <<BR>> Möchte man z.B. eine größere Geschwindigkeit beim manuellen Flug unter !PositionHold oder beim Wegpunktflug erreichen, kann man den Wert für ''DYNAMIC_PH_SPEED'' erhöhen. Oder möchte man für die Positionsbestimmung anstelle der Satelliten "GPS" und "Glonas" z.B. GPS und BEIDOU verwenden, kann man den Wert unter ''GPS_SYSTEM_CFG'' anpassen. == Darstellung der Flugdaten in Google Earth == In der aktuellen Google Earth Version (>6.1) kann man sich durch Laden der .KML oder der .GPX Dateien die Flugroute anzeigen lassen.<<BR>> (Die Flugroute wird bei .GPX Daten in der Höhe auch angezeigt, wenn man in den Eigenschaften der Datei die '''Höhe''' auf '''Relativ zum Boden''' einstellt.) |
The values in the '' SETTINGS.INI '' are largely self-explanatory. <<BR>> If you e.g. want to achieve greater speed in manual flight under !PositionHold or during a waypoints flight, you can increase the value of ''DYNAMIC_PH_SPEED''. Or you will use use GPS and BEIDOU (instead of GOS and GLONAS) as receiving satellites you can change it under ''GPS_SYSTEM_CFG'' anpassen. == Presentation of the flight data in Google Earth == In the current version of Google Earth (> 6.1) you can show the route by loading the .KML or .GPX files.<<BR>> (The flight-route with a .GPX file will be also displayed in the height if you set up in the properties of the file the Height to Relativ to ground.) |
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| Seit der Software-Version 2.00a für die !NaviCtrl, kann über das UBlox Modul auch das '''NMEA''' Format ausgegeben werden.<<BR>> (z.B. für Kameras mit Datenlogging). Die Ausgabe erfolgt mit '''57600 Baud'''. Gesendet werden die Datensätze '''RMC & GGA'''. <<BR>> Die Daten können dabei über den ''Debug'' Anschluss an '''PIN9''' (+ PIN7 GND) der NaviCtrl abgegriffen werden. |
Since the software version 2.00a for NaviCtrl, the UBlox Modul can also send a '''NMEA''' Format.<<BR>> (e.g. for Cameras with Datalogging). The output is at '''57600 baud'''. The records are sent with '''RMC & GGA'''. <<BR>> You can get the data on '''PIN9''' (+ PIN7 GND) of the ''Debug'' connection of the !NaviCtrl. |
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| WICHTIG: Nur mit einer in der !NaviCtrl eingesteckter microSD-Karte (max. 2GB/FAT16), können die NMEA Daten genutzt werden. <<BR>> Auf der SD Karte wird automatisch von der !NaviCtrl die Datei "SETTINGS.INI" angelegt. Diese enthält die benötigten Befehle hierzu. ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Error Codes / Fehlercodes = Wird am Kopter das GPS-System (!NaviCtrl + Kompass + MKPGS) eingesetzt, kann beim kalibrieren der Gyros eventuell kurzzeitig "error6" und "error3" im Display der Telemetrieübertragung erscheinen.<<BR>> Dies ist normal und liegt daran, dass beim Kalibrieren die Verbindung zwischen FlightCtrl und NaviCtrl kurrzeitig unterbrochen wird.<<BR>><<BR>> Sollte eine Error-Meldung dauerhaft angezeigt werden oder nach dem kalibrieren dauerhaft bleiben, liegt ein Fehler vor.<<BR>> Die Fehlercodes und Tipps zu deren Behebung findest du hier: ErrorCodes |
IMPORTANT: Only with an microSD card in the !NaviCtrl you can use the NMEA Data. <<BR>> The file ''SETTINGS.INI'' on the microSD card includes then the necessary commands for this purpose. ############################################################################## <<BR>><<BR>><<BR>><<BR>><<BR>><<BR>> = Error Codes = If you use the GPS-System (NaviCtrl + Compass + MKPGS) on your Kopter and you calibrate the Gyros, you can see for a short time "error 6" + "error 3" in your Telemetry-Display.<<BR>> This is normal. Because the connection between !FlightCtrl and !NaviCtrl is briefly interrupted when you calibrate the Gyros.<<BR>><<BR>> an error has occurred if an error message will be displayed permanently.<<BR>> The error codes and the meanings you can find here: [[en/ErrorCodes|Error Codes]] |
This pages as a PDF-Document? Simply click on the symbol and wait a few seconds... ---> |
 |
NaviCtrl V2.1 |
Inhaltsverzeichnis
NaviCtrl V2.1
The NaviCtrl is an additional module for the FlightCtrl. On the MikroKopter you use the NaviCtrl together with the MKGPS as a navigation unit.
With the navigation unit you can use functions like PositionHold, ]]en/ComingHome|ComingHome]], CareFree, [en/FollowMe|FollowMe]] or a Waypoint fly. (All functions of the MikroKopter are described here: Functions)
The NaviCtrl V2.1 includes an integrated compass module and a connector for an external compass module.
On the NaviCtrl board is also a Micro-SD card socket. Here you can insert an micro SD card (max. 2GB / FAT16).
During flight the LOG files of the Kopter will be saved on this micro SD card.
After the flight you can take a look on the recorded data in the LOG file (if required) wit our program GPX-Viewer.
Informations for the GPX Viewer can be found here: GPX-Viewer
Mounting / Connections
The connections of NaviCtrl are as follows:
NaviCtrl V2.0 - top |
NaviCtrl V2.0 - bottom |
|
|
The installation of the navigation unit can be done quickly:
Connection ext. compass
The external compass is easily connected with the 4-pin Molex cable to the NaviCtrl.
More information on mounting the external compass can be found here: ExternalCompass
Settings in the KopterTool
When the navigation unit is mounted on your copter you need 2 free channels on your transmitter that you can use the functions.
The first channel can be used with a 3way switch and the second with a 2way switch on your transmitter.
With the 3-way switch you use the GPS functions:
- Switch position OFF = GPS off
Switch position center = PositionHold
Switch position center ON = ComingHome
With the 2-way switch you use the GPS functions:
Both channes mus also be set under "Easy Setup" -> GPS Mode Control and Carefree control.
Calibrate Compass
If the NaviCtrl is new you have to calibrate the internal compass (or the external one).
You can not start the copter and see an error warning in the telemetry when the compass is not calibrated.
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 |
Step 1 |
Nick down |
|
Step 2 |
Pull Nick down 1x |
|
Calibration of the X-Axis (Nick-Axis) |
The Kopter with the front |
|
Calibration of the Y-Axis (Roll-Axis) |
Rotate the Kopter by 90°. |
|
Step 3 |
Pull Nick 1x down |
|
Step 4 |
Pull Nick 1x down |
|
Calibration of the Z-Axis |
INFO: Here it doesn't matter if the Kopter shows with the X or Y-Axis towards South (North). |
|
Step 5 |
Pull Nick 1x down |
|
Now that the Kopter "beeped" 2x after a successful calibration that part is done.
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 e.g. use a wireless connection between Copter and Computer.
+
You have calibrate the Gyros (throttle up + yaw left).
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" is ~10%-15% higher/lower then 100%, recalibrate the compass)
Check via HoTT transmitter
You have calibrate the Gyros (throttle up + yaw left).
In the lower display of the Graupner HoTT transmitter you can open the text telemetry and check there the magnetic value.
- press the ESC key longer
-> the TELEMETRY window opens
change to SETTING & DATA VIEW
- press SET
-> RX DATAVIEW window opens
- on the SET button press right until you see the last window with the text-telemetry
- to change the view of "0m/s" to "MAG" press SET once.
Sat-Fix
For all GPS functions like PositionHold, ComingHome or a waypoint flight you need the GPS modul.
In addition, there must be a Satfix.
To test if the copter (the GPS) already have a Satfix, you can use the 3 way switch for the GPS functions on the transmitter.
The copter is outside, the transmitter ON and the copter is connected with the battery.
The motors are OFF!
The switch positions of the 3 way GPS switch:
- Switch position OFF
- The copter is quiet and does not beep
The 3 way switch is centered (PositionHold) or ON (ComingHome):
Option 1 -> The computer beeps now once every second => no Satfix
Option 2 -> The copter is quiet and does not beep => there is a Satfix and you can use all GPS functions
Dynamic PositionHold
If the position function PositionHold is activated, the copter automatically hold the position.
When you will change the position of the copter in the air, move the Nick/Roll Stick on your transmitter.
The function of the mode PositionHold (PH) is different if Dynamic PositionHold is enabled or disabled:
Function Dynamic PositionHold disabled:
- The copter is directly controlled by moving the nick / roll stick.
Here the function PositionHold (PH) will be automatically switched off if you move the sticks. At the new position and after you release the sticks, the function PH will be automatically switched on again.
- The copter is directly controlled by moving the nick / roll stick.
Function Dynamic PositionHold activated:
- Also here you can fly the Kopter through moves with the Nick- / Rollstick to a new position.
But in that way PH will be not_ disabled/enabled but the nominal values of the GPS-coordinates will be moved. An more accurate and exact positioning of the Kopter is possible even in windy conditions. The Kopter will fly a little bit slower to the position, moves more sluggish.
- Also here you can fly the Kopter through moves with the Nick- / Rollstick to a new position.
Here you can change the settings under EasySetup: MK-Parameter
Beeps
With correctly connected navigation unit you hear additional beeps.
This beeps are:
Satfix control => beep every second (see: Sat-Fix)
Using the 3 way GPS switch from OFF to PositionHold orComingHome) => one beep for each using
Enabling Carefree => a long beep
Softwareupdate and Functionality Tests
With the KopterTool you can change the Software on the NaviCtrl and also check the function.
The current mating software (KopertTool, NaviCtrl and FlightCtrl) can be downloaded here: Download
Connect the MK-USB with the Debug port on the NaviCtrl, or use a wireless connection (like e.g. the RangeExtender) to connect the copter with the computer.
Open the terminal window in the KopterTool and connect then the copter with the battery (Dont forget to switch on the transmitter ;-)).
In the terminal window you should now see the initialization of the NaviCtrl. Here you see e.g. if a micro SD card is in use, the hard- and software version. if you use the internal or an external compass and if you use a license or not:
To update the software "click" on the button Update Software (serial)... and chose the software for the NaviCtrlund. A click on '"Open" starts the update.
The update itself is displayed in green. When you see the white initialization the update is done.
Micro SD-card
You can use a micro SD-Karte (up to 2GB / FAT16) in your NaviCtrl.
All telemetry data of the copter will be automatically saved on the micro SD card in a GPX and KML file.
After the flight you can take a look on the recorded data in the LOG file (if required) wit our program GPX-Viewer.
Informations for the GPX Viewer can be found here: GPX-Viewer
Plug in the SD card as you can see under Mounting / Connections.
If the card is inserted, the needed file SETTINGS.INI will be created automatically after you connect the battery with the copter.
Also a folder LOG will be created automatically when you do your first flight.
INFO
If you update the Software, it can be that there are new functions.
To use all the new functions you should clear the SETTINGS.INI. It will be created automatically new with the right new values that are needed.
SETTINGS.INI
The file SETTINGS.INI includes some settings you normally have not to change.
If you must change a value you can do it with an normal windows editor.
The values in the SETTINGS.INI are largely self-explanatory.
If you e.g. want to achieve greater speed in manual flight under PositionHold or during a waypoints flight, you can increase the value of DYNAMIC_PH_SPEED. Or you will use use GPS and BEIDOU (instead of GOS and GLONAS) as receiving satellites you can change it under GPS_SYSTEM_CFG anpassen.
Presentation of the flight data in Google Earth
In the current version of Google Earth (> 6.1) you can show the route by loading the .KML or .GPX files.
(The flight-route with a .GPX file will be also displayed in the height if you set up in the properties of the file the Height to Relativ to ground.)
NMEA
Since the software version 2.00a for NaviCtrl, the UBlox Modul can also send a NMEA Format.
(e.g. for Cameras with Datalogging).
The output is at 57600 baud. The records are sent with RMC & GGA.
You can get the data on PIN9 (+ PIN7 GND) of the Debug connection of the NaviCtrl.
IMPORTANT: Only with an microSD card in the NaviCtrl you can use the NMEA Data.
The file SETTINGS.INI on the microSD card includes then the necessary commands for this purpose.
Error Codes
If you use the GPS-System (NaviCtrl + Compass + MKPGS) on your Kopter and you calibrate the Gyros, you can see for a short time "error 6" + "error 3" in your Telemetry-Display.
This is normal. Because the connection between FlightCtrl and NaviCtrl is briefly interrupted when you calibrate the Gyros.
an error has occurred if an error message will be displayed permanently.
The error codes and the meanings you can find here: Error Codes
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