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= Redundancy at the MikroKopter =
In some countries, only copters with redundant design are allowed ~-(e.g. Austria)-~. <<BR>>
Our electronics allow the redundant design of a !MikroKopter.
Redundancy means, that important components have to be replaced in case of a fault and the MK should not crash if there is a failure of a (single) component (eg, motor, receiver, Flight Control, etc.).<<BR>>
To increase safety, the master- and slave- !FlightCtrl V3 are connected to each other via CAN bus. This is used to monitor all functions and detect faults quickly in the event of a fault. <<BR>>
Should the master flight control fail, the control is transferred to the slave unit and the copter can be safely flown back.<<BR>>
'''With this concept the Austro Control gave a the !MikroKopter the highest approval "D" !'''
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<<BR>><<BR>><<BR>><<BR>>
= Demo-Video =
Here, the redundant system is described in a video:
[[http://www.youtube.com/watch?v=IvrMn4AEAD0&feature=youtu.be|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=147551&g2_serialNumber=2}}]]
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<<BR>><<BR>><<BR>><<BR>>
= What is needed: =
== Hardware ==
For a redundant configuration is required:
* 1x BL-Ctrl board "Redundant"
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=809|Shoplink -> Quadro V3 - Combi]]
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=831|Shoplink -> Hexa XL V3 - Combi]]
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=811|Shoplink -> Okto XL V3 - Combi]]
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=822|Shoplink -> Doppel Quadro V3 - Cool]]
* 2x !FlightCtrl V3 (Master + Slave)
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=920|Shoplink -> Flight-Ctrl V3.0]]
* 1x GPS-System with compass
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=972|Shoplink -> MK GNSS V4 + compass (Redundant)]]
* 1x Cable set "Redundanz"
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=981|Shoplink -> Cable set Redundant for 2 FlightCtrl]]
* 2x Lipo Decoupler
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=87&products_id=879|Shoplink -> Lipo Decoupler]]<<BR>>~-or-~
* [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=87&products_id=880|Shoplink -> Lipo Decoupler XT60]]
~-INFO: With the !FlightCtrl V3.0 and the redundant MK GPS you have also a redundancy with the navigation system-~
<<BR>><<BR>><<BR>><<BR>>
----
<<Anchor(Software)>>
== Software ==
If you use the redundant system you need on your master- and Slave-!FlightCtrl a special software. <<BR>>
Here you can download the latest software including the matching !KopterTool.
<<BR>><<BR>>
----
||<class="MK_TableNoBorder"width="150px">||<class="MK_TableNoBorder"width="400px">'''Latest Software + !MikroKopter Tool <<BR>>~-(ZIP Archive)'''-~<<BR>><<BR>>~-Please use a MKUSB for a update !!!-~||<class="MK_TableNoBorder")>[[http://wiki.mikrokopter.de/Download?action=AttachFile&do=get&target=Software_MikroKopter.zip|{{attachment:symbols/Download-Button.png}}]]||
----
<<BR>>
For a software update connect the [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=922|MKUSB]] wit the right !FlightCtrl.<<BR>><<BR>>
The software "REDUNDANT_MASTER" is imported into the Master-!FlightCtrl:
* Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_MASTER.hex
* Navi-Ctrl_STR9_V2_xxx.hex
<<BR>>
the software "REDUNDANT_Slave" is imported into the Slave-FlightCtrl:
* Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_SLAVE.hex
* Navi-Ctrl_STR9_V2_xxx.hex
<<BR>><<BR>>
Information for '''installing the software''' can be found here: '''[[en/SoftwareUpdate|Link]]'''
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<<BR>><<BR>><<BR>><<BR>>
= The assembling =
Here is pictorially described the assembly of the individual components.
== MK-Tower ==
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundant.jpg?m=1520330516 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/Redundant.jpg?m=1520330517 }} ]]
<<BR>><<BR>>
----
== Okto XL V3 - Combi ==
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_OktoVerteiler.jpg?m=1520330519 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/Redundanz_FC_V3_und_OktoVerteiler.jpg?m=1520330520 }} ]]
<<BR>><<BR>>
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== Doppel Quadro V3 - Cool ==
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_DoppelQuadro.jpg?m=1520330517 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/Redundanz_FC_V3_und_DoppelQuadro.jpg?m=1520330518 }} ]]
<<BR>><<BR>>
----
== Hexa XL V3 - Combi ==
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_HexaVerteiler.jpg?m=1520330518 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/Redundanz_FC_V3_und_HexaVerteiler.jpg?m=1520330519 }} ]]
<<BR>><<BR>>
----
== Quadro V3 - Combi ==
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/Redundanz_FC_V3_und_Quadro.jpg?m=1520429046 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/Redundanz_FC_V3_und_Quadro.jpg?m=1520429046 }} ]]
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<<BR>><<BR>><<BR>><<BR>>
= Settings =
To ensure that the operation is maintained in the event of a fault, the master and slave FlightCtrl must be set the same! <<BR>>
~+__Master-!FlightCtrl__+~ <<BR>>
To setup the Master-!FlightCtrl connect the [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=922|MKUSB]] (or a wireless connection) with the Master-!FlightCtrl.<<BR>>
The settings for the mixer and the channels can be made as usual. It is recommended to copy the settings to all 5 settings (Parameterset).
<<BR>>
~+__Slave-!FlightCtrl__+~ <<BR>>
To setup the Slave-!FlightCtrl connect the [[https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=69&products_id=922|MKUSB]] (or a wireless connection) with the Slave-!FlightCtrl.<<BR>>
Copy now the settings of your Master-!FlightCtrl into the Slave-!FlightCtrl. Here it is also recommended to copy the settings to all 5 settings (Parameterset).
In short:
* The mixer setting in your Master- and Slave-!FlightCtrl must be the same
* The channel settings in your Master- and Slave-!FlightCtrl must be the same
~-The redundant FC listens to the same stick positions and, just like the main FC, goes into the states "Calibrate", "Start", "Stop"-~
<<BR>>
'''INFO:''' <<BR>>
If all settings / connections are right, you see in your '''Telemetry a "R"''' after you start the motors.
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<<BR>><<BR>><<BR>><<BR>>
= Function test =
== Slave-FlightCtrl ==
* If the __Slave__-!FlightCtrl is connected with the !KopterTool, in the virtual display you see an "S" for Slave.<<BR>>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Slave-SW.jpg?m=1520350607 }}
* The green LED on your Slave-!FlightCtrl is flashing fast
* If you disconnect the Master-!FlightCtrl ~-(disconnect the Molex connector)-~:
* The green LED on your Slave-!FlightCtrl is flashing fast PLUS the red LED is ON
* On your BL-Ctrl the green LED is still ON, the red LED is still OFF
<<BR>>
== Master-FlightCtrl ==
* If the __Master__-!FlightCtrl is connected with the !KopterTool, in the virtual display you see an "M" for Master.<<BR>>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Master-SW.jpg?m=1520350606 }}
== Redundancy ==
* After starting the motors via the transmitter, in the telemetry you see an '''"R"''' <<BR>> ~--> this means that the redundancy is active-~
* Graupner HOTT -> MK-Telemetrie<<BR>>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/HoTT-Display_Redundanz.jpg?m=1520344543 }}
* Jeti -> Jeti-Box<<BR>>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/JetiBox-Redundanz.jpg?m=1520349298 }}
* !KopterTool -> virtual display !NaviCtrl<<BR>>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KopterTool-Redundanz.jpg?m=1520350608 }}
== Logfile ==
* During flight the copter record a LOG file with all telemetry data. <<BR>>
* Here you can also see if the redundancy was active: <<BR>>
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/GPX-Redundant-YES.jpg?m=1520868116 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/GPX-Redundant-YES.jpg?m=1520868116 }} ]]<<BR>>
~-((since V2.20) at the end of the LOG - open with Text-Editor)-~
<<BR>><<BR>>
In the LOG-File you can also see if it is from the Master- or Slave-!FlightCtrl: <<BR>>
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/LOG-Master.jpg?m=1520868117 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/LOG-Master.jpg?m=1520868117 }} ]]
[[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/LOG-Slave.jpg?m=1520868118 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/LOG-Slave.jpg?m=1520868118 }} ]]<<BR>>
~-(since V2.20)-~
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<<BR>><<BR>><<BR>><<BR>>
= Fault simulation =
Two errors with redundancy can be simulated: <<BR>>
* I2C error => Bus-failure of the Master-!FlightCtrl
* Motor failure
/!\ <<BR>>
If an motor fails, only the !OktoCopter (8 engines) can compensate for this safely.<<BR>>
~-A !HexaCopter (6 engines) can become unstable, a !QuadroCopter (4 engines) crashes.-~
<<BR>><<BR>>
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== I2C error ==
To simulate this, a free channel on the transmitter is needed which is placed on a switch. <<BR>>
This channel is set in the settings to the ''user parameter 7'' ~-(see Picture)-~:
<<BR>>
__Function:__
* Switch OFF => Normal operation
* All functions are controllable as usual - no error message
* Switch ON => The I2C-Bus of your Master-!FlightCtrl is deactivated
* The complete control is transferred to the Slave-!FlightCtrl
* A beep will sound at the Master-!FlightCtrl
* In the telemetry you can see the error message "37:Redundancy test"
* The copter can be controlled as usual
<<BR>>
{i} Condition: The function is only activated if there is redundancy ('R' in the display).
<<BR>><<BR>>
/!\ <<BR>>
For this test place your !MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the I2C-Bus. <<BR>>
A beep will sound at the Master-!FlightCtrl but the Motors will still run. <<BR>>
Lifting off and flying with the redundant FC is possible. <<BR>>
If this is OK, the test can also be carried out in flight.<<BR>><<BR>>
/!\ <<BR>>
For normal operation, change the ''user parameter 7'' back to "0" !!!
<<BR>><<BR>>
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== Motorausfall ==
To simulate this, a free channel on the transmitter is needed which is placed on a switch. <<BR>>
This channel is set in the settings to the ''user parameter 6'' ~-(see Picture)-~:
<<BR>>
__Function:__
* Switch OFF => Normal operation
* All functions are controllable as usual - no error message
* Switch ON => Motor Nr.1 is deactivated
* The complete control is transferred to the Slave-!FlightCtrl
* In the telemetry you can see the error message "37:Redundancy test"
* The copter can be controlled as usual
<<BR>>
{i} Condition: The function is only activated if there is redundancy ('R' in the display).<<BR>> If the I2C error was previously simulated, the motor failure will NOT be executed!
<<BR>><<BR>>
/!\ <<BR>>
For this test place your !MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the Motor. <<BR>>
Motor Nr. 1 is off, all other motors will still run. <<BR>>
Lifting off and flying with the redundant FC is possible. <<BR>>
If this is OK, the test can also be carried out in flight.<<BR>><<BR>>
/!\ <<BR>>
For normal operation, change the ''user parameter 6'' back to "0" !!!
/!\ <<BR>>
If an motor fails, only the !OktoCopter (8 engines) can compensate for this safely.<<BR>>
~-A !HexaCopter (6 engines) can become unstable, a !QuadroCopter (4 engines) crashes.-~
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<<BR>><<BR>><<BR>><<BR>>
= Anlage F Austro Control =
If you want to allow your MikroKopter with redundancy in Austria, we have deposited information for this purpose:
* [[http://wiki.mikrokopter.de/Download?action=AttachFile&do=get&target=INFO-Anlage_F.txt|Anlage F]]
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