Firmware 0.86

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Contents

Date of release: 15.09.2011

Licence: LICENSE.TXT

Forum-Link:

http://forum.mikrokopter.de/topic-28183.html

Download:

FlightControl V0.86d (FC1.0 - FC2.0) (MEGA644)
FlightControl V0.86d (FC2.1) (MEGA1284)
Navi-Ctrl V0.26g
MikroKopter-Tool V1.76b

Specialversion for ACT-2,4GHz S3D-receiver

$/!\$ Only works with this 2,4GHz-s3d-version!

How do I update?

Never made an update before? Read this: Software Update

Compatibility

Compared to version 0.84 the FC settings not remained compatible and will be re-initialized!
The MK3Mag remains on the old version. Please do not update!
The compass must be re-calibrated. Attention: The new version of the calibration is nessecary!

$/!\$ You should never import settings of previous versions via the KopterTool. The settings should be done manually!

Videos

EasySetup in the KopterTool

All important settings are summarized here. This makes it easier for beginners to find their way.

More information: Easy Setup

Expert-Settings

If you need access to all settings you can make them visible by clicking on "expert view".

Adjustable altitude for ComingHome

In the settings you can set a fixed height for coming home (EasySetup or NaviControl2).

With this function the Mikrokopter not only comes back... it also stays im a height of 25 meters for example. The clibing / descending speed is 3.0 meters per seconds - you can't change this value

Notice: The altitude will be used only in Vario-altitude-control. And only if the throttle-stick is in neutral-position.

Dynamic PositionHold

In PH-mode the GPS-target position will be changed by the stickmovement.
So the MK will not log-off in PH-mode
That makes it much easier to fly during windy conditions because the MK can be moved more precisely
The direct stick-influence to the MK will be damped simultaneously.

Note: Default is ON. It can be disabled under "EasySetup" or "NaviControl2".

No Receiver Beep

In "MISC" you can activate "no beep without active sender". Then you can switch on the Kopter without turning the transmitter on. If the Kopter gets connection once it is beeping constantly again.

GPS-Characters in the Jeti/HoTT-Display

Character behind the distance:

- : no GPS possible
/ : Free
W : Waypoint flight
H : Coming Home
D : Dynamic Position Hold
P : Position Hold

Teachable CareFree (CareFree 2.0)

"Techable" means, that the control direction can be changed during flight

So, the control direction will be "teached" each time, the assigned CareFree-Switch is switched on.

A distinction is made:

Within 20m of the starting point, the front-direction of the MKs will become the control-direction
Outside of the 20m, the bearing between home and MK-Position will become the control direction

So the pilot can now rotate on the spot, because he can teach-in a new CafreFree-direction by using the switch. Outside the 20m he does not even have to see where the front-direction was at the time.

Tip: If the pilot has the MK well in sight, he should turn the MK so, that the nose points directly away from him. Then it does not matter if the MK is inside or outside the 20m - the control direction would be the same in in both cases anyway.

the operation of CareFree 2.0 is more intuitive than you think

Example 1:

In case that the MK is too far away and the Pilot does not know its actual direction, he would have problems controlling the MK manually
Now the CareFree-Switch could be switched on and the Pilot would simply fly as if the nose would point away from him

Example 2:

The pilot stands at a building that he wants to photograph
He would use CareFree and turn the MK 180° in his direction
If he wants to take photos from the other side of that building, he could re-activate CareFree on the other side of that building and turn again 180° into his direction

Example

The pilot wants to teach-in a new CareFree direction, even if he doesn't know the actual direction of the MK

CareFree was already on, but the control direction is inconvenient
If the pilot switches CareFree off, the actual direction will become the control direction
CareFree is switched on -> the actual bearing between MK and pilot will become the control-direction - no matter of the actual MK-Direction
Pulling the stick then means "back"

More examples here: CareFree

Waypoint-Generator

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MikroKopterTool-OSD
	WayPointGenerator

Contents

The WayPoint-Generator
Examples from experience

The WayPoint-Generator

With the WayPoint-Generator you can create automatically WayPoints and POI in certain patterns.
In addition you can generate your own maps, and grids can be displayed too.

How the WayPoints, POI, maps or grids can be set and been used you can read here for the individual functions.
To open the individual explanations please "click" on the images below:

Area	Circle	Panorama	NewMap	DrawGrid

To open - click on the image

Examples from experience

How to connect a Camera and how to set this you can see here: Connect and use a Camera

Here a lost MikroKopter was found with aerial images.

The complete Story you can read in our Forum (in german).

Error-messages in the Jeti-Box

When using the Jeti-display error messages will be issued as morse "O" (3* beep) and displayed as text

Note: This text is only available at version FC 2.1 or higher, because of the space in the processor

Also look at: ErrorCodes

Implementation for HoTT-transmitter (FC 2.1 only)

There is a new transmitter-generation from Graupner: "HoTT"

Together with the developers of Graupner we have created an interface for the MikroKopter, to display the telemetry of the MikroKopter.

Settings Overview

Here you can get a quick overview of the used setting

If Looping or Heading-Hold is activated there will be a warnung at the bottom

Status

GPS-Mode symbol

A symbol shows the actual GPS-Mode:

- : no GPS possible
/ : Free
W : Waypoint
H : Coming Home
D : Dynamic Position Hold
P : Position Hold

Vario - symbol

This shows the setpoint of the altitude control. (vario mode only)

= : no change in altitude
+ : increase altitude
- : decrease altitude
^ : increase (command from NC: (Waypoint))
v : decrease (command from NC: (Waypoint))

The background of the symbol is black, if the altitude control is activated.

Status temperatures

$/!\$ If you select HoTT as receiver the zero-position of the sticks will be moved by 5 positions. Otherwise you have to trim all stick positions manually.

More information here: HoTT

ComingHome as FailSafe

In case of RC transmisstion-lost, the MK can now automatically fly to the Home-Position (and altitude)

Basically the idea is, to bring the MikroKopter back into the reception range.

In this case GPS, compass and altitude control will be automaically enabled. When the signal is back, it goes back to 'Manual Control'
After the set time, the MK uses "Emergency Gas" and the "Emergency Time" to perform a descending
The time is limited to 30 seconds, this is enough to go through short rc signal lost times and put the MikroKopter nearer to the starting point
The MK will do this for the preset time (no matter if it reached home or not).
Waypoints are cancelled until the reception is back
The MK is flying a direct route towards the home position
If a "Coming Home Altitude" is set, this will be used immideately with a sink/rise-speed of 3.0m/sek
When signal is back, the MK will not go back to the old Position or altitude automatically

Note: By default, the CH-Time is to 0sec, that means it is disabled by default. It can be set under "MISC" (expert setting).

Example:

MK is in 120 distance and 50m altitude.
FailSafe-Time is 30sek and Emergency-gas-time is 15sek.
CH-Altitude would be 20m

So in the example the MK would:

fly back and descend simultainusly
altitude would be reached in second 10 after Transmitter fails
position would be reached in second 20
there it would wait for a while, because the FS-Time is 30 seconds
Emergency gas would be used in second 30 and the MK comes down
the motors would be stopped in second 45

$/!\$ ATTENTION: Before using this function the user have to clarify whether such a mode acceptable to the particular place or not of a legal, actuarial or other provisions is permitted.

FailSafe Video

$/!\$ Attention: Please do not imitate! If you turn off the transmitter, the MK is not necessarily under control. Turning on the transmitter may take a few seconds.

Maximum Altitude

In the settings you can set a maximun height. If you set these to 0, it is disabled.

only if Vario-altitude-control is enabled and the gas-stick in neutral position

Check of the magnet-vector

In GPS-flight the exact compass angle is very important. By interferences (elektricity oder magnets) there can quite a difference of 30°

Now the NaviCtrl is checking the magnet-vector in flight - It only may have a difference of 20% from the vector at the calibration (which corresponds to a measurement error of about 30° , depending on location)

$/!\$ In this firmware the compass has to be calibrated according to the neuen Methode !

in case the calibration fails: read

Inclination

The NaviCtrl now measures the magnetic inclination. It's the angle in which the magnetic fieldlines go into the ground. In Germany it is about 62-69°.

Here you can compare the values: http://www.magnetic-declination.com

$/!\$ The value may differ to start no more than 10° from the theoretical. Otherwise you can start the engines, but do not takeoff.

New Error-messages

Error-message 21: "GPS Fix lost"

Message, that during the flight the GPS signal got interrupted or the amount of satellites dropped under 4

Error-message 22: "Magnet error"

the difference of the value of the magnetic field is more than 20% from that of the calibration.
or the measured inclination differed more than 10° from the theoretical value.
This error-message prevent the Kopter from starting. The engines begin to start but you can't give throttle.
If that bothers you, you can disable it in the "misc" settings.

$/!\$ If you get these error-messages but no interferences (wires or iron nearby), then you have to re-calibrate the compass. new methode

Error-message 23: "Motor restart"

a BL-Ctrl tries to restart the engine
maybe an engine is blocked or a cable is broken during flight

Error-message 24: "BL Limitation"

a BL-Ctrl goes into the power limitation
either overcurrent or too high temperature

GPS-Logging

The information in the GPS logging were extended by:

all the individual streams of the BL controller
all temperatures of each BL-controller (only BL-Ctrl2.0)
Performance of brushless controllers (e.g. if the temperature goes over the limitation)
FC I2C error count
the current strength of the magnetic field and the current measured inclination -> If a source of interference are available
free analog inputs Ch4-7 -> if someone wants to connect external sensors there

Tool for loading the Files: MK_GPX

The new names of the settings

Setting 1: "Fast"
Setting 2: "Normal"
Setting 3: "Easy"

The "sport"-setting was removed

Other changes

LED-switch-threshold reduced from 10 to 5
If the GPS is deactivated - display no failure. If GPS is not plugged - display no failure as well
The display of the nose-direction in the KopterTool was faulty, when you have changed the "front"-alignment of the MK (X-formation)
Mixer-settings won't be deleted, if the parameter-revision is changing
GPS-Angle limit from 100 to 140 + GPS-I-Limit from 75 to 85 -> With this the MK can hold the GPS-Position at a wind speed of about 50km/h. Previously it was about 40km/h
Throttle had a ground-position of 120 instead of 127 just as the other channels. Now it was unified because it was confusing.
Pressure-sensor Vario-Mode: Soft takeover of the height-target-value
Motor smooth adjustable (Settings -> Gyro) - default is OFF
- there is a thread in our board about it.

Bugfixes

Version NC 0.26g creates KML-Files that are compatible with the latest Version on Google Earth
Version NC 0.26g supports the MK-GPS with the new LEA-6S-0-001 chipset

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