see also:

• New page for parameters description (in german)

MikroKopter-Tool

We have developed a small tool for Windows for parameter settings, debugging and flashing:

With this tool you can display up to 16 analogue values (either as digital values or as curves).

There is also an integrated display that you can use to show or set parameters of the FlightCtrl.

This tool can also be used to update the microcontroller software.

Interface

An USB interface is needed to enable the PC programming, setup and debugging.

The com-port can be choosen (z.B. COM3) in the terminal window.

Display in the Scope

The analogue values on the left side of the display are continuously updated when received.

The display in the Scope tool starts after clicking the 'START'-button.

The graphic can be suspended with the 'PAUSE' button or stopped with the 'STOPP' button.

The scaling is done automatically and follows the maximum values.

TIP: After a stop & restart the scaling is again at the minimum.

LC-Display

In the middle section there is a simulated LC-Display ( 4x20 Characters ).

Using the buttons 8, 9, 10, 11 you can enter different menus. (8, 9 = page up/down)

Different parameters and status values will be shown.

In future you will also be able to do parameterization from here.

Flight-Ctrl parameter

ToDo: complete the explanation of parameters.

In the following section the parameters of the MK-Settings are described. All information is according to MK-Tool 1.46

The Settings

If you push the button 'Settings' in the MK-Tool you will get access to 8 tabs with the individual parameter groups.

Prerequisite for a reasonable setting is a RC Transmitter with at least 7 channels. Channel coupling, mixers, exponential functions or other special functions are not needed and should be switched off. Set 7 native channels to pitch, yaw, roll, nick and additional functions as camera inclination and two switches for altitude regulation and illumination. E.g. the Graupner MC-12 is able to handle 7 channels. If you have more - you can use more functions like GPS or similar.

Configuration

Parameterset: The mamory of the Atmel chip mounted in the FlightControl is able to store 5 parameters sets in the Kopter memory. These can be activated by the RC-control sticks during the initialization after power on the Kopter. Every parameter set can be given a representative name. Helpful for different tasks like high payload, sportive flying or FPV. If a setting was created or changed, it has to be stored under its number in the MK ( 'Write' ) - the MK responds with a number of short beeps corresponding to the set number. Every set has to be saved individually.

Using 'Read' you can read a parameter set from the MK. With 'Save' and 'Load' you can save your setting to the PC or restore it from there. The saved parameter set could be viewed or printed out using a text editor. This way you can compare the 5 settings with others on the airfield and take notes for changes or discuss it in forum threads.

• Höhenregler: Altitude regulation: Check this box if you have a pressure sensor installed and you want to use it for altitude regulation.

• Höhenfunktion per Schalter: Altitude regulation switch activated: If the RC-Control was extended with a switch on a free (PPM-) channel, you can switch on the function to hold the current altitude. If this is not selected, the "Setpoint" ( see below ) is used. This can be a variable value.

• Heading Hold: In this mode the MikroKopter does not level itself automatically if the stick is set back in it's neutral position. This function is for experienced pilots only or pilots that are used to the X-3D-Control. With this setting you may be able to fly loopings.

• Kompass: Check the box if a compass module is installed and should be used.

• Kompass Ausrichtung fest: compass orientation fix: If checked the MikroKopter automatically aligns itself to the orientation it had before lift off. Unchecked you can change the orientation with the yaw stick.

• GPS: ToDo coming...please stand by...exciting but kept secret at the moment.

Kanäle ( Channels )

In this submenu you can assign your remote control PPM-Channels to the Kopter functions. Please pay attention to set these values correctly, otherwise the MikroKopter will not be flyable and you may be injured seriously! In most cases this will also damage your valuable toy.

Sticks

• P-Anteil: Proportional value: Stick-Amplification. The reaction of the MK to the stick is proportional to this value. E.g. A high value means a large reaction to the stick.

• D-Anteil: Derivative value. The reaction of the MK to the stick velocity is proportional to this value.

• Gier-P: Yaw Proportional value: Ratio of yaw change to stick value. ToDo

Höhe ( Altitude )

ToDo

• Setpoint: Determinates the maximum altitude. Normally a channel with a variable resistor (poti) on the RC-Control is used here. Small values allow only low altitudes. Novice pilots should use this feature. Set it to 0 and activate the "Höhenregler" (see above). Doing this it should not be possible that the MikroKopter flies too high. If you use Höhenfunktion per Schalter you have to select the corresponding RC-Control channel here.

• Min Gas: Minimum Acceleration: The Acceleration will not be set below this value, if the altitude setpoint is reached and altitude regulation is active..

• P-Anteil: Proportional value: determinates the reduction of acceleration depending on height above maximal altitude. With a high value you can not fly much above the altitude setpoint.

• Luftdruck-D: Air pressure differential: Controls the damping of the altitude regulation. With a high value here small pressure changes effect a large change of acceleration.

• Z-ACC: Controls the damping of oscillation caused by the acceleration sensor.

• Verstärkung: Amplification: This parameter enables higher altitudes if greater than one. The Setpoint: is multiplied with this value to determinate maximum altitude.

Gyroscope

ToDo

• Gyro-P: Determinates the influence of the gyroscope on the nick and roll velocity. A higher value causes a more laggardly movement of the MikroKopter.

• Gyro-I: attitude stabilization: A higher value cause a more direct connection between stick angle and attitude angle. Large values (in regard to Gyro-P ) cause oscillation.

• ACC/Gyro-Faktor:

• Hauptregler I: Main regulator I: Sum of the angle errors. Should be increased if flying with "Heading Hold" ( see above )

Kameraneigung ( Camera Pitch )

• Servo-Control: Servo value for camera pivot. Use a constant value or configure a variable resistor channel.

• Nick compensation: Influence of the pitch angle on the Servo

• Invert: Invert the sense of rotation

• Min: Minimum value ( a logical dead stop )

• Max: Maximum value ( a logical dead stop )

• Refresh-Rate: Update frequency. Some Servos do not function with a high update rate

Looping

• Arrows: The looping is possible in the corresponding direction.

• Gas Limit: Limitation of the Gas-Value during the Loop

• Threshold: Looping feature enabled with exceeding this stick-value

Sonstiges ( Miscellaneous )

ToDo

On reception loss: If you get no reception ( out of range or transmitter switched off ), the so called Not-Gas-Regelung ( failsafe thrust ) is activated to give the pilot a change to do counteractive measures. The measure is only activated if the power level had been at least 40 for at least 4 seconds ( the Kopter is probably flying now ).

• Not-Gas Zeit [0.1s]: This is the time for how long the measure will be activated after reception loss. Value divided by ten is time in seconds.

• Not-Gas: Value of emergency power, should be small enough that the Kopter is sinking slowly.

Userparameter

ToDo

Programm-Update

Bootloader flashen

Flight-Ctrl

• The Flight-Ctrl must be connected to the SerCon with the 6 pin ISP ( in circuit programming ) cable.

• The Flight-Ctrl must be powered on.

• Select 'Controller flashen & Terminal'

• Set the Jumper on the SerCon

• Push the 'FLASH' button and select the Bootloader-Hexfile.
  • … now the bootloader is programmed - this will take a while …
• On success the bootloader responds with version and identifier (Vx.y:MKBL) in white text

BL-Ctrl

• (since V1.46)

• The BL-Ctrl must be connected to the SerCon with the 10 pin ISP ( in circuit programming ) cable.

• The BL-Ctrl must be powered on.
• There should be no data transferred on the I2C bus. Disconnect the bus, power down the Flight-Ctrl or hold the Flight-Ctrl controller in the reset state.

• Select 'Controller flashen & Terminal'

• Set the Jumper on the SerCon

• Push the 'FLASH' button and select the Bootloader-Hexfile.
  • … now the bootloader is programmed - this will take a while …
• after successful programming the Bootloader reports the following identifier:
  • Vx.y:MKBL

  • Vx.y = Version

  • MKBL für MikroKopter-BootLoader

Programm update

Flight-Ctrl-Programm

• Instead of the 6 pin cable now the 10 pin cable is connected to the SIO of the SerCon.

• Disconnect the Jumper on the SerCon

• The Flight-Ctrl must be powered on.
• Push the 'Update' button and select a current Hex-File for the Flight-Ctrl.

• now the application is programmed – probably you have to do a manual reset ( power cycle the Flight-Ctrl ).

BL-Ctrl-Programm

• (seit V1.46)

• The BL-Ctrl must be connected to the SerCon with the 10 pin ISP ( in circuit programming ) cable.

• Disconnect the Jumper on the SerCon

• The BL-Ctrl must be powered on.
• You have not to disconnect or deactivate the I2C-Bus-Connection ( this is untested, has to be verified).
• Push the 'Update' button and select a current Hex-File for the BL-Ctrl

• now the application is programmed – probably you have to do a manual reset ( power cycle the BL-Ctrl ).
• if all has gone well the BL-Ctrl reports its current version.
• Every BL-Ctrl needs an different address ( different Hex-Files )

Saving Settings

For a complete backup of the settings memory you follow the following procedure:

• Connect the Kopter with the interface cable to the PC and start the MK-Tool. Power on the Kopter.
• Select the first setting
• Push the 'Read' button
• Push the 'Save' button, select a name that shows this is setting 1.
• Repeat for settings 2…5

The restore of all settings has to be done also in 5 steps one setting after the other. If you use less than 5 settings you have less files. But Caution put valid data ( e.g. setting 1 ) in all setting memories. This way it can not be happen that on the airfield you accidentally select a setting that you can not fly.

Alternatives

• DUBWise -> Program for mobile Phones with functionality similar to MK-Tool ( language: english )

• QMKGroundStation -> Program for Linux/Mac-OS/Windows with functionality similar to MK-Tool ( language:german )

ToDo: there is something to do here

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• KategorieAnleitung, KategorieEnglish