Data Logging

The NaviCtrl records the flight data in a GPX and a KML file on the Micro-SD-Card (max. 2GBytes - fat16 formatted)

You can open the File with:

• a text editor

• GoogleEarth (shows the flight path)

• Our simple GPX-Viwer: SimpleGpxViewer

• the graphical MK-GPX (MDI) Tool

• the graphical MK-GPX Tool (old)

Tool for visualisation: SimpleGpxViewer

Description of the GPX-tags

Header

The file starts with this header:

• <?xml version="1.0" encoding="UTF-8" standalone="no" ?>

• <gpx creator="NC" version="2.0" >

• <metadata>

• <link href="http://www.mikrokopter.de">

• <text>MikroKopter</text>

• </link>

• <desc>FC HW:2.1 SW:0.88e + NC HW:2.0 SW:0.28h</desc>

• </metadata>

There you can see the Hard- and software version of FlightControl and NaviControl

Trackpoints

• <trk>

• <name>Flight</name>

• <trkseg>

• <trkpt lat="+53.2856050" lon="+7.4849955"> --> Gps-Position

• <ele>2.379</ele> --> GPS-Altitude in m and mm

• <time>2012-03-23T15:00:04Z</time> --> GPS-Time

• <sat>9</sat> --> Number of Satelites

MK-Data

• <extensions>

• <Altimeter>20,' '</Altimeter> --> Barometer altitude in 5cm -> (20 = 1m)

• <Variometer>15</Variometer> --> rate of rising/falling

• <Course>194</Course> --> GPS course over grund (independent from the compass of the MK

• <GroundSpeed>286</GroundSpeed> --> ground speed in cm/sec

• <VerticalSpeed>49</VerticalSpeed> --> Vertical Speed in cm/s

• <FlightTime>3</FlightTime> --> Flight duration in seconds

• <Voltage>16.1</Voltage> --> Lipo voltage in [V]

• <Current>21.1</Current> --> Lipo Current in [A]

• <Capacity>44</Capacity> --> Capacity in [mAh]

• <RCQuality>194</RCQuality> --> Quality of the PPM-Signal (not the signal strength in case on 2,4GHz receiver!)

• <RCRSSI>0</RCRSSI> --> Signal strenght of (old) ACT 35MHz receivers

• <Compass>349,344,356,357</Compass> --> >Yaw Gyro stabilized Compass signal ; compass signal (raw) ; Compass setpoint (corrected with declination) ; Gyro Compass corrected (declination)

• <NickAngle>-13</NickAngle> --> actual Nick-angle in [°]

• <RollAngle>000</RollAngle> --> actual Roll-angle in [°]

• <MagnetField>093</MagnetField> --> strength on the current magnet field in [%]. This is compared to the field during calibration. Should be between 85 and 115%

• <MagnetInclination>75,06</MagnetInclination> --> Actual messured inclination of the magnetic (compass) vector ; inclination error compared to the theoretic inclination at your location

• <MotorCurrent>21,42,31,53,32,29,15,22,0,0,0,0</MotorCurrent> --> current of the BL-Ctrls 1-12 in [0,1A]

• <BL_Temperature>23,23,27,25,26,26,25,25,0,0,0,0</BL_Temperature> --> temperature of the BL-Ctrls 1-12 in [1°C]

• <MotorNOK>0,0,0,2,0,0</MotorNOK> --> "Motor Not Okay" counter for each motor: in this example BL 4 reported two errors (maybe motor stopped)

• <AvaiableMotorPower>255</AvaiableMotorPower> --> available maximum power of the BL-Ctrls (255 = 100%)

• <Gas>120,100</Gas> --> actual gas value, estimated hoover gas

• <FC_I2C_ErrorCounter>000</FC_I2C_ErrorCounter> --> counter of Errors on the I2C bus to the BL-Ctrls

• <AnalogInputs>10,10,10,10</AnalogInputs> --> free analog inputs of the NC (1024 = 3,3V)

• <NCFlag>0x84:CH</NCFlag>

  • Bitcodes status:

  • NC_FLAG_FREE 0x01 --> GPS off

  • NC_FLAG_PH 0x02 --> GPS in Position Hold mode

  • NC_FLAG_CH 0x04 --> GPS in Coming Home or Waypoint mode

  • NC_FLAG_RANGE_LIMIT 0x08 --> GPS Target Position is outside the range limit

  • NC_FLAG_NOSERIALLINK 0x10 --> The NC doesn't receive KopterTool-Data

  • NC_FLAG_TARGET_REACHED 0x20 --> GPS Waypoint reached

  • NC_FLAG_MANUAL_CONTROL 0x40 --> Position manual controlled

  • NC_FLAG_GPS_OK 0x80 --> Satfix

    • . Examples:

    • 0x81:FREE = 0x80 + 0x01
    • 0x82:PH = 0x80 + 0x02
    • 0xC2:PH manual = 0x80 + 0x02 + 0x40
    • 0x84:CH = 0x80 + 0x04
    • 0x94:CH = 0x80 + 0x04 + 0x10
    • 0xA4:CH Target reached = 0x80 + 0x04 + 0x20

• <Servo>128,128,0</Servo> --> (Poti-) Setpoint for the Nick Servo (Raw); (Poti-) Setpoint for the Roll Servo (Raw); POI-Nick control (Or Waypoint-Nick Setpoint) in [°]

• <WP>P123,2,29,43</WP> --> Name of the actual target-Waypoint ( here P123) ; Waypoint 2 of 29 ; Actual Value of the Waypoint event (here 43)

• <FCFlags2>0x00,0x00</FCFlags2> --> Flight control status flags 1 and 2

  • Flight control status flags 1

    • FC_STATUS_MOTOR_RUN 0x01 --> Motors are running

    • FC_STATUS_FLY 0x02 --> MK is Flying

    • FC_STATUS_CALIBRATE 0x04 --> MK is Calibrating

    • FC_STATUS_START 0x08 --> MK is Strating

    • FC_STATUS_EMERGENCY_LANDING 0x10 --> Emergency gas in case of RC-Lost

    • FC_STATUS_LOWBAT 0x20 --> Low Lipo-Voltage

    • FC_STATUS_VARIO_TRIM_UP 0x40 --> Altitude control in Vario-Mode trimming up

    • FC_STATUS_VARIO_TRIM_DOWN 0x80 --> Altitude control in Vario-Mode trimming down

  • Flight control status flags 2

    • FC_STATUS2_CAREFREE 0x01 --> CareFree is active

    • FC_STATUS2_ALTITUDE_CONTROL 0x02 --> Altitude control is active

    • FC_STATUS2_RC_FAILSAFE_ACTIVE 0x04 --> The FC has RC-Lost and the Failsafe-feature is active

    • FC_STATUS2_OUT1_ACTIVE 0x08 --> The Output 1 of the FC is active

    • FC_STATUS2_OUT2_ACTIVE 0x10 --> The Output 2 of the FC is active

    • FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 --> Motor Running, but still on the ground

    • FC_STATUS2_AUTO_STARTING 0x40
    • FC_STATUS2_AUTO_LANDING 0x80

• <Speak>0</Speak> --> the sentence that the transmitter should speak (see below)

• <ErrorCode>000</ErrorCode> --> Actual ErrorCode

• <Gimbal>12.3,23.4</Gimbal> --> BL-Gimbal feedback: Angle Nick & Roll in [°]

• <Laser>123.4</Laser> _-> Distance Laser in [m]

• <TargetBearing>000</TargetBearing> --> Direction to the Target

• <TargetDistance>0</TargetDistance> --> Distance to the Target

• <RCSticks>-27,-3,0,-23,3,3,127,3,3,127,127,127</RCSticks> --> current values of the RC-Sticks in this order: Nick; Roll ; Yaw ; Gas ; Poti 1-Poti8

• <GPSSticks>2,3,0,'W'</GPSSticks> --> current influence of the GPS-control: Nick ; Roll ; Yaw ;

  • GPS-Modes:
  • '-' = no GPS fix
  • '/' = off
  • '?' = Coming home, but home Position unknown (goes to PH then)
  • 'H' = Coming home
  • 'W' = Flying Waypoints
  • 'D' = Dynamic Position Hold
  • 'P' = Position Hold
  • 'm' = Manual controlled

• <ele_raw>12.123</ele_raw> --> raw GPS altitude

• </extensions>

• <GPSInfo>50,13,3</GPSInfo> -> GPS-Update-Rate in 0.1Hz (50 = 5,0Hz), GPSData_Flags, Type of SatFix

  • Value of the Flags (bit-coded)

    • FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks)

    • FLAG_DIFFSOLN 0x02 // (is DGPS used)
    • FLAG_WKNSET 0x04 // (is Week Number valid)
    • FLAG_TOWSET 0x08 // (is Time of Week valid)

    • FLAG_GPS_NAVIGATION_ACT 0x10 // to FC -> NC is ready to navigate

  • interpretation of the GPSData.SatFix

    • 0 = No fix
    • 1 = SATFIX_DEADRECKOING
    • 2 = SATFIX_2D
    • 3 = SATFIX_3D
    • 4 = SATFIX_GPS_DEADRECKOING
    • 5 = SATFIX_TIMEONLY

Speak

• 1 : "Error Calibration"
• 2 : "Error Receiver"
• 3 : "Error Databus (I2C-Bus)"
• 4 : "Error Navi"
• 5 : "Error" (other error)
• 6 : "Error Compass"
• 7 : "Error Sensor"
• 8 : "Error GPS"
• 9 : "Error Motor"
• 10 : "Max Temperature" (or max. current of one Motor)
• 11 : "Altitude reached"
• 12 : "Waypoint reached"
• 13 : "next Waypoint"
• 14 : "Landing"
• 15 : "GPS FIX"
• 16 : "Undervoltage"
• 17 : "GPS hold"
• 18 : "GPS home"
• 19 : "GPS off"
• 20 : "BEEP"

• 21 : "MikroKopter"

• 22 : "Capacity"
• 23 : "Carefree off"
• 24 : "Calibrate"
• 25 : "maximum range"
• 26 : "maximum altitude"

• 38 : "MikroKopter off"

• 39 : "Altitude on"
• 40 : "Altitude off"
• 41 : "100m"
• 46 : "Carefree on"
• 47 : "Sinking"
• 48 : "Rising"
• 49 : "Holding"
• 50 : "GPS on"
• 51 : "Following"
• 52 : "Starting"

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