Inhaltsverzeichnis

  1. Data Logging
  2. Description of the GPX-tags
    1. Header
    2. Trackpoints
    3. MK-Data
    4. Speak

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:

Tool for visualisation: SimpleGpxViewer

Description of the GPX-tags

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"