Inhaltsverzeichnis
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"