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Redundant

MK-Redundanz


http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/Features/200px/Features-Redundanz.jpg?m=1500880086


Inhaltsverzeichnis

  1. Redundancy at the MikroKopter
  2. Demo-Video
  3. What is needed:
    1. Hardware
    2. Software
  4. The assembling
    1. MK-Tower
    2. Okto XL V3 - Combi
    3. Doppel Quadro V3 - Cool
    4. Hexa XL V3 - Combi
    5. Quadro V3 - Combi
  5. Settings
  6. Function test
    1. Slave-FlightCtrl
    2. Master-FlightCtrl
    3. Redundancy
    4. Logfile
  7. Fault simulation
    1. I2C error
    2. Motorausfall
  8. Anlage F Austro Control


Redundancy at the MikroKopter

In some countries, only copters with redundant design are allowed (e.g. Austria).
Our electronics allow the redundant design of a MikroKopter.

Redundancy means, that important components have to be replaced in case of a fault and the MK should not crash if there is a failure of a (single) component (eg, motor, receiver, Flight Control, etc.).

To increase safety, the master- and slave- FlightCtrl V3 are connected to each other via CAN bus. This is used to monitor all functions and detect faults quickly in the event of a fault.

Should the master flight control fail, the control is transferred to the slave unit and the copter can be safely flown back.

With this concept the Austro Control gave a the MikroKopter the highest approval "D" !





Demo-Video

  • Here, the redundant system is described in a video:

    http://www.youtube.com/watch?v=IvrMn4AEAD0&feature=youtu.be





What is needed:

Hardware

For a redundant configuration is required:

INFO: With the FlightCtrl V3.0 and the redundant MK GPS you have also a redundancy with the navigation system





Software

If you use the redundant system you need on your master- and Slave-FlightCtrl a special software.
Here you can download the latest software including the matching KopterTool.

Latest Software + MikroKopter Tool
(ZIP Archive)

Please use a MKUSB for a update !!!

http://wiki.mikrokopter.de/Download?action=AttachFile&do=get&target=Software_MikroKopter.zip


For a software update connect the MKUSB wit the right FlightCtrl.

  • The software "REDUNDANT_MASTER" is imported into the Master-FlightCtrl:

    • Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_MASTER.hex
    • Navi-Ctrl_STR9_V2_xxx.hex


  • the software "REDUNDANT_Slave" is imported into the Slave-FlightCtrl:

    • Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_SLAVE.hex
    • Navi-Ctrl_STR9_V2_xxx.hex



  • Information for installing the software can be found here: Link





The assembling

Here is pictorially described the assembly of the individual components.

MK-Tower

http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundant.jpg?m=1520330516



Okto XL V3 - Combi

http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_OktoVerteiler.jpg?m=1520330519



Doppel Quadro V3 - Cool

http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_DoppelQuadro.jpg?m=1520330517



Hexa XL V3 - Combi

http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_HexaVerteiler.jpg?m=1520330518



Quadro V3 - Combi

http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_Quadro.jpg?m=1520429046





Settings

To ensure that the operation is maintained in the event of a fault, the master and slave FlightCtrl must be set the same!

Master-FlightCtrl

  • To setup the Master-FlightCtrl connect the MKUSB (or a wireless connection) with the Master-FlightCtrl.
    The settings for the mixer and the channels can be made as usual. It is recommended to copy the settings to all 5 settings (Parameterset).


Slave-FlightCtrl

  • To setup the Slave-FlightCtrl connect the MKUSB (or a wireless connection) with the Slave-FlightCtrl.
    Copy now the settings of your Master-FlightCtrl into the Slave-FlightCtrl. Here it is also recommended to copy the settings to all 5 settings (Parameterset). In short:

    • The mixer setting in your Master- and Slave-FlightCtrl must be the same

    • The channel settings in your Master- and Slave-FlightCtrl must be the same

    The redundant FC listens to the same stick positions and, just like the main FC, goes into the states "Calibrate", "Start", "Stop"


INFO:
If all settings / connections are right, you see in your Telemetry a "R" after you start the motors.





Function test

Slave-FlightCtrl

  • If the Slave-FlightCtrl is connected with the KopterTool, in the virtual display you see an "S" for Slave.
    http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Slave-SW.jpg?m=1520350607

  • The green LED on your Slave-FlightCtrl is flashing fast

  • If you disconnect the Master-FlightCtrl (disconnect the Molex connector):

    • The green LED on your Slave-FlightCtrl is flashing fast PLUS the red LED is ON

    • On your BL-Ctrl the green LED is still ON, the red LED is still OFF


Master-FlightCtrl

  • If the Master-FlightCtrl is connected with the KopterTool, in the virtual display you see an "M" for Master.
    http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Master-SW.jpg?m=1520350606

Redundancy

  • After starting the motors via the transmitter, in the telemetry you see an "R"
    -> this means that the redundancy is active

    • Graupner HOTT -> MK-Telemetrie
      http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/HoTT-Display_Redundanz.jpg?m=1520344543

    • Jeti -> Jeti-Box
      http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/JetiBox-Redundanz.jpg?m=1520349298

    • KopterTool -> virtual display NaviCtrl
      http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Redundanz.jpg?m=1520350608

Logfile

  • During flight the copter record a LOG file with all telemetry data.

    • Here you can also see if the redundancy was active:

    http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/GPX-Redundant-YES.jpg?m=1520868116
    ((since V2.20) at the end of the LOG - open with Text-Editor)



  • In the LOG-File you can also see if it is from the Master- or Slave-FlightCtrl:
    http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/LOG-Master.jpg?m=1520868117 http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/LOG-Slave.jpg?m=1520868118
    (since V2.20)





Fault simulation

  • Two errors with redundancy can be simulated:

    • I2C error => Bus-failure of the Master-FlightCtrl

    • Motor failure

    /!\
    If an motor fails, only the OktoCopter (8 engines) can compensate for this safely.
    A HexaCopter (6 engines) can become unstable, a QuadroCopter (4 engines) crashes.



http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416509

I2C error

  • To simulate this, a free channel on the transmitter is needed which is placed on a switch.
    This channel is set in the settings to the user parameter 7 (see Picture):


  • Function:

    • Switch OFF => Normal operation

      • All functions are controllable as usual - no error message

    • Switch ON => The I2C-Bus of your Master-FlightCtrl is deactivated

      • The complete control is transferred to the Slave-FlightCtrl

      • A beep will sound at the Master-FlightCtrl

      • In the telemetry you can see the error message "37:Redundancy test"
      • The copter can be controlled as usual


  • {i} Condition: The function is only activated if there is redundancy ('R' in the display).



  • /!\
    For this test place your MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the I2C-Bus.
    A beep will sound at the Master-FlightCtrl but the Motors will still run.
    Lifting off and flying with the redundant FC is possible.
    If this is OK, the test can also be carried out in flight.

    /!\
    For normal operation, change the user parameter 7 back to "0" !!!



http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416509

Motorausfall

  • To simulate this, a free channel on the transmitter is needed which is placed on a switch.
    This channel is set in the settings to the user parameter 6 (see Picture):


  • Function:

    • Switch OFF => Normal operation

      • All functions are controllable as usual - no error message

    • Switch ON => Motor Nr.1 is deactivated

      • The complete control is transferred to the Slave-FlightCtrl

      • In the telemetry you can see the error message "37:Redundancy test"
      • The copter can be controlled as usual


  • {i} Condition: The function is only activated if there is redundancy ('R' in the display).
    If the I2C error was previously simulated, the motor failure will NOT be executed!



  • /!\
    For this test place your MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the Motor.
    Motor Nr. 1 is off, all other motors will still run.
    Lifting off and flying with the redundant FC is possible.
    If this is OK, the test can also be carried out in flight.

    /!\
    For normal operation, change the user parameter 6 back to "0" !!!

    /!\
    If an motor fails, only the OktoCopter (8 engines) can compensate for this safely.
    A HexaCopter (6 engines) can become unstable, a QuadroCopter (4 engines) crashes.





Anlage F Austro Control

If you want to allow your MikroKopter with redundancy in Austria, we have deposited information for this purpose: