MikroKopter

Firmware 0.84

http://mikrokopter.de/images/deu.gif Seite in Deutsch

http://mikrokopter.de/images/fra.gif Page en français

http://mikrokopter.de/images/ita.gif Pagina in italiano

Release Date: 30th march 2011

License: LICENSE.TXT

Download:

Version for ACT-2,4GHz S3D-Receivers

/!\ only for this receiver-version

How do I update?

Never made an update before? Read this: Software Update

Compatibility

Point of Interest

The idea of "Point of interest (POI)" is to point the camera of the MikroKopter to a specific object or position.

The yaw-direction and the camera angle will point move in that case.

The NaviControl needs the following informations for this feature:

  • GPS-Position of the POI
  • altitude of the POI

Depending on the own position and altitude, the MikroKopter can calculate the angles.

POI-Videos

Video with explanation

(English)

Video with Wakeboarder

We attached a FollowMe-Transmitter to a helmet an made an autonomous camera tracking shot

The used helmet:

http://gallery.mikrokopter.de/main.php/v/tech/helm1.jpg.html http://gallery.mikrokopter.de/main.php/v/tech/helm2.jpg.html

There is in the front a waterproofed GoPrp camera. And in the back the FollowMe-Transmitter with 9V batterie supply and a WI232 transmitter.

LotharF started the MikroKopter and activates the POI (PointOfInterest) and the CareFree function.

Further informations about that Video:

  • Camera on the MikroKopter: Canon EOS 550D (also called Canon T2i) (Objektiv: 18-55IS set to 18mm; Stabilizer:Off) (Video settings: 1280*720/50fps)

  • 5,8GHz video transmitter sends the live-video to check the recorded picture. Monitor on the tripod
  • Video editing: VReveal for Deshaking and changing the colors (making a warmer style)

  • Video cut: Magix Video deluxe 17 premium HD;

  • Music: found on CCMixter.org

GPS-Position of the POI

In the following example, we want to take pictures of the Evenburg (Leer)

With the KopterTool (since V1.74) we can put the POI onto the building.

Now we define three waypoints for three different view angles. The MikroKopter shall automatically point into that direction.

http://gallery.mikrokopter.de/main.php/v/tech/Bild1_ScreenKoptertool1_Pfeile.gif.html

Result

http://gallery.mikrokopter.de/main.php/v/Luftbilder/Bild2_Wegpunkt1b.jpg.html http://gallery.mikrokopter.de/main.php/v/Luftbilder/Bild2_Wegpunkt2b.jpg.html http://gallery.mikrokopter.de/main.php/v/Luftbilder/Bild2_Wegpunkt3a.jpg.html

POI in Action

http://gallery.mikrokopter.de/main.php/v/Luftbilder/Bild10_Wegpunkt3_Boden_Pfeile.jpg.html

Altitude of the POI

The MikroKopter can control the camera nick-angle if needed. It can be selected in the Koptertool "Use POI -> Camera Nick control"

http://gallery.mikrokopter.de/main.php/v/tech/Bild4_MK_VorBurg1Pfeile_Collage.jpg.html

  • The camera can still be manually adjusted via the RC-Transmitter.
  • The ration between camera angle (Servo angle) and angle to the POI is set by the Parameter "Nick compensation" in the Camera-Settins of the FlightControl

activating via RC-Transmitter

The YAW-rotation for pointing to the POI is connected to the CareFree (CF) feature.

Means: the MikroKopter will only move yaw, if CF is enabled and activated. This is a safety feature. So the pilot still has control if he doesn't know the direction of the MK

Also the nick-angle is connected to CF. So if CF is deactivated, the angle is neutral (or Poti-setpoint)

POI-setting via Follow-Me-Transmitter

http://gallery.mikrokopter.de/main.php/v/Luftbilder/Bild9_POI-Transmitter3.jpg.html

If you dont want to use a Notebook on the field to use POI, a FollowMe transmitter can also be used easily. It transmits its own GPS-Position as POI and also as Waypoint.

That also works fine for moving POIs (see Video)

  • If you use "Position Hold mode (PH)" via RC-transmitter, the MK remains on its position and lokks into POI-direction (if CF is activated)
  • If you use "Coming Home (CH)", the MikroKopter also follows.

see also: FollowMe

New method to calibrate the compass

Thanks to a clicking sound, it is now much easier to calibrate the compass properly. This method has the advantage that when calibrating the MK does not have to aligned exactly horizontal.

Video for calibrating

  1. Start as Compass Calibration usual - (like you would select setting 7)
  2. Move the Nick stick to bottom to go into Step 2 of the calibration (the klicking sound starts)
  3. Turn the MikroKopter a few times in direction of the nick axis (with axis orientation to North / South) until the Summer stops beeping

  4. Turn the MikroKopter a few times in direction of the roll axis (with axis orientation to North / South) until the Summer stops beeping

  5. (you could also mix step 3 and 4, so you could also start with the roll-axis)
  6. Pull the Nick stick down to move from Step 2 to Step 3
  7. Once again, pull the Nick-pull stick down to start the Z-axis calibration (goint into Step 4)
  8. Turn the MikroKopter a few times in direction of the roll or nick axis (with axis orientation to North / South) until the Summer stops beeping

  9. Pull the Nick stick down -> end of the calibration and store the calibration data

The process also works in older firmware versions, but then without the clicking sound.

Yaw / Compass - Control

waypoints with altitude

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=78599&g2_serialNumber=1

{i} use for this function "Vario altitude control". You can change it in the MikroKopter-Tool -> Altitude.

Display on the JetiBox

In the JetiBox there is a sign behind the altitude value.

Characters:

Jeti display

meaning

=

Constant height

+

rising manually

-

sinking manually (descending)

^

Climbing by Waypoint

V

Sinking by Waypoint

Autolanding

In the video (above) an autonomous landing is shown.

Therefore the following tips:

viewing direction for waypoints

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=78596&g2_serialNumber=1

For each waypoint a viewing direction can be selected.

display

value

sight direction

"-"

0

free direction

1-360

1-360

fixed direction (360 = North) (180 = South)

"POI"

-1

points towards the POI

WP1 WP9 ..

-2 ...- x

points towards a Waypoint

Notes regarding view direction (POI)

What is the direction of view?

The camera direction is the view direction. When a camera is mounted in rotated direction (i.e. 45°) (FlightControl-settings: Camera-direction), this would be the sight direction

How to enable or disable it?

When is the view direction active?

What happens if the MK is directly over the POI?

WP1...WP9

You can also use a waypoint as POI. I.e. MK can also look in the direction of any waypoint.

/!\ If the MK is looking towards its own waypoint, then it would happen that it starts rotating around itself when reaching that point (see previous note)

Height of the POI

Indicator of active carefree and height control

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=78602&g2_serialNumber=1

= Right click on analog values ​​= http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=78657&g2_serialNumber=2

Offset in the Poti-channels

There was a difference in the display of Poti values ​​in the virtual LCD and MikroKopter-Tool display. To correct this the poti-offset was increased from 110 to 127.

In practice this means that the same poti-position results in a different value compared to older firmwares. The difference in the value is 17 (the new value is smaller by 17).

In general, this should not really be noticed.

Other changes

Bugfix

MikroKopter-Tool V1.74b


MikroKopter: en/Firmware-0.84 (zuletzt geändert am 24.02.2012 13:22 durch LotharF)