{{{#!wiki MK_Nav
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{{{#!wiki MK_select1
 * {{http://mikrokopter.de/images/deu.gif}} [[Firmware-2.06|Deutsch]]
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<<TableOfContents>>

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= Firmware-2.06 =

== Release date: 09.04.2014 ==

'''Lizenz: ''' [[http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=/LICENSE.TXT|LICENSE.TXT]]

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== Links: ==
 * Public Beta 2.05: [[http://forum.mikrokopter.de/topic-46241.html|Forum]]
 * See also the Version [[http://www.mikrokopter.de/ucwiki/en/Firmware-2.04|2.04]] for the changes in the last release.
 

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= Download =

 * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.06f%2FHex-Files%2FFlight-Ctrl_MEGA1284p_V2_06f.hex|FlightControl V2.06f for black FC (FC2.1 - 2.5)]] '''(MEGA1284)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV2.06f%2FHex-Files%2FFlight-Ctrl_MEGA644_V2_06f.hex|FlightControl V2.06f for red FC 2.0 ]] '''(MEGA644)''' 
 * [[http://svn.mikrokopter.de/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV2.06i%2FHex-Files%2FNavi-Ctrl_STR9_V2_06i.hex|Navi-Ctrl V2.06i]]
 * [[http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=%2FMikroKopter-Tool%2FKopter_Tool_V2_06e.zip|MikroKopter-Tool V2.06e]] 


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== How to update? ==
[[en/SoftwareUpdate|SoftwareUpdate]]

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= Compatiblity =
 * The settings are set to default
  
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= Video =

[[https://www.youtube.com/watch?v=dhkolSD-zf8&list=UUXv7l7VoJSViTQ6skMGmuSg|{{https://i1.ytimg.com/vi/dhkolSD-zf8/mqdefault.jpg}}]]

(Load / save positions)

[[https://www.youtube.com/watch?v=uGK4jGf-QiA&list=UUXv7l7VoJSViTQ6skMGmuSg|{{https://i1.ytimg.com/vi/uGK4jGf-QiA/mqdefault.jpg}}]]

(Save a camera track)

= Higher accuracy on Position Hold =

The accuracy of PH is much higher now and the position is faster reached if the MK drifted away by the wind.

All tested MKs achieved a much better GPS-performance.

The difference is significant in areas with weak magnetic field and big magnetic declination - like in Brazil.

= Speed at 'Dynamic Position Hold' (dPH) =
 * The maximum speed of dPH can be set as parameter.
 * Means: if you move the stick to 100%, the MK flys with the set speed.
 * Per default it is set to 10m/sec
 * If you want to fly with 50km/h, you can set it to 140 (14,0m/sec)

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=149875&g2_serialNumber=1}}

= Auto-Photo-Release in altitude steps =

If you want to take photos of a tower, the MK can release a photo each x meters (rising and falling).

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=149870&g2_serialNumber=1}}

(If the blinking pattern is set like in the picture, it will make a photo-trigger signal of 0,4 sec)

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= Saving and loading of intersting positions using the transmitter =
The current position of the MK can be stored in flight 

Saved are:
 * Position
 * Altitude
 * Kompass direction (heading)

Use case:
You made a great picture of a tree in summer time. Then you come back in winter and shoot the same picture from exact the same position.

== Number of points ==
 * In the free version, you can store 4 points. 
 * Upgrade licenses can be purchased [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=841|here]]
 * The points are stored to the SD-card. So you make a backup copy by the PC.

== HoTT ==
The menu is in the Text-Telemety:

[[http://gallery.mikrokopter.de/main.php/v/tech/SP_Store1.jpg.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150416}}]]

Press "ESC" long and select "Setting and Data viev". 

[[http://gallery.mikrokopter.de/main.php/v/tech/SP_Store_2.jpg.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150420}}]]

Go to the last menu with the right button until you reach the first "MikroKopter" Menu. 

Then press "Down" (or some lift clicks) to select the SinglePoint menu.

[[http://gallery.mikrokopter.de/main.php/v/tech/SP_Store.jpg.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150424}}]]

 * Choose the index (UP/Down)
 * Select with (SET) 

== Jeti ==
[[http://gallery.mikrokopter.de/main.php/v/tech/SP_Jeti1.jpg.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150428}}]]
 * select the menu and press Down

[[http://gallery.mikrokopter.de/main.php/v/tech/SP_Jeti2.jpg.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150432}}]]

 * Choose the index (Up/Down)
 * Load/Store the Point with "Key right"
 * Back with "Left" 

== Speed between these points ==
Use case: You want to make a movie and you have to fly between two points again and again.

[[http://gallery.mikrokopter.de/main.php/v/tech/KopterTool_SinglePt_Speed.gif.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=149968}}]]

You can set a fixed speed or select a Poti. -> so you can program a flight with smooth speeds easily by the tranmitter <-

== Altitude line between the Single-Points: ==

The MK calculates the correct altitude between the points.

[[http://gallery.mikrokopter.de/main.php/v/tech/SinglePoint_GE1.gif.html|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150003}}]]

Here the MK flew to two points and thy were stored via the transmitter. Then the points were called and the MK flew automatically between these points (eight times).

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= Altitude line between Waypoints =

If you select 'AUTO' or 255 as altitude speed, the MK calculates the altitude line to this Waypoint automatically.

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150005&g2_serialNumber=1}}

== Video ==
[[https://vimeo.com/90415016|{{https://i.vimeocdn.com/video/469543026_295x166.jpg}}]]

(The waiting time between the points was set to zereo - that makes the MK so fast)

= Programable servo movements =

It is possible to map the blinking pattern (for camera trigger) to servo outputs. Now the High/Low setpoints can be adjusted.

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150258&g2_serialNumber=1}}

That makes it easier to release the camera with LANC or IR-Control.

= License-Handling =
In the past, the license-file had to be stored on the SD-card. In case of replacing the card it could be forgotten to store the file on the card again.
Now the file will be copied into the EEPROM of the NC if a LICENSE.INI was found.

And it is possible to import a license file via the KopterTool.

{i} A license key can be generated by the KopterTool. You can order a license from us with this key.

= Logfile =
 * Time reolution in 0,1sec
 * Nick/Roll angle resolution in 0,1°
 * New Entry: MotorNotReadyCnt -> A counter for each single Motor. They count up in case of a Problem (Motor stopped etc)

== GPX Infos ==
{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=150394&g2_serialNumber=1}}

 New entries: some important Setting infos added

= Flight ranges =
Creates a virtual cage.

There were three parameters for maximum Ranges on the SD-card in the NC:
 * Maximum Altitude
 * Maximum Range in GPS-Mode
 * Descend range -> needed for Law in France

At different sites different parameters could be needed.
Now the parameters are moved to the FC-Settings. The user can now use different settings for different cases.

The old Parameters are not used any more:

[[ http://gallery3.mikrokopter.de/var/albums/tech/MaxFlyingRanges_France_old.gif?m=1409714704 | {{ http://gallery3.mikrokopter.de/var/thumbs/tech/MaxFlyingRanges_France_old.gif?m=1410803653 }} ]]

The are replaced by these parameters:

[[ http://gallery3.mikrokopter.de/var/albums/tech/MaxFlyingRanges_France.gif?m=1409714701 | {{ http://gallery3.mikrokopter.de/var/thumbs/tech/MaxFlyingRanges_France.gif?m=1410798687 }} ]]

/!\ Note:
 * If you fly over these limits, you will get an error-message.
 * When flying with altitude control and in dPH-GPS-mode, you can't fly beyond the ranges.

= Reminder: how to start & stop the motors =
Pitch/roll stick must be pushed into the bottom corner to start or stop the motors

{i} This is not new -> it was already implemented in [[en/Firmware-2.04|Version 2.00]]

Number one cause of crashes is still accidentally switching off the Motors in flight - which is now effectively avoided

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=136379&g2_serialNumber=1}} {{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=136377&g2_serialNumber=1}}

(The pitch / roll stick can be pushed into a corner either left or right)

= Bugfixes =
 * NC 2.06b: Logfile stopped for about 5 sec after an error occured
 * NC 2.06d: (02 May 2014) Bugfix: Waypoint Events
 * FC 2.06c & NC 2.06f: (10.05.2014) Bugfix: rotation of relative Waypoints if the camera is not orientatet to Nick (Cameraritentaion rotated)
 * FC 2.06e:  
  * Bugfix: BL-Config of motors 9-12 was deactivated
  * reading the SW-Version of the BLs
  * Bugfix: Motor 1 sometimes reported "software not compatible" in BL-Settings
  * Transmit all version numbers to KopterTool
 * NC 2.06i:
  * <ele_raw> added in the logfiles
  * additional information in GPX Info field: BL SW-Version and others
  * Bugfix: after deleting waypoints via "GPS-Free" it could happen that the next WP flight would not release photos at Waypoint 1

 * 2.06f (21.7.2014):
  * Secure function: Avoid that the Altitude setpoint can be much higher than the actual altitude
  * Use MinGas setting before while "Waiting for takeoff" instead of "AltitudeMinGas".


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 . KategorieFirmware/FC