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> ########################################################################### = Redundancy at the MikroKopter = In some countries, only copters with redundant design are allowed ~-(e.g. Austria)-~. <
> 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.).<
> 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. <
> Should the master flight control fail, the control is transferred to the slave unit and the copter can be safely flown back.<
> '''With this concept the Austro Control gave a the !MikroKopter the highest approval "D" !''' ############################################################################## <
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> = 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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> = 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]]<
>~-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-~ <
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> ---- <> == Software == If you use the redundant system you need on your master- and Slave-!FlightCtrl a special software. <
> Here you can download the latest software including the matching !KopterTool. <
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> ---- ||||'''Latest Software + !MikroKopter Tool <
>~-(ZIP Archive)'''-~<
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>~-Please use a MKUSB for a update !!!-~||[[http://wiki.mikrokopter.de/Download?action=AttachFile&do=get&target=Software_MikroKopter.zip|{{attachment:symbols/Download-Button.png}}]]|| ---- <
> 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.<
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> The software "REDUNDANT_MASTER" is imported into the Master-!FlightCtrl: * Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_MASTER.hex * Navi-Ctrl_STR9_V2_xxx.hex <
> the software "REDUNDANT_Slave" is imported into the Slave-FlightCtrl: * Flight-Ctrl_MEGA1284p_V2_xxx_REDUNDANT_SLAVE.hex * Navi-Ctrl_STR9_V2_xxx.hex <
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> Information for '''installing the software''' can be found here: '''[[en/SoftwareUpdate|Link]]''' ############################################################################## <
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> = 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 }} ]] <
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> ---- == 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 }} ]] <
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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 }} ]] <
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> ---- == 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 }} ]] <
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> ---- == 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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> = Settings = To ensure that the operation is maintained in the event of a fault, the master and slave FlightCtrl must be set the same! <
> ~+__Master-!FlightCtrl__+~ <
> 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.<
> 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). <
> ~+__Slave-!FlightCtrl__+~ <
> 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.<
> 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"-~ <
> '''INFO:''' <
> If all settings / connections are right, you see in your '''Telemetry a "R"''' after you start the motors. ############################################################################## <
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> = Function test = == Slave-FlightCtrl == * If the __Slave__-!FlightCtrl is connected with the !KopterTool, in the virtual display you see an "S" for Slave.<
>{{ 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 <
> == Master-FlightCtrl == * If the __Master__-!FlightCtrl is connected with the !KopterTool, in the virtual display you see an "M" for Master.<
>{{ 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"''' <
> ~--> this means that the redundancy is active-~ * Graupner HOTT -> MK-Telemetrie<
>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/HoTT-Display_Redundanz.jpg?m=1520344543 }} * Jeti -> Jeti-Box<
>{{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/JetiBox-Redundanz.jpg?m=1520349298 }} * !KopterTool -> virtual display !NaviCtrl<
>{{ 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. <
> * Here you can also see if the redundancy was active: <
> [[ 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 }} ]]<
> ~-((since V2.20) at the end of the LOG - open with Text-Editor)-~ <
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> In the LOG-File you can also see if it is from the Master- or Slave-!FlightCtrl: <
> [[ 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 }} ]]<
> ~-(since V2.20)-~ ############################################################################## <
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> = Fault simulation = Two errors with redundancy can be simulated: <
> * I2C error => Bus-failure of the Master-!FlightCtrl * Motor failure /!\ <
> If an motor fails, only the !OktoCopter (8 engines) can compensate for this safely.<
> ~-A !HexaCopter (6 engines) can become unstable, a !QuadroCopter (4 engines) crashes.-~ <
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}}} [[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416509 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416510 }} ]] {{{#!html
}}} ##///////////////////////////////////////////////////////////////////////// == I2C error == To simulate this, a free channel on the transmitter is needed which is placed on a switch. <
> This channel is set in the settings to the ''user parameter 7'' ~-(see Picture)-~: <
> __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 <
> {i} Condition: The function is only activated if there is redundancy ('R' in the display). <
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> /!\ <
> For this test place your !MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the I2C-Bus. <
> A beep will sound at the Master-!FlightCtrl but the Motors will still run. <
> Lifting off and flying with the redundant FC is possible. <
> If this is OK, the test can also be carried out in flight.<
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> /!\ <
> For normal operation, change the ''user parameter 7'' back to "0" !!! <
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}}} [[ http://gallery3.mikrokopter.de/var/albums/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416509 | {{ http://gallery3.mikrokopter.de/var/thumbs/intern/sonstiges/redundanz/KT-User-Redundanz.jpg?m=1520416510 }} ]] {{{#!html
}}} ##///////////////////////////////////////////////////////////////////////// == Motorausfall == To simulate this, a free channel on the transmitter is needed which is placed on a switch. <
> This channel is set in the settings to the ''user parameter 6'' ~-(see Picture)-~: <
> __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 <
> {i} Condition: The function is only activated if there is redundancy ('R' in the display).<
> If the I2C error was previously simulated, the motor failure will NOT be executed! <
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> /!\ <
> For this test place your !MikroKopter (with running motors) on the ground. Now "Switch OFF -> deactivate the Motor. <
> Motor Nr. 1 is off, all other motors will still run. <
> Lifting off and flying with the redundant FC is possible. <
> If this is OK, the test can also be carried out in flight.<
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> /!\ <
> For normal operation, change the ''user parameter 6'' back to "0" !!! /!\ <
> If an motor fails, only the !OktoCopter (8 engines) can compensate for this safely.<
> ~-A !HexaCopter (6 engines) can become unstable, a !QuadroCopter (4 engines) crashes.-~ ############################################################################## <
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> = 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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