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MK3Mag


See also: MikroKopter-Boards

See also: NaviCtrl V1.1, MKGPS, MK3MagAufbau

Inhaltsverzeichnis

  1. MK3Mag
  2. General Points
    1. Connection without NaviControl
    2. connection to the NaviCtrl
  3. Trim the Yaw of the RC-Transmitter to Zero
  4. Calibration
    1. Calibration of the compass
    2. Videos
  5. MK3Mag and MK-Tool
  6. Circuit Diagram
  7. Assembly Scheme
  8. Installing new software
    1. Showing the actual firmware-version
    2. Flashing new firmware through the NaviControl
    3. Firmware flashing without NaviControl
  9. Software

{i} The compass is already integrated into the NC v2.0 - so the MK3Mag is not needed there.

MK3Mag

This is a 3-axis magnetic field sensor. Using the current attitude data it forms a tilt compensated compass. The MK3Mag can be used on its own, together with the Flight Ctrl to stabilise yaw control or in combination with the NaviCtrl. The MK3Mag is supported by the FlightCtrl from software version 0.69K upwards.

Top side

Lower side

http://gallery.mikrokopter.de/main.php/v/tech/MK3mag_oben.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3mag_unten.jpg.html


{i} Instruction for MK3Mag for self assembly (Green PCB’s)... see here MK3MagAufbau

General Points

/!\ For use of the MK3Mag it is essential that the distance between compass and Buzzer minimum 10cm. It is best to mount the buzzer on the outer end of one of the frame arms.

The highest Interfering Magnetic field is generated by: Buzzer, Motors, Power Cables and Metal Parts (in approx. this order).

If problems with the MK3Mag are only noticable at higher throttle, it is likely that the interfering magnetic field is generated by power lines. Ideally the individual DC-lines should have very few bends and Plus/Minus should be routed parallel as their magnetic fields are then compensated by each other (Tips and Video).

http://www.mikrokopter.com/files/KompassDreht.wmv

Connection without NaviControl

Usually the MK3Mag is used on a NaviControl. In case you don't want the GPS-features, you can connect the Mk3Mag directly onto the FC.

Attach (solder) the 10 pole pin row onto the SIDE of the MK3Mag and connect to the FlightCtrl using a 1:1 Ribbon Cable. To see the FC and Compass together on the Kopter tool, press a Pin Header (Reichelt Electronics: PFL10SK) onto the cable.

  • Instalment direction: Processor pointing up and outer pin row pointing towards the 10 pole pin row on the FlightCtrl

Special attention should be taken to ensure that the MK3Mag is Level (i.e.: parallel towards the FC). An angle of 5° for example would have the effect of an error of >5°.

http://gallery.mikrokopter.de/main.php/v/uploads/MK3mag_verkabelung.jpg.html

connection to the NaviCtrl

To connect the MK3Mag to the NaviControl, a 10-pin connector must be installed:

insert pins

press a little to a tabe to align the pins

install Mk3Mag and align even

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-1.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-2.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-3.jpg.html

Solder the pins

ready solderd

Cut with a sharp tool

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-4.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-5.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-6.jpg.html

Ready

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-7.jpg.html

/!\ Installation: Use two plastic screws to fasten the MK3mag and avoid contact loss. In case of a bad contact, the GPS navigation could stop or the MikroKopter could fly into the wrong direction. Never use screws made of material that can become magnetic. When this screw becomes magnetic due to the engines, the compas function will get an offset, you will see this as a rotating Mikrokopter, directly after lift-off.

mechanical attachment

in detail

Soldered pins

http://gallery.mikrokopter.de/main.php/v/uploads/screw_mount_01.jpg.html

http://gallery.mikrokopter.de/main.php/v/uploads/screw_mount_02.jpg.html

http://gallery.mikrokopter.de/main.php/v/uploads/multi_pin_connector.jpg.html

In case that the pins must be replaced:

http://gallery.mikrokopter.de/main.php/v/tech/MK3Mag-Stiftleiste-entl__ten.jpg.html

Trim the Yaw of the RC-Transmitter to Zero

/!\ Attention: Yaw must be zero in case of using the compass.

You can check these values in the Koptertool

Calibration

Calibration of the compass

<!> Important: When first operated, the MK3Mag needs to be correctly calibrated! Otherwise the NaviBoard will show you "Err:6 bad compass value".

Now it is (since Version FC:0.84) very easy to calibrate the compass with a "clicking sound" .
This method has the advantage that you doesn't have to hold the Kopter "perfect" horizontally.

IMPORTANT

The Nick- and Roll axis refers to the FlightCtrl, and not on the Mixer you use! The arrow of the FlightCtrl shows the Nick axis!

The Kopter should be calibrated outside, away from magnetic influences!
So please do not calibrate the Kopter directly next to a house, near power poles or metallic / magnetic surfaces.
Also, please take your cell etc. out of your pocket.

<!> The earth's magnetic field is not the same everywhere. That's the reason why you should calibrate the compass new if you change the place where you fly.
(e.g. from Germany to USA or from north to south America)

The calibration will be done in several steps:

Step

Function

Example View / Function

Step 1
Initiate compass calibration

Nick down

then

Throttle up + Yaw left

(The Kopter beeps 1x)

On a transmitter in MODE 2 it lokks like in that way:
http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=93577&g2_serialNumber=4

Step 2
Start Calibration

Pull Nick down 1x

(The Kopter beeps 2x and the clicking starts begins)

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97303&g2_serialNumber=2

Calibration of the X-Axis (Nick-Axis)

The Kopter with the front
(Arrow direction of the FlightCtrl)
pointing to the South or North.

Then

rotate the Kopter a couple times over the Nick-Axis until the buzzer stops with the clicking starts.

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97965&g2_serialNumber=2

Calibration of the Y-Axis (Roll-Axis)

Rotate the Kopter by 90°
The clicking starts again.

Rotate the Kopter a couple times over the Roll-Axis until the buzzer stops with the clicking starts.

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97969&g2_serialNumber=2

Step 3
Finish the calibration of the X and Y-Axis

Pull Nick 1x down

(The Kopter beeps 3x)

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97303&g2_serialNumber=2

Step 4
Start calibration of the Z-Axis

Pull Nick 1x down

(The Kopter beeps 4x and the clicking starts begin again)

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97303&g2_serialNumber=2

Calibration of the Z-Axis (Yaw-Axis)

INFO: Here it doesn't matter if the Kopter shows with the X or Y-Axis towards South (North).

Rotate the Kopter a few times over the Roll- or Nick-Axis until the buzzer stops with the clicking starts.

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97710&g2_serialNumber=2

Step 5
Finish the calibration of the Z-Axis.

Pull Nick 1x down

The Kopter confirms it with 2 beeps

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=97303&g2_serialNumber=2



3. Now that the Kopter "beeped" 2x after a successful calibration that part is done.

  • If everything is OK the red LED stops lighting after a few seconds on the NaviCtrl V2.0 with integrated compass.
    If you use a NaviCtrl V1.1 with MK3Mag the red LED on the MK3Mag lights permanently.

DONE!

Videos

(German version)


(English version)


If the calibarion fails (compass still reports "invalid compass value"), you can take a look here: MagnetError



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

Note: if you use the MK3Mag directly on the FC, it will not make the clicking sound. This calibration method will work nevertheless.

MK3Mag and MK-Tool

To activate the Compass use the Kopter tool (connected to FC) and under Settings->Configuration place a tick on Kompass (Compass).

The KopterTool can also be used to verify the Calibration. To do this set the scope to display the values: KompassValue, Ersatzkompass and MK3MagCalState and turn the Kopter slowly. The angle change should be displayed proportional to the rotation of the Mikrokopter.

MK3Mag/MK3Mag_MKTool.jpg

{i} A Digital Compass value is also available in the LC-Display under [2] (See Picture)

Circuit Diagram

http://gallery.mikrokopter.de/main.php/v/tech/MK3MAG_V1_1_SCH.jpg.html

Assembly Scheme

TOP

BOTTOM

http://gallery.mikrokopter.de/main.php/v/tech/MK3MAG_V1_1_TOP.jpg.html

http://gallery.mikrokopter.de/main.php/v/tech/MK3MAG_V1_1_BOT.jpg.html

{i} A detailed assemebly instruction (currently in German) can be found here hier.

Italic displayed parts are on the lower side

Quantity

Component

Notes

Part

Name

1

Atmega168-20AU

note markings, Use Flux!

Controller

IC1

3

KMZ51

note markings, Use Flux

Hall sensor

IC3, IC5, IC7

1

LM324D

note markings

Quad OP Amp

IC2

1

FMMT617

NPN-SOT23

Transistor

T1

1

FMMT717

PNP-SOT23

Transistor

T3

1

SMD-LED Grün

note direction

CHIPLED

LED1

1

1k SMD-0805

Resistor

R33

1

18k SMD-0805

Resistor

R10

3

X7R-G0805 22pF

Resistor

C8, C9, C12

2

47R SMD-0805

Resistor

R7, R32

3

270k SMD-0805

Resistor

R1, R3, R5

6

X7R-G0805 100nF

Capacitor

C3, C5, C6, C7, C11, C15

7

X7R-G0805 1µF

(available as 1000nF at Farnell)

Capacitor

C2, C16, C18, C19, C20, C21, C22

2

SMD Tantal 10µF/10V

Type B, note direction!

Capacitor

C1, C17

Optional (not required for use with MK)

1

LIS344AHL

noe poles

ACC-Sensor

IC4

1

MCP1700T-3002E/TT

Voltage Regulator

IC8

1

X7R-G0805 1 µF

Capacitor

C23

4

X7R-G0805 100nF

Capacitor

C4, C10, C13, C14

Installing new software

On preassembled (red) boards, the bootloader is already programmed and doesn't have to be updated.

Showing the actual firmware-version

http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=84528&g2_serialNumber=1

Switch to MK3Mag in the KopterTool

/!\ Attention: if the actual firmware is already V0.23a, please do not perform a further update. There is no update since 02.2010.

{i} In the NaviControl V2.0 you can't switch the communication to the internal compass.

http://gallery.mikrokopter.de/main.php/v/tech/MK3MAg_Update.gif.html

Flashing new firmware through the NaviControl

  • Remove jumper of the MKUSB

  • The MK3Mag remains on the NaviControl.

  • The MKUSB is connected to the NC

  • Switch on the MikroKopter

  • Click to 'Firmware Update and Terminal' in the KopterTool to open the terminal window

  • Selcet actual HEX-File for the MK3Mag
  • Programming starts. At the end the MK3Mag shows its actual version

Firmware flashing without NaviControl

  • Remove Jumper on the MKUSB
  • Connect the MK3Mag on the connector on the side of the MKUSB.
  • Use the connector on the lower side of the MK3Mag (the same you would connect to the NC)

  • Click to 'Firmware Update and Terminal' in the KopterTool to open the terminal window

  • Select actual HEX-File for the MK3Mag
  • Install the Jumper into the MKUSB to supply the MK3Mag
  • Programming starts. At the end the MK3Mag shows its actual version

Software

Here you can download the latest software:

MK3Mag Software: Download

KategorieHardware KategorieEnglish