First see this

The Two Minute Mikrokopter Calibration.

Important: When first operated, the MK3Mag needs to be correctly calibrated! Otherwise the NaviBoard will show you "Err:6 bad compass value".

Now it is (since Version FC:0.84) very easy to calibrate the compass with a "clicking sound" .
This method has the advantage that you doesn't have to hold the Kopter "perfect" horizontally.

The calibration will be done in several steps:

3. Now that the Kopter "beeped" 2x after a successful calibration that part is done.

• If everything is OK the red LED stops lighting after a few seconds on the NaviCtrl V2.0 with integrated compass.
  If you use a NaviCtrl V1.1 with MK3Mag the red LED on the MK3Mag lights permanently.
  
  

DONE!

If the calibration fails (compass still reports "invalid compass value"), you can take a look here: MagnetError

First Start

If you want to try out those functions you need to have a lot of space and a bunch of open sky.

1. As discribed above activate the GPS-Function (and CareFree) and assign the switch(es) at the transmitter.

2. Switch ON the MikroKopter and ensure a radio contact between transmitter and receiver.

3. Wait for the first Sat-Fix.

   • LED at the MKGPS glows as long as there is no Sat-Fix and flashes if a Sat-Fix is available.

   • If the GPS-Switch on the transmitter is on PH or CH the Kopter beeps as long as required in a tact of a second until the minimum of numbers of satellites has been found.

   • Beeps are more quiet if the Fix is there but not all 6 satellites were found.

   • With a confirmation beep the beeping stops as soon as the Sat-Fix is there.

4. Control of the communication between NaviCtrl and FlightCtrl.

   • The Kopter beeps in intervals as long as the GPS has no Fix (it beeps only if you are on PH or CH, in the FREE-Mode it will not beep).

   • if the GPS-Switch at the transmitter will be switched it must beep short each time.

5. Wait until the GPS has a Sat-Fix and the LED on the MKGPS flashes.

6. Switch to GPS_MODE_Free!

7. Start engines.

   • Hover some seconds and (if necessary) fine-adjust the MikroKopter at the transmitter so that the Kopter can hold the position by itself.

   • Now bring the Kopter into your desired height and activate the height control.

8. Switch to the GPS_MODE PositionHold (PH).

   • Position will be logged (will be acknowleged through a beep).

   • GPS should work now and the Kopter should hover with a difference of a few meter on its position.

FlightCtrl 1.0 - 2.1

• [[| (FC1.0 - FC2.0)]] (ATMEGA644)

• [[| (FC2.1)]] (ATMEGA1284)

• [[| Navi-Ctrl V0.28f]] NaviCtrl V1.1 + V2.0

• [[| MikroKopter tool v1.78]]

Special version for ACT 2, 4GHz S3D receivers

• [[| Flight Control to FC2.0 v0.88 - only for ACT S3D 2.4GHz receiver]]

• [[| Flight Control from FC2.1 v0.88 - only for ACT S3D 2.4GHz receiver]]

 This only works with 2.4 GHz s3d version!

How to update?

Never made ​​an update? A description of how this works can be found here: Software Update

Compatibility

The innovations

Wegpunkteflug - Programmable speed

It is now possible, the speed will be served in the waypoints, each waypoint set at 0.1 m / sec.

This can either: 

• The rate for a fixed value of 1-247 (x 0,1 m / s) can be entered.
• One of the POTI1-8 are entered for the variable control. Then you wear rate than as "poti3" a
• Or the value "0". In this case, automatically the maximum speed is used, ie in principle the old mode.

A description of these settings can be found here: Programmable speed

Hit-radius

In previous firmware versions the waypoint was always achieved as soon as the MK came into the capture radius (ie within 10m).

This has been changed in this version. The next waypoint is earlier than the theoretically shortest time attained.

For example, if between two waypoints as a distance of 30m and the MK is the second point is at 3.0 m / sec to fly, the waypoint is reached after 10 seconds. Even if the trap radius would be, for example 30m. This well planned Wegpunktflüge be possible.

Tip: Hit the radius can be chosen with this bigger version than vergangenden firmware versions. A good value, eg 15-25m

Wegpunkteflug - Camera-Nick adjustable per waypoint

Each waypoint now the camera tilt is adjustable. This can be either a number or degree of value "AUTO" is entered.

The example picture shows 1x 6x POI and waypoints with sample entries. 
The UAV / camera looking into the following directions: 

• (P1) = POI 1> Point of Interest

• (P2) Waypoint 2 => Kopterblickrichtung = 270 ° / = 60 ° camera tilt down

• (P3) Waypoint 3 => Kopterblickrichtung = 270 ° / = 10 ° camera tilt down

• (P4) Waypoint 4 => = Kopterblickrichtung to the POI / tilt camera = AUTO = Look at the amount set POI

• (P5) Waypoint 5 => Kopterblickrichtung = 270 ° / 20 ° camera tilt down

• (P6) Waypoint 6 => Kopterblickrichtung = 270 ° / tilt camera = 90 ° down

A description of these settings can be found here: Camera-Nick

Wegpunkteflug - Waypoints fly without stopping

With a length of stay per Wegpunkteflug can be set waypoint.

But if you want to fly non-stop from waypoint to waypoint, waypoint can be entered as the time a "0".
In order for such an overflight of the waypoints per waypoint triggers a camera yet, in this setting is 
event is a waypoint for at least 2 seconds at a time.

A description of the setting can be found here: Waiting time 

As the camera is connected and configured, can be found here: Connecting Camera

Wegpunkteflug - Maximum number of waypoints

With the new version up to 200 waypoints / POI are set on a map. 

These different patterns with the waypoint generator can be created.

A description of these settings can be found here: Waypoints

Wegpunkteflug - transfer waypoints

Of the total 200 waypoints / POI can be transferred to a maximum of 32 NaviCtrl for automatic flying off.

If you want to by the person named on the card up to 200 waypoints leave only a certain range (eg WP40-WP60) 
only these waypoints can also be transferred to the NaviCtrl. 

A description of these settings can be found here: Waypoints transferred

Wegpunkteflug - waypoints Info

For the waypoint, there are two new features. 

In the OSD, there is now a separate display that provides information to the waypoint during Wegpunktfluges.
These are: waypoint x of y, the time spent, the amount and speed in the next WP will be served. 

A description of these settings can be found here: Waypoints Infos1

The data for each waypoint or POI can not only editor can be checked.
Mouse over each waypoint or POI is performed, the data shows an overlay of each WP / POI. 

A description of these settings can be found here: Waypoints Infos2

Wegpunkteflug - POI set and change in POI waypoint

On the map, multiple waypoints and POI are also several set.
If you want to directly place a POI on the map, this can be done by holding down the "CTRL" key and a "right click" on the map. 

If an existing waypoint can be converted into a POI it is now possible. 

With a "right click" on the waypoint that can be converted to a POI.
Conversely, including a POI can be converted into a waypoint.

A description of these settings can be found here: WP POI set + <-> POI

Wegpunkteflug - Stored waypoints to use as a template

So far, Waypoints / POI just for a certain coordinate saved and loaded.
Now, any storage of waypoints or POIs are also used as a template.

For example, a flight home to be planned and saved. 
This schedule can now be stored in any other card at each seat can be used as a template and departed. 

A description of these settings can be found here: Template

Wegpunkteflug - Kopters position of the set as a waypoint

Entered manually into the map that you can waypoints is nothing new. 
What is news is that the current position of the Kopters can now be set as a waypoint. 

If you fly the copter for example, to a certain place during a flight, or has discovered an interesting place that you want to fly again, can the "OSD" of KopterTools the "F9" is pressed. Here, then immediately the current position of the waypoint Kopters as recorded in the card.

This allows you to create multiple waypoints and save them to fly again and again on or off.

A description of these settings can be found here: MK-position Add "F9"

Wegpunkteflug - Looking to take the Kopters

Anyone familiar with the MikroKopter wants to make panoramic shots are probably familiar with the waypoint generator.
A new feature is "take MK-direction" function here.

These turn the copter with the nose in the direction in which you want to take the first photo and "clicks" "Inherit MK-direction" on.
This can be useful if you eg a particular building is not in the interface of two shots would have.

A description of these settings can be found here: MK-direction to take

Wegpunkteflug - Display switching output

If you have a switch output zBmit triggering the camera shows the function can now be examined in the OSD.
Both switching outputs can now be displayed in the OSD Display. If an output is active it will appear here.

Note: The display is about 4 times per second in KopterTool updated. Thus, if the indicator is blinking rapidly, which is represented here may not be important.
An adjustment of the speed in the shift pattern with a value of greater than 30 (0.3 sec) is already well represented. 

A description of these settings can be found here: display switching output

FailSafe

At a reception loss, it is now possible to have a "Fail Safe" function automatically carried out by the copter.
This is the UAV is no longer there to where he is currently down, but automatically flies back towards "home position". 
If the reception here restored to normal operation is again possible.
If a connect is not possible, the UAV is flying in the direction of "home position" and tried there with a fixed rate of descent to land.
Fitted with a "Coming Home level" is. This can be adjusted manually so that the UAV on its direct way to the "home position" does not fly into obstacles.

Video of the FailSafe

Note: Please do not copy! If you turn off the transmitter, the UAV is not necessarily under control and can crash. The power of the transmitter can take a few seconds.

FailSafe - FailSafe time

In general, a reception failure is caused by a fly out of the reach. 
If this is the case, the FailSafe automatically activated and he flies back towards the home position.
Then it usually takes a few seconds until the reception is available again.
The FailSafe time can be infinitely adjusted up to 60 seconds.

FYI: Should be enough this time not because the UAV is much too far away or too high, has landed automatically at the end of this time FailSafe the copter for the set "gas emergency" time with the set "gas emergency".

A description of these functions and settings can be found here: FailSafe time

Notgas

The famous "Notgas" also has a new feature. 
Until now you had to adjust depending on the weight of the individual Kopters the "E-Gas". This is still possible.
As an alternative, but even now, by selecting the new button "Use vario controlfor failsafe altitude", the floating gas percentage value to be entered.
Here, the used automatically by the software determined FC-gas suspension.

A description of these functions and settings can be found here: Notgas

FailSafe - recipients without receiving error display

So that a copter a receiver failure, the recipient must also show that at a reception failure.
If this is not the case, at a reception failure could fly the copter with the last received further settings.

This one, however, can also use the receiver, the signal loss does not explicitly signal, a separate channel for this function are used.
To this end, the receiver must be changed - use the appropriate fail-safe settings of the recipient. 

A description of these functions and settings can be found here: reception failure indicator

SD card in NaviCtrl

Do not start without an SD card

In the settings under "Other Business" may be selected if you only plugged into the SD card NaviCtrl may want to start the copter.
This may be important to ensure that the UAV flies with the settings indicated on the notice. Or if you absolutely need a log file.

A description of this setting can be found here: Do not start without an SD card

Data on SD card

Is the NaviCtrl an SD card plugged in, then be recorded during the flight data of Kopters.

From NaviCtrl will also automatically create a file "Settings.ini" is generated. This file settings are saved for the copter.
These settings can be for example the description of the NaviCtrl be found in the wiki.

New additions include: 

MAX_FLYING_ALT: 
Here, a maximum altitude can be entered. Fly the copter through the level, there is an error message "29: Err: High Altitude".
A NaviCtrl with Commercial license is automatically switched to another 10m Notgas to return to fall into the allowed range.
This function is independent of the position of the switch for the height.

MAX_FLYING_RANGE 
Here, a maximum flying range can be entered. If the MikroKopter fly out of this area, GPS is activated automatically and the MK tried to fly back.
In addition, an error message appears in ter telemetry display of Jeti + HoTT.

DESCEND_RANGE (use only with the commercial license)
Under this item, a maximum flying range of allowed to be entered. If this is entered here, the entry under "MAX_FLYING_RANGE" be smaller!
If the Mikrokopter for some reason does not stop at the "MAX_FLYING_RANGE" registered border, which is MikroKopter Notgas go automatically into the descent - regardless of whether the treble controls - is on or off.

For your information: 
The "DESCEND_RANGE" is mandatory in France. The bill provides that a flight model (which flies commercial operations) should automatically come down to 150m.

All three values ​​are disabled in the default settings, then set to zero. The setting must be read in the SD card in a PC and the entry to be changed.

MIN_EVENT_TIME 
During the Wegpunktfluges, the UAV can either stay at each waypoint for a set period of stay or depart without the waypoints in sequence.
Thus, the copter even with this continuous flight without dwell time at each waypoint can trigger such as a camera, here is a minimum response time is dictated by 2 seconds.
During this time the set-WP Event is active. Who this time is too short, can enter your own amount of time on this item on the SD card.

GPS_SBAS_DGPS_ON
This entry can be (if necessary) the GPS config "SBAS" (DGPS) (EGNOS) is turned off. 

An explanation of each setting with the default values ​​can be found for each NaviCtrl (under Micro SD card): NaviCtrl 

GPX file

In addition to the previously stored data in the GPX file to be saved now and in addition these values: 

• Waypoint which is currently used.
• The current value of the WP-events.
• Pitch and roll servo setpoints.

All data stored in the GPX file, including the new for each NaviCtrl (under Micro SD card) can be found here: NaviCtrl 

These data can, for example, see the "GPX Viewer" program or "MK_GPX": Link

KML log

Since the new Google Earth version, the flight data were saved in the KML file does not display correctly.
The data in the KML file have been adjusted accordingly and are now again properly represented in Google Earth.

This information can be found for each NaviCtrl (with Micro SD card) here, too: NaviCtrl

Other

Futaba S.Bus

From this version of Futaba receivers are supported by S.Bus. These are connected via a signal to the inverter FlightCtrl .

This is just from FlightCtrl V2.1 possible! Not with a FlightCtrl V2.0 or older.

A description of the connection and the settings can be found here: Futaba S.Bus

KopterTool - 3D + Sticks

About the 3D button, 3D view of the previously Kopters and Balaceanzeige was opened.
New is an additional indication for the operation of the control stick.

Depending on which button is first opened, the corresponding indicator appears: 

• Previously, button NaviCtrl button and then click 3D = 3D-display + joystick display

• Previously, button FlightCtrl button and then click 3D = 3D + Balance Display Ad

A description of this function can also be found here: 3D

Power output filter

There is now a filter for servo control. Thus, depending on filter setting the quick movements of the MKs only filtered before they go on to the servos.
This value can range from 0 - be adjusted 25th Depending on the input, the servos softer (5-20) or harder (0-4) are activated.

A description of this setting can be found here: Power Filter

Servo 3 +4

Servo 3 and 4 can now be used as a mechanical trigger for cameras. For this purpose, the servo signals to the switching outputs are laid.

A description of this setting can be found here: Power 3.4

Error codes

New error codes have been entered: "No SD Card", "Flying Range!", "Error Logging SD" and "High Altitude Error".

A description of the "error code" can be found here: error code

Altimetry

The altimeter is calibrated. The old value displayed was displayed for about 10% too high.

Temperature and current display of the BL-Ctrl in the OSD

In the OSD, the current temperature and current, the single BL-Ctrl appear. The temperature is, however, appear only with the BL-Ctrl V2.0.

• Category firmware / FC

Magnet Error

Since the firmware version 0.86 the value of the magnetic compass sensor is carefully checked.

These are the different cases:

1. Error during calibration
2. Error before the start
3. Errors in flight

Reason for the error message

• The GPS needs needs the exact compass direction for using GPS. Otherwise, the MK flies simply not in the right direction.
• If the "flying circles" is mentured in conjunction with GPS, the reason is a rwong compass value in almost 99% of the cases.

• With a compass error of >30°, the position hold with GPS is simply impossible.

• Changing the MK-Parameters in the settings will not really help regarding this issue
• Typical is that there are directions where GPS works wonderful and the directions 90° to that the GPS works bad - then you might think: "funny, it worked one minute ago"

The NC simply needs needs a compass value with significantly less than 30° error.

Calibration

• You have to use the new method used for calibration. Only then the FC can messure the magnetic field carefully.

• If the minimum - and maximum values ​​do not have a minimum distance, the compass was either not properly calibrated, or the magnetic field is disturbed
• The user then could get "invalid value compass" after calibration

Then you should take a look to this error message:

• Here the MK was not not correct turned around in step 4 (Z-Axis calibration)
• Then the signal between min and max (amplitude) is not big enough. The minimum amplitude is shown in the graph.
• Reason for failure may be also magnetic iron or something magnetic (Buzzers, etc.)

If the calibarion fails

(compass still reports "invalid compass value)

• make sure there is no magnetic material close the compass - like iron
• do the calibration outside

• use the new calibration method - the old would not work in the 0.86

• check in the terminal if you have a message like above

• The NC (since V0.26e) calulates the earth magnetic field by the GPS coordinate. That is nessecary in regions with <30uT (Brasil and south Africa). There you need a GPS-Fix for compass-calibration.

When you rotate the MK in different directions (like you would do in the new calibration), you should have magnetic curves like this. The min and max-values of the magnet sensor must be bigger than +/-300 6 we had this case in the Betatest - there an iron plate (as heatsink) was the problem. He was not able to calibrate either. After removing the plate - everything was fine

FC installed rotated

• If the FC is installed 45° rotated (X-formation), you must rotate over the arrow of the FC and not over one rigger
• If you would twist ith the FC installed 45 degrees and not turned over the corners of the FC, in calibrating the amplitudes of the X and Y axes are only 71% of the normal value.
• Thus it is possible that the calibration does not go through.
• Furthermore, you get 130% as magnetic value and obtain the magnetic error. You can not even fly properly - even if you ignore the error message.

Error right at the start

If, you get the message even before the start (or in the moment when the motors get started), probably iron or magnetic material are involved. Maybe iron is in the ground or close to the MK.

These are the two values, which are reviewed by the NC:

• Magnetic value -> must be between 80 and 120% otherwise you will get the error message.

• Inclination shall not deviate more than 10 ° from the theoretical value (depending on geographical location, e.g. 60-70°, link).

• The theoretical value comes when the GPS has a fix
• if the calibration procedure was not correct or done by the old method, you will also get this message

The error message would also prevented from starting.

• Important: Before starting always calirate the gyros (like usual). The MK must not move then.
• The (Inclination error) Error message also comes when the ACC is not calibrated carefully. (MK must stand 100% even when calibrationg the ACC)
• And at the FC1.x versions may also, if the temperature of the gyro drift is too big.

Error in flight

The magnetic value may not differ more than 20% in flight. So it must be between 80% and 120%.

In flight, the incorrect inclination is not reported. Only the 20% deviation of the magnetic field.

• If the error occurs only in the air, then it is probably due to power cables. The MK only reports the Error, but it changes nothing on flight behavior.
• Typical is that there are directions where GPS works wonderful and the directions 90° to that the GPS works bad - then you might think: "funny, it worked one minute ago"
• The Magnet values ​​can be viewed in the anlog values and in the GPX-Log
• Typically is also when the values ​​runs away with the increase of the current.

In the GPX data log on the SD card, these values ​​are recorded:

(Tool for viewing the log data: MK_GPX

resolve the current errors

• One should first look at the plus and minus cables from the BL-Ctrl and the LiPo cables

• The Power cables must be parallel - and make no loops of single wires
• If necessary, slightly twist the pairs of wires
• Enlarge the distance between the compass sensor and the cables
• Cause may be the internal structure of the Lipos - then you probably have to enlarge the distance between lipo and Compass

checking magnet values

In the transmitter telemetry (Jeti + HoTT) and in the Koptertool, the values can also be monitored. (since FC0.86c)

Press (SET) in that menu

• Earth field[%] + Compassangle unfiltered[°]
• Measured Inclination[°] + theoretical Inclination[°]

• before starting the Earth field must be around 95-105% and the differences of the inclination below 3° - otherwise you must recalibrate Gyros, ACC and Compass (or there is iron in the ground)
• when hoovering the Earth field must be around 85-115% and the differences of the inclination below 5°
• Maybe you can also attach the MK to the grund, start the motors and apply almost hoover gas. Then you can see the change of the values.
• In strong flights and strong turns the values may have a bigger Error - but when hoovering they must go into that range within 10seconds

Disable the error message

• Under certain circumstances, the MK will not start.
• If the MK must me launched from an iron pedestal (or iron is close), it might be nessecary to disable this message.
• If you fly in buildings, the error message should be disabled. (also don't to use GPS and Compass there)

This only deactivates the error message. If the compass value is wrong because of magnetic disturbances, the MK will not fly good in GPS-Mode - no matter of this setting

Videos

How magnetic fields arise and what implications these have for, you can see in these videos: