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{{{#!wiki MK_Nav
||||||<class="MK_Nav_Header">[[fr/WaypointGenerator|WaypointGenerator]]||
||<class="MK_Nav_left">||<class="MK_Nav_Header">'''Circle'''||<class="MK_Nav_left">||
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{{{#!wiki MK_select1

 * {{http://mikrokopter.de/images/eng.gif}} [[en/WaypointGenerator/Circle|english]] 
 * {{http://mikrokopter.de/images/deu.gif}} [[WaypointGenerator/Kreis|deutsch]]
}}}

<<BR>><<BR>>

<<TableOfContents>>


= Circle =
In the '''!MikroKopter-OSD''' you will get with a "click" in the tab '''"!WayPoints"''' to '''"Generator..."''' in the !WayPoint-Generator.<<BR>><<BR>>

{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100814&g2_serialNumber=2}} <<BR>><<BR>>

Here you can choose now the tab '''"Circle"'''. <<BR>><<BR>>

With this function you are able to create an arbitrarily big circle with !WayPoints (WP) and a '''"POI"''' ('''__P__'''oint '''__O__'''f '''__I__'''nterest) located in the center. <<BR>>
The '''"POI"''' is marking here a spot which should be flown around by the Kopter.<<BR>>
The Kopter and the camera will be automatically aligned to the '''"POI"''' and can take photos/images at each !WayPoint.
<<BR>><<BR>>


||<|18 (width= 220px>{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100085&g2_serialNumber=3}}||||<-2:#FFAD47 height= 40px>'''Describtion of the function:'''||
||<-2(height= 30px #FAD165>'''Circle'''||
||<(width= 200px #FFFFAA>'''Radius [m]:'''||<(height= 30px>Diameter of the circle||
||<(#FFFFAA>'''#WPs'''                    ||<(height= 30px>Numbers of !WayPoints inside the circle||
||<(#FFFFAA>'''Circle Rotation [°]'''            ||<(height= 30px>Orientation of the grid||
||<(#FFFFAA>'''Direction'''                  ||<(height= 30px>Flown !WayPoints clockwise or counter-clockwise||
||<(#FFFFAA>'''Add point to close circle'''||<(height= 30px>An activation will add an WP to close the circle||
||<-2(height= 30px #FAD165>'''Waypoint''' ||
||<(#FFFFAA>'''Radius [m]'''              ||<(height= 30px>Radius around the !WayPoint||
||<(#FFFFAA>'''Altitude [m]'''                ||<(height= 30px>Height of the !WayPoint||
||<(#FFFFAA>                              ||<(height= 30px>||
||<(#FFFFAA>'''Speed [0.1m/s]'''          ||<(height= 30px>Speed flown to each !WayPoint||
||<(#FFFFAA>'''Climb rate [0.1m/s]'''      ||<(height= 30px>Speed in which the Kopter climbs/falls between the !WayPoints||
||<(#FFFFAA>'''Delay Time [s]'''           ||<(height= 30px>Waiting time per !WayPoint. If you enter a "0" the Kopter will not stop at the !WayPoint and flies directly to the next one instead||
||<(#FFFFAA>'''WP event'''                ||<(height= 30px>Here you can enter the trigger time i.e. for triggering a camera||
||<(#FFFFAA>                              ||<(height= 30px>||
||<(#FFFFAA>'''Delete existing WPs'''     ||<(height= 30px>Creating new !WayPoints will delete the existing ones||
||<(#FFFFAA>'''Generate'''                ||<(height= 30px>Creates !WayPoints with the set up values||



= Example 1 - Fly around a POI + Trigger camera per WP =

In this example we want to fly around a sight on the ground with a height of 20mtr. and a radius of 50mtr.<<BR>>
Out of 10 different directions we want to take photos/images.<<BR>><<BR>>

'''Step 1''' <<BR>>
First at all you need to mark the spot on the map where the '''"POI"''' is. That is the center-point where the circle with the !WayPoints builts up.<<BR>>
Here you need to make a "Left click" with your mouse on the appropriate location in the map. <<BR>>
At this point appears a marking point {{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100161&g2_serialNumber=1}}.<<BR>><<BR>>


'''Step 2''' <<BR>>
In the next step you need to enter the numbers of !WayPoints where a photo should be taken.<<BR>>
The rotation determines the direction from where the Kopter begins the flying around.<<BR>>
 * '''Radius [m]''' = 50
 * '''#WPs''' = 10
 * '''"Grid Rotation [°]"''' = 0°.
<<BR>>

'''INFO:''' <<BR>>
If you want to fly a complete closed circle you can activate '''''Add point to close circle'''''.<<BR>>
In this case an extra waypoint is placed to the first waypoint.<<BR>><<BR>>


'''Step 3''' <<BR>>
If you want you can also determine the direction (counter-clockwise ('''CCW''') or clockwise ('''CW''')) the !WayPoints should be flown.<<BR>><<BR>>

'''Step 4''' <<BR>>
Now we need to set up the height for the !WayPoints. <<BR>>
 * '''Altitude [m]''' = 20
<<BR>>
The radius you can set on 10. <<BR>>
 * '''Radius[m]''' = 10  => 
  * In order to reach the !WayPoint even in windy weather you should not set a too small radius. 
  * As soon as the Kopter reaches the radius of the !WayPoint the "Delay Time" starts to count down for the !WayPoint. 

'''Step 5''' <<BR>>
Now you need to set the speed in which the Kopter flies to the !WayPoints, the Delay Time per !WayPoint <<BR>>
and the WP-Event to trigger the camera at the !WayPoint.<<BR>>
 * '''Speed[0.1m/s]''' = 5
 * '''Climb rate[0.1m/s]''' = 30
  * Has right now no influence because all WP's are in the same height.
 * '''Delay Time:[s]''' = 10
 * '''WP event''' = 100


'''Step 6''' <<BR>>
Those set up !WayPoints need to be created. For that just simply "click" on '''"Create"'''. <<BR>>

 (!) '''__Tipp__'''<<BR>>
 Is '''"Delete existing WPs"''' marked the already existing !WayPoints on the map will be deleted with a "click" on "Create".<<BR>>
 If you take the checkmark out of the box several circles can be placed over each other at various points on the map.<<BR>><<BR>><<BR>>


'''Example View:''' <<BR>>
[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100860&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100862&g2_serialNumber=2}}]]
<<BR>><<BR>>

After a "click" on the button '''"Create"''' those !WayPoints with the settings will be entered automatically into the '''!WayPoint-Editor''': <<BR>><<BR>>

[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100855&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100857&g2_serialNumber=2}}]]
<<BR>><<BR>>

In the editor you can see that the first entry is the '''"POI"''' and the following ones the !WayPoints (No. 2-11). <<BR>><<BR>>


After that you enter the '''"POI"''' and the !WayPoints into the map. The '''"POI"''' is here the "blue point" (P1) in the map: <<BR>><<BR>>

[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100485&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100488&g2_serialNumber=2}}]]
<<BR>><<BR>>


== Align camera ==

With the generator "Circle" the Kopter will be aligned automatically in that way that the camrea points always to the "POI".<<BR>>
The camera points with the camera tilt on the pre-set height of the "POI". For that reason that in this example the "POI" is on the ground and not in a height of 20mtr. it need to be adjusted. <<BR>><<BR>>

'''__Modification in the Editor__'''<<BR>>
How alignes the camera? Each !WayPoint has as settings: <<BR>>
 * '''Altitude''' = 20
  * This is the altitude of the Kopter at the !WayPoint
 * '''Heading''' = P1
  * The Kopter rotates with this settings automatically and always to the first "POI" (P1).
 * '''CAM-Nick''' = AUTO
  * The camera mount points automatically on the pre-set height of the "POI".

In the '''"Editor"''' is for the '''"POI"''' the same height of 20mtr entered as well as for the !WayPoints. <<BR>>
But our "POI" is located on the ground. So that the camera is pointing downwards to the "POI" the desired height need to be adjusted.<<BR>><<BR>>

Here you need to mark with a "mouse-click" the POI-Value "20" in the editor.<<BR>>
With "F2" you are able now to edit and modify the value. In this example we assume a height for the "POI" of 1mtr. <<BR>>
This will be entered and confirmed with a "click" on "Enter".<<BR>><<BR>>

[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100846&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100849&g2_serialNumber=2}}]]
<<BR>><<BR>>

 (!) '''TIPP'''<<BR>>
 So that the camrera can align itself correctly the camera tilt should be aligned horizontally during a start.
<<BR>><<BR>>

Now the !WayPoints can be transfered to the Kopter and flown by. How this works is explained under [[#Wegpunkteflug|"The WayPoint Flight"]].
<<BR>><<BR>>


= Example 2 - POI-Flight in different heights + Trigger camera per WP =

In this example a tower should be flown around automatically in two different heights. Those captured photos/images can be merged i.e. into a panorama. <<BR>>
Also here we want to take a radius of 50mtr. and photos should be taken out of 10 different directions.<<BR>>
The first height for the flight around the tower should be 20mtr and the second one should be 40mtr. <<BR>><<BR>>

'''First circle'''<<BR>>
The settings for the first flight are the same like explained in '''Example 1''' and entered into the map.<<BR>><<BR>>


'''Second Circle'''<<BR>>
The second flight has the same settings. Only the height is different and need to be changed under "Altitude" to 40mtr.<<BR>>
For that reason that the Kopter should do both flights together you must place the second circle over the first one.<<BR>>
Here you need to take off the checkmark in '''"Delete existing WPs"'''.
<<BR>>

'''INFO:''' <<BR>>
If you want to fly a complete closed circle you can activate '''''Add point to close circle'''''.<<BR>>
In this case an extra waypoint is placed to the first waypoint.<<BR>><<BR>>


Into the '''Climb rate''' you can enter 30 (or a different value). Here will be determined how fast the Kopter will climb between the !WayPoints. <<BR>>
In this case it concerns the rise between the last !WayPoint of the lower circle and the first !WayPoint of the top circle. 
<<BR>><<BR>>


'''Example View:''' <<BR>>
[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100865&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100867&g2_serialNumber=2}}]]
<<BR>><<BR>>


After a "click" on '''"Create"''' (6) the first !WayPoints (No. 2-11) with the first "POI" 
will be entered into the Editor. <<BR>>
If after the change of the altitude (7) and taking off the checkmark in "Delete existing WP's" (8) and a "click" on '''"Create"''' (9) the new !WayPoints (No. 13-22) are appearing with the second "POI" in the editor under the already existing ones: <<BR>><<BR>>

[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100850&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100852&g2_serialNumber=2}}]]
<<BR>><<BR>>


In the map the second circle with "POI" will be placed over the existing one: <<BR>><<BR>>

[[http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100489&g2_serialNumber=1|{{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=100492&g2_serialNumber=2}}]] 
<<BR>><<BR>>



== Align camera ==

With the generator "Circle" the Kopter will be aligned automatically in that way that the camrea points always to the "POI".<<BR>>
The camera points with the camera tilt on the pre-set height of the "POI". For that reason that in this example a tower should be photographed several times the camera can point always straight forward.
<<BR>><<BR>>

 (!) '''__TIPP__'''<<BR>>
 In this example we just have only two heights. To take photos/images of a building or a tower you can place several circles (as described in "Example 2")over each other.<<BR>>
 The camera tilt will align automatically to the appropriate height at the certain "POI".<<BR>>
 So that the camrera can align itself correctly the camera tilt should be aligned horizontally during a start.
<<BR>><<BR>>

Now the !WayPoints can be transfered to the Kopter and flown by. How this works is explained under [[#Wegpunkteflug|"The WayPoint Flight"]].
<<BR>><<BR>>


= Settings to trigger camera =
In the '''Examples 1+2''' the Kopter stops at each !WayPoint and triggers the camera at each !WayPoint. Here the time was set to trigger the camera under '''WP event'''.<<BR>><<BR>>

<<Anchor(WP-Event)>> 
Those settings are described here: [[fr/WaypointEvent|WP-Event Trigger camera]]<<BR>><<BR>>

If you want to fly the circle without stops per !WayPoint you can set the '''"Delay Time: [s]"''' for the !WayPoints to "0".<<BR>>
This makes it possible for a continuous video flight.<<BR>>


<<Anchor(Wegpunkteflug)>>
= The WayPoint Flight =
The settings are made and the !WayPoints created.<<BR>><<BR>>

Now the !WayPoints will be transfered to the Kopter. (Link: [[MikroKopterTool-OSD#Transfer_WayPoints_to_the_Kopter|See transfered WayPoints]])<<BR>>
The camera mount will be aligned in that way that the camera points straight (horizontal) forward. <<BR>><<BR>>

You can start the Kopter and "park" it in the air. Here you need to activate the function '''"Hold Height"''' and '''"!PositionHold"'''. <<BR>><<BR>>

To self-align the Kopter and the camera (Kopter should point southward) you need to activate the function '''"!CareFree"'''. <<BR>><<BR>>

So that you can start now with the !WayPoint-Flight the GPS-Switch must be set to '''"!ComingHome"'''.<<BR>>
Direct after switching the Kopter starts with the !WayPoint-Flight.<<BR>><<BR>>

Is the !WayPoint-Flight done the Kopter will stop at the last !WayPoint. Now the Kopter can be flown manually back and also been landed.<<BR>>
Of course you can set the GPS-Switch to "OFF" and after that to again to "!ComingHome". Then the Kopter will fly automatically back to the start-point.