# MIKROKOPTER TOOL PARAMATER SETTINGS MANUAL For use in changing settings in the Flight & Navigational Control using the MikroKopter Tool.

TOC P. 2 General Explanation of Parameter Settings Interface. P. 9: Channels Tab P. 17: Configuration Tab P. 21: Stick Tab P. 24: Looping Tab P. 27: Altitude Tab P. 31: Navi-Ctrl Tab P. 36: Navi-Ctrl 2 Tab P. 41: Output Tab P. 50: Misc Tab P. 56: Gyro Tab P. 60: Coupling Tab P. 63: Mixer-SETUP Tab P. 70: Easy-SETUP Tab Two Parameter Settings tabs are never used and therefore should never be accessed: Camera Tab and User Tab.

# en/MK-Parameter 37 LotharF MikroKopter.de

# Contents

1 Overview

........................................................................................................................................................1/5 1.1 The tab pages ..................................................................................................................................1/5 1.2 The middle section

..........................................................................................................................1/5 1.3 The "Channel Quick

View" ............................................................................................................2/5 1.4 The Parameterset

.............................................................................................................................2/5 2 Info .................................................................................................................................................................5/5 en/MK-Parameter

i

# 1 Overview

If you open the Settings of the MikroKopter Tool you can see the most important settings at a glance. (see picture above right) For easy overview the settings window is divided into different areas: 

## 1.1 The tab pages At the upper part of the settings the tabs are located. If the settings have been opened for the first time, the following tabs are available: Channels, Camera, Output and Easy Setup.

With these four tabs you can configure the most important settings quickly and easily. If you will see all tabs, click onExperte view .



## 1.2 The middle section In the middle part you can set different parameter (depending on the selected tab). Here we see the tab Easy Setup / Setting 3 Easy .

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## 1.3 The "Channel Quick View"

On the transmitter you can set for each channel a switch, push button or potentiometer. If you now move a switch, push button or potentiometer you can directly see which channel is working. 

## 1.4 The Parameterset In the bottom bar you can writing, reading etc. the set parameters.

Closes the setting window. INFO: If Changes were not transferred to the copter and you closes the window, a confirmation screen appears : ♦ • en/MK-Parameter

5Opens the appropriate wiki website with the description of the settings for the open page. ♦ •

Reads the current settings of the open settings from the copter. ♦ •

Writes the settings in the copter. ♦ •

Saves the current settings of the open setting on the PC. ♦ •

Loading a saved Settings on the PC . ♦ •

Resetting of the open setting to factory default. ♦ •

Selects one of the 5 settings. In total 5 settings are available. Each setting can also be set individually. The settings are: Setting 1 = Fast(Sporting flight attitude) ◊ Setting 2 = Agile (Agile flight attitude) ◊ Setting 3 = Easy (Basic flight attitude) ◊ Setting 4 = Easy (Basic flight attitude) ◊ Setting 5 = Easy (Basic flight attitude) ◊ ♦ •

Each setting can be assigned to an individual name. •

To select the settings with the transmitter the proceed as follows: • en/MK-Parameter

6Setting 1 => Roll left + Nick middle plus Gas up + Gier left ♦ Setting 2 => Roll left + Nick up plus Gas up + Gier left ♦ Setting 3 => Roll middle + Nick up plus Gas up + Gier left ♦ Setting 4 => Roll right + Nick up plus Gas up + Gier left ♦ Setting 5 => Roll right + Nick middle plus Gas up + Gier left ♦ en/MK-Parameter

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# 2 Info

A changing ofvthe settings can help in fine-tuning of the copter. But this will not help when the copter have flight problems! With the default settings you can fly every MikroKopter easily! If the copter do not fly properly with the default settings, a faulty assembly of the copter or a wrong route of the lines can be the cause. In this case please check the assembling of the copter first. All settings are preset. If changes are made to the settings, be sure that a valid data is entered. If a setting with incorrect values ??are loaded, the copter can crash! Never change a setting during flight (e.g. with a Wi.232)! Then the copter will crash! So you have to land first and stop the motors. Then you can change the settings.
KategorieTools •

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# en/MK-Parameter/Channels 21 LotharF MikroKopter.deChannels deutsch

• From software version V2.00 the FlightCtrl can handle up to 16 channels from the transmitter and up to 12 channels via a serial input. Here you can check the function of all up to 16 channels from your transmitter and the serial channels To control the copter you need the 4 first channels (1-4) for: GAS (throttle), Yaw, NICK, ROLL. The other channels can be used for the functions of the copter. INFO: The control of the copter can only be done via a transmitter. Not via a serial channel! en/MK-Parameter/Channels

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# Function - Channel

The FlightCtrl can manage up to 16 channels since the software version V2.00. EachChannel you can set individually to afunction . The first 4 channels are for GAS (Throttle), Yaw, NICK and ROLL . Also you have 8 functions calledPOTI1-8 . Each of these POTI1-8can be set to a channel of the transmitter, a serial channel or a value like WP-Event, Minimum, Middle oder

Maximum (see right picture). en/MK-Parameter/Channels

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# Channel 1-16

The function of the up to 16 channels (depending on the transmitter)can be checked in the bar graph here. Any indication should have here a range from 0-254. If the indication is smaller you can maybe not activate or use a function of the copter. If the indication is lower you can set the value of this "servo travel" in your transmitter. How to set this you can find in the manual of the transmitter.


# Seriall Channel

The FlightCtrl can also analyze up to 12 channels via serial communication (e.g. from a joystick). These can be used like normal transmission channels, so the POTI functions (POTI1 - POTI8) are assigned. Over here, for example, you could control a camara mount. Only the control functions (GAS, YAW, PITCH, ROLL) can not be assigned to these serial channels. To use these additional channels you must have a connection between Kopter and PC. These connection you can set up with the Bluetoothmodul or the Wi232 modul ( Link ). The KopterTool must be open for use! For the control at your PC e.g. a joystick should be installed. en/MK-Parameter/Channels

12The joystick must be connected and assigned to the channels.

Here you need to click in the KopterTool onSerial Channels : Now you can assign the individual functions. So that the functions are transferred to the copter it must have a hook at the bottomsending the serial channels are active to be set.



# Motor safety switch

From the software version V2.00 you have different ways to start the motors: Direct power on / off without safety function (with this the Motors can be turned off in flight!) • On / off on certain positions of the two sticks • On / off with Sticks and additional pushbutton • On / off with button • With the last 3 options an accidental "switch off" from the engine during flight is not possible. en/MK-Parameter/Channels

13Depending on what is entered by the motor safety switch (see right), the function of the switch should be

selected according: OFF With this entry you can start / stop the motors with: Start => Gas (throttle) down + yaw right ♦ Stop => Gas (throttle) down + yaw left ♦ •

Disabled With this entry you can start / stop the motors with: Start => Gas (throttle) down + yaw right plus Nick down + Roll left or right ♦ Stop => Gas (throttle) down + yaw left plus Nick down + Roll left or right ♦ •

Ch xx With this entry you can start / stop the motors with: - At the transmitter, a free channel is set to a push button. This channel is entered here. - On the transmitter the button is set that if he is not pressed, the channel is switched (function inverted). (the beams under

Channel 1-16

is 254) ♦ Start => press and hold the push buttonplus Gas (throttle) down + yaw right ♦ Stop => press and hold the push buttonplus Gas (throttle) down + yaw left ♦ •

Ch xx + Motor start/stop With this entry you can start / stop the motors with: - At the transmitter, a free channel is set to a switch. This channel is entered here. Motor switchon : Gas (throttle) down to "0" plus switch at "on" => Motor start. ◊ If you use the Gas (throttle) stick during flight => Switch has no function. ◊ ♦

Motor switchoff :

Gas (throttle) down to "0" plus switch at "off" => Motor stop. ◊ If you use the Gas (throttle) stick during flight => Switch has no function. ◊ ♦ • en/MK-Parameter/Channels

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# Sensitive receiver signal validation

The "Advanced signal reception test" was especially installed for the 35/40MHz-Systems. If you use a 2.4GHz transmitter / receiver you do not need this function. Explanation: The "Advanced receiver signal validation" checks on the receiving signal more detailed. Thus, for example "suspect status" (such as changing the number of detected channels or disturbance / removal of the timing of packets) would be immediately recognized as irregular and assumes the same as a loss of receiving and the data packet would be discarded. With the 2.4 GHz digital transmission is the transmission of false values ??(as described above) no longer present. 

# Select receiver

Here you can choose the used receiver. How to connect the receiver to the FlightCtrl you can see here: Link

There are available: Multisignal (PPM) Standard receiver (e.g. ACT DSL4 top, 2.4GHz-Receiver R6107SP) (Connection at the PPM-Input of the FlightCtrl ) ♦ • Spektrum Satellit 2.4GHz satellite receiver Spektrum (connect to the 2nd serial port of the FlightCtrl ) ♦ • Spektrum Satellit (HIRES) • en/MK-Parameter/Channels

152.4GHz satellite receiver with high resolution of Spektrum (2048) (e.g. DSX7, DX8, DSX9, DSX12) (connect to the 2nd serial port of the FlightCtrl ) ♦ Spektrum Satellit (LowRES) 2.4GHz satellite-receiver with low resolution (512) (is used in some plug-in modules) (connect to the 2nd serial port of the FlightCtrl ) ♦ •
Jeti Satellit 2.4GHz Jeti Satellit (e.g. RMK2) With this setting, the output of the telemetry is activated too. Displayed is the telemetry e.g. on the Jeti Box. (Connection at the PPM-Input of the FlightCtrl + connection to the 2nd serial port for telemetry) ♦ •

ACT DSL Connecting a ACT DSL-signal on the 2nd serial port on the FlightCtrl ♦ • Graupner HoTT 2.4GHz Graupner HoTT receiver (e.g. GR-12, GR-16, GR-24) With this setting, the output of the telemetry is activated too. Displayed is the telemetry on the display of the transmitter. (Connection at the PPM-Input of the FlightCtrl + connection to the 2nd serial port for telemetrie) ♦ •

Futaba S.BUS 2.4GHz Futaba S.BUS receiver To connect a S.BUS Receiver to th eFlightCtrl you need a Signal inverter ( Shoplink ). (connect to the 2nd serial port of the FlightCtrl ) ♦ •

User Free for programmer. ♦ • 

# Telemetry: Speak all events

With this setting you can select if the transmitter (HoTT / Jeti) shall announce all telemetry events, or only warnings. Note for Jeti transmitter: All MikroKopter messages are transmitted here via Morse code messages. With the new JEti transmitter (z.B. DC-16 usw) you can set this to a voice file. Also if you use a switch with a function like " PositionHold " the Kopter will send a morse code. If you use not a new Jeti transmitter the transmitter will only "beep" this code. For this transmiters you can deactivate here the function and the transmitter will not "beep" every time. en/MK-Parameter/Channels

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# en/MK-Parameter/Configuration 13 LotharF MikroKopter.deIn a total of five sets of parameters different settings can be stored in the Kopter. These can be accessed

through the sticks after turning on the Kopter and the initialization. en/MK-Parameter/Configuration

18Name of configuration

Each setting can be named under Name of configuration with a representative name. This is useful for example for different payloads, sporty flying or camera-flight etc. If a setting is completed or altered it must be saved under it's number in the MikroKoper with the function WRITE The MikroKopter acknowledged this with a appropriate number of short beeps. To select the settings with the transmitter the proceed as follows: : Setting 1 => Roll left + Nick middle plus Gas up + Gier left Setting 2 => Roll left + Nick up plus Gas up + Gier left Setting 3 => Roll middle + Nick up plus Gas up + Gier left Setting 4 => Roll right + Nick up plus Gas up + Gier left Setting 5 => Roll right + Nick middle plus Gas up + Gier left •

Altitude control Checked if the air pressure sensor on the FlightCtrl should be used. • GPS In that case the GPS-System (NaviCtrl + MKGPS) is activated . Therefore GPS-functions like holding position ( PositionHold ), flying back to the start-point ( ComingHome ) and the fly-around with waypoints are possible. • Compass Typically, this field is grayed out and active when GPS is selected. Only if there is no GPS-System on the copter and if you use e.g. a MK3Mag on your FlightCtrl you can deaktivate this and activate only "Compass". The single using of a MK3Mag is normally not customary. Orientation fixed If this function is activated, the MikroKopter depends on the yaw and over again from the ♦ • en/MK-Parameter/Configuration

19direction in which it has been at the start. Attention: If this function is enabled, the copter can not be completely turned! Sensitive receiver signal validation The Sensitive receiver signal validation was built specifically for the 35/40 MHz systems. A receiving failure is detected properly. If you use a 2.4GHz Transmitter / Receiver you did not need this function. (see also ''Channels'' ) •
Axis-(de-)coupling Here you can enable or disable the axis coupling. The axle coupling prevents the MikroKopter after a curve is flown to be loopsided. Function is active when the yaw angle will be corrected internally. This function should always be activated. •

Rotationrate limiter Additional limitation of the rate of rotation. With this option the characteristic of the gyro is lifted at the ends. This prevents rapid maneuver, which is regulated at a certain rate of rotation. Applies only to pitch and roll. (Only interesting for beginners). •
Heading Hold (Nick/Roll) In this mode and after a flight maneuver the MikroKopter is not automatically going back into a horizontal position when the stick is in neutral position. This setting, for example, are possible for most types of loops. This function is for experienced pilots! This one needs a lot of flying experience! -> ATTENTION: Who wants to fly HH the I-part must be increased to the proportion of the main controller (e.g. to 30)! More information about flying with Heading Hold you can read here: HeadingHold (information only in german) ♦ • en/MK-Parameter/Configuration

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# en/MK-Parameter/Stick 20 LotharF MikroKopter.deHere the sensitivity of the stick movements (gas, yaw, pitch, roll) can be set by the transmitter.

en/MK-Parameter/Stick

22Nick/Roll P

Stick-Gain. The larger the number the stronger response the MikroKopter on the stick movements. Example: larger number = strong model reaction even at low stick indication, great agility. lower number = softer but sensitive control. ♦ •

Nick/Roll D The MikroKopter

follows the movements of the stick more spontaneous, the larger this value is. Example: larger number = severe, immediate model reaction, more "poisonous". lower number = soft control. Strictly spoken, it affects the Stick speed to the MikroKopter. ♦ •

Yaw-P(Gier-P) Yaw rate ratio to stick deflection. DThe value can be entered as a number or be placed on a potentiometer at the transmitter to change the behavior during the flight. Example: larger number = fast rotation. lower number = sluggish reaction. ♦ •

External Control This can be used also in addition to a transmitter to activate an external control. This can be done for example via a mobile phone with the software Dubwise
. To turn this feature on an arbitrary number that is greater than 128 has to be entered. Or a potentiometer is assigned to a switch at the transmitter. So the function can be switched on/off at the transmitter. • en/MK-Parameter/Stick

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# en/MK-Parameter/Looping 16 LotharF MikroKopter.deIn the default settings it is not possible to fly a loop with the copter. Is the stick from the transmitter all the

way down the copter is limited from a certain angle point. Only with the activation of one of the directional arrows further tilts and loopings are possible in the selected direction. In this menu field it can be selected what you want to perform whether loops forward, backward, left or right. After activating one of the directional arrows only at that point the settings appear. Attention: The Kopter can crash when flying loopings! This function is used at your own risk and should be only used by users with flying experience! en/MK-Parameter/Looping

25Arrows

The looping is allowed in the desired direction. The arrow points here to the corresponding stick position. • Gas Limit At this value the gas is limited during the loop. • Response threshold From this value it is calculated from the stick position control and changes into a rotation rate control to complete the loop. Hysteresis Stick-Hysteresis for the reaction point. Normally always lower as the reaction point. ♦ •

TurnOver Nick 100 means 100% of a 360° rotation. Also entspricht 1 einem Winkel von 3,6°. If the copter rotate too far after a loop, the value must be reduced. If the copter not rotate far enough after a loop, the value must be increased. •
TurnOver Roll 100 means 100% of a 360° rotation. Also entspricht 1 einem Winkel von 3,6°. If the copter rotate too far after a loop, the value must be reduced. If the copter not rotate far enough after a loop, the value must be increased. Important The reaction point - hysteresis should be around 20-50. Otherwise the MikroKopter can try during leaving the looping function to go into an angled position which is given by the stick. This may leads to very brisk settings so that the Kopter will "jump" and it will miss some •

of the degrees of angular movement what causes the situation that the Kopter will be very oblique.

If the Configuration menu Heading Hold (Nick/Roll) is selected it can be flown loopings without activation of the looping arrows! More information about flying with Heading Hold can be read here: HeadingHold(only in german) • en/MK-Parameter/Looping

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# en/MK-Parameter/Altitude 41 LotharF MikroKopter.deThe altitude control on a !Mikrokopter is based on measuring the air pressure and z-axis

accelerometer-/gps-values . A PID controller controls the overall thrust of all the rotors so that the measured air pressure (altitude) remains constant. The altitude can be control in two way. en/MK-Parameter/Altitude

28Enable Altitude control

Unlock the height control in the software (has the same effect as the setting in Configuration ). • Type of height control Height limitation control The overall thrust is throughout an inactive height control proportional to the throttle stick at the transmitter. The altitude control weaks the overall thrust of total thrust from the given value if the current level exceeds the setpoint. The MK can overwrite the nominal value in the long term but only if the overall thrust is greater than the weight of the MK and thus rises. As a result, the stable point of regulation is always above the setpoint of the nominal value. The deviation from the nominal value increases in proportion to the gas stick position of the transmitter. The reference can be specified in several ways. E.g. you can put the set point to a fixed value that would never exceed over the value. Furthermore, the setpoint can be a potentiometer (1 to 8) to assign and change the channel assigned to the value of the transmitter during the flight where the parameter Gain / Rate is used for scaling. Another possibility is to activate the checkbox use switch for setpoint (switch for height) at which the set point should also be assigned to a potentiometer, so you turn on the channel associated with the transmitter over a switch, and the height control can simultaneously take the current height value as a reference. ♦

Vario altitude control The height control takes complete control of the overall thrust. You can not control it directly through the throttle stick on the transmitter. It rather serves to active height control over the gas stick to change the setpoint and nominal values. There are neutral points of the gas sticks, the parameters of the Stick neutral point can be fixed. If the parameter Stick neutral pointis equal to zero, is used as a neutral point of the gas stick position at which the thrust exactly compensates the gravitational force, in short, it will try to maintain a hover. If the gas stick is above the neutral point, the MK will ascend. If the gas stick is below the neutral point, the MK will descend. The more the throttle stick deflects from the setpoint, the higher the climbrate/descend-rate. The response can also be scaled by the parameter Gain / Rate . This can help with trimming the sensitivity of the throttle stick input. If the option Acoustic Vario (acoustic variometer) is enabled, the buzzer on the MK will make beeps according to the climbrate. The height control should be configured and activated, so be set up over set pointand over one switch, that you can activate with a switch through the associated channel of the transmitter the height regulation.. ♦ •

Setpoint Specifies the nominal value of the height. If the optionHeight limitation control / Use switch for setpointis activated, you should choose a poti which is assigned to a switchable channel of it's transmitter. With Vario-mode, assign a poti, where off/no AH has a value of 0, and on/AH engaged has a value of • en/MK-Parameter/Altitude

29255.

Min Gas The gas is never reduced beyond this point, if altitude is exceeded. Tuning tip: Increase in small steps while at hover, until the MK starts to ascend. Then decrease the value by 3-5. •
Altitude P Proportional-part of the altitude controller. The difference between setpoint and actual altitude changes the gas-value proportionally. The higher the Alt P value, the faster the MK will fall, if altitude is exceeded. If too high, the MK will fall below the setpoint, which could cause an oscillating behavior. •

Barometric D Slows down the oscillation behavior of the height regulator. A high value will make the AH more precise, but also a lot more sensitive to wind-gusts. A low value will protect the algorithm from gusts, but could drift up and down. •
Z-ACC Slows down the oscillation behavior by using the z-axis of the accelerometer. • Max Altitude Here you can set a maximum altitude. If you use the Vario-altitude control and the Function AltitudeHoldis ON ( Link ), you can not fly above this altitude. The value can be entered up to 247(m). And if you set a "0", the height limit is disabled. See also: Max-Altitude on SD-Karte •

Gain/Rate Allows greater altitudes where the value is increased. The setpoint (in meters) is multiplied by this value. (ex.: enable at 10 meters, gain at 10, max height 100). • Hover variation Limits the regulator output to the environment of the Hoverpoint, smaller values ??calm the scheme but also the agility. Will also affect the sensitivity of the throttle-stick deflection (high value = low percentage = low sensitivity). •
GPS-Z Slows down the oscillation using the GPS altitude values. • Stick neutral point Neutralpunkt des Gassticks bzgl. der Steig- und Sinkraten für die Vario-Höhenregelung. Ist der Wert Null, so wird der natürliche Hoverpunkt des jeweiligen MKs verwendet. • Auto Start/Land Channel Neutral point of the gas sticks about the climb and descent rates for the Vario-height control. If the value is zero, the natural Hoverpoint of each MK is used. Zero is also a relative stick neutral point, whereas an entered value would be an absolute stick neutral point. If you fly with fixed payload weight, an absolute neutral point would be preferable. •
Landing speed The value entered here x 0.1 m / s, determine the rate of descent of the copter the automatic landing. • Attention: If you start or land with a switched on level control the ground effect is due to the risk of feedback and thus the risk of swinging up with the height control near the ground, which can lead to unintended hops. • Some of these sizes you can get while experimenting with the settings to a potentiometer and the optimal values out of a flight Info • en/MK-Parameter/Altitude

30 For more information on checking, installing, and packaging the height sensor it can be read here: height sensor •

# en/MK-Parameter/Navi-Ctrl 14 LotharF MikroKopter.deIf a GPS-Systemis used on the Kopter the function of the GPS system has to be set here.

en/MK-Parameter/Navi-Ctrl

32Enable GPS

Lock/unlock the GPS in the software (applies to both Navi-Ctrl tabs). • GPS Mode Control Can be set up with fixed values ??or to a potentiometer. Fixed values ??of: 0-99 means no GPS support ( Free ), 100-199 Postion Hold ( PH ), 200-250 Coming Home ( CH ). With a set up of a poti for example can be assigned a triple switch to the transmitter. The switching sequence is: Free, PositionHold(PH), ComingHome (CH). •

GPS Gain Specifies how much the GPS works. Is it too large, the position swings strongly. • GPS Stick Threshold So you can set the threshold for PositionHoldto log a new position. If you set it to 0 it's not signed with the stick but only by turning the mode switch: You fly to the desired location and turn on PH. Then you can play with the stick and the MK will always be on •

the target position. Especially in windy conditions it can be prevented so that the MK is not drifting. Min. Sat Minimal amount of satellites which must be received by the GPS to activate the GPS functions (Sat-Fix). For a 3D-Fix you must have a minimum of 4 satellites. Reliable values ??are obtained by position from 6 satellites. The more satellites are received, the greater the GPS accuracy. • en/MK-Parameter/Navi-Ctrl

33INFO: See the satellites in Kopter-Tool. If you "click" on the button ->MKGPS in the Koptertool you can see how many satellites (and how strong) you receive.

Dont do this during flight! Otherwise you can crash! ♦

GPS-P P-share of the control. Influence of distance on the GPS controller (Bigger = more roll when position deviation). Imagine the action which is like a virtual bungee cord attached on one side to the MikroKopter and on the other side to the target position. It pulls the MikroKopter always to the target position the more the further the Kopter is away from the target point. The parameter P determines the strength of the bungee. Is the parameter small, the bungee is weak - is the parameter big, the bungee is stronger. If the bungee cord is to strong the controller leads to swing. (GPS-P) Limit Limits the potency of the parameter GPS-P. This parameter limits the tractive force of the virtual bungee cord between the MikroKopter and the target position. With the increasing distance to the target and the rising proportional tractive force it would be too great from a certain point of distance. The bungee cord is only an example for a better understanding. IIn the reality the flight attitude of the MikroKopter causes the attraction to the target. If this flight attitude is getting to large the Kopter sags immediatly. To prevent those situation therefore is the limitation of the P-effect. ♦ •

GPS-I I-share of the control. Eliminates the permanent position deviation in the wind (larger = stronger tendency for prolonged position deviation). In relation to the bungee cord these parameter works like a memory. The longer the position deviation, the stronger pulls the bungee cord into the direction of the target. (GPS-I) Limit Limits the potency of the parameter GPS-I. In that way the duration of the memory is set. ♦ • en/MK-Parameter/Navi-Ctrl

34GPS-D

D-share of the control. Influence of speed on the GPS controller (Bigger = slower movement). Influence of the speed to the control. (bigger = stronger deceleration according to each movements) Imagine the effect like a virtual friction, because the MK tries to counteract its own movement. That is important because without this friction at the virtual bungee cord the MK would swing within its P-share. The greater the parameter D, the stronger slows down the MK each movement. Is the parameter to big the MK twitches back and forth because of the measurement noise going through the control. ♦

(GPS-D) Limit Limits the potency of the parameter GPS-D. ♦ •

GPS-Acc Support of the position by the ACC sensors. If you push away the MikroKopter it reacts quickly. The effect of this parameter is analog to the GPS-D. But here the reaction is way faster. If you want to change the speed in which for example waypoints or ComingHome it's flown that can be set up with changed values of GPS-P and GPS-d. N O T E: Increase speed = increase GPS-P + decrease GPS-D. Decrease speed = decrease GPS-P + increase GPS-D. Example: In the standard settings GPS-P and GPS-d to 90 are set up. The speed here is approx. ~6m/s for the waypoints or ComingHome which it's be flown at that time. (also applies to the max. speed for a FollowMe transmitter which can be followed). If you change the values for GPS-P to 100 and GPS-D to 60, the speed will change to ~8-9m/s. Conversion of m/s into km/h => m/s * 3,6 = km/h (6m/s * 3,6 = 21,6km/h). Attention: The values ??should be changed in small steps. The values ??should not be too big / small. Here the MikroKopter could also go into descent flight. You can check the speed during the flight, e.g. in the telemetry display of a Graupner HoTT transmitter or a JetiBox oder. or when there is a data connection between the MikroKopter and the PC in the KopterTool it is displayed in OSD . Some of these sizes you can get while experimenting with the settings to a potentiometer to get the optimal values out of a flight : Info
. • en/MK-Parameter/Navi-Ctrl

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# en/MK-Parameter/Navi-Ctrl 2 13 LotharF MikroKopter.deAdvanced Settings for

GPS-System en/MK-Parameter/Navi-Ctrl 2

37Enable GPS

Unlock GPS in the software (valid for both Navi-Ctrl tabs). • GPS Wind correction DThroughout crosswind it can come to a deviation of the real flight direction (current course) to the nominal flight direction (bearing to the target). This is attempted through a correction angle to minimize the deviation. The parameter controls the strength of this compensation. A value of 0 means that the function is turned off. •

ACC Compensation Here it will be set how strong the MikroKopter will slow down in PositionHold-Mode before the position is locked and if you had manually moved the sticks. A higher value will stronger slows down the MK after manual controlling and before it keeps the nominal position. •
Max. Flying Range This value in meter defines a circular area around the start position. If you exceed the maximum range, you get an error message via the telemetry on your transmitter (HoTT/Jeti). If <you have activated the dPH-GPS-Mode the copter will automatically stop at this range. •
GPS Angle Limit Limits the maximum control influence of the GPS. A value of 100 is equal to an oblique position of 20°. Is the value to small it could be possible that the MK can't work against the wind and drifts away. Is the value too high the approach to the target will be too fast. •
Position Hold Login Time That's the maximum of time in which the MikroKopter logs the new position after the sticks of the • en/MK-Parameter/Navi-Ctrl 2

38Nick/Roll axis are back into a neutral position.

Yawing is possible without changing the nominal position. Dynamic PositionHold By switching on/off these function you can change the behavior of the Kopter in the function PositionHold
. Functionoff : Is the functionPositionHold (PH) switched on the movement of the Kopter will be directly controlled with the Nick- / Roll stick. Here the function PH will be switched off if the sticks are moved. At the new position and after releasing the sticks the function PositionHold(PH) will be switched on again. Functionon : Also here you can fly the Kopter through movements with the Nick-/Roll stick to a new position. EThe function PH will be not switched on- and off but here the nominal values of the GPS coordinates will be shifted. Therefore a more accurate positioning is possible during windy conditions. The Kopter flies slower to the positions.
Note: Dynamic PositionHold is switched on by default settings. •

ComingHome Altitude The altitude you set here is for the function FailSafe and for ComingHome
. In the function ComingHome the MikroKopter comes automatically back to the start point (as far as a GPS-Fix is available!). The Kopter can fly to the previously set up height. In addition the Kopter is 'parking' on the previously set up height while approaching the ComingHome coordinates. During the approach the previously set up height will be flown with 3m/sec. - That's not possible to change! That means: 0: OFF -> the actual height of the Kopter will be kept. 1-247: Value in meter -> this height will be flown directly with 3m/sec. after activating ComingHome (CH). ♦ •

INFO The height will be flown (as well as for the height requirements for the waypoints): - only with activated function AltitudeHold in modus Vario altitude control
. - and the throttle stick have to be in the middle position. • Single WP Speed Here you can set the speed the copter will fly between waypoints you have set with your transmitter via the telemetry (HoTT or Jeti). You can also set here a Poti. If you then use a potentiometer on your transmitter you can change individually the speed between the waypoints. •
Descend range Here you can set a maximum range in meter. If the copter reach this range he will automatically land (only possible with commercial license). This is e.g. needed in France. • en/MK-Parameter/Navi-Ctrl 2

39Tip: Set the range for Max. Flying Range smaller then the range for Descend range . Then the copter will stop at the max flying range. Only if the copter reach the secondDescend range (as a result of e.g. strong wind etc.) the copter will automatically land where he is.

Some of these sizes you can get while experimenting with the settings to a potentiometer and get the optimal values in a flight: Info
. • en/MK-Parameter/Navi-Ctrl 2

40

# en/MK-Parameter/Output 14 LotharF MikroKopter.deThe two switching outputs of the FlightCtrl can be controlled and Set via the rider Output . en/MK-Parameter/Output

42INFO

Do not connect a lighting directly with the output Out1/2. The transistors on the FlightCtrl can be damaged! If you will connect a lighting you can use e.g. the Extension-PCB . Over here the lighting can be connected (with more power), or a switching output to trigger a camera. A description of installation of the lighting / camera release can be found at: Extension-PCB
. The two switching outputs are located on the side of the FlightCtrl output SV2:

(SV2 oberer Anschluss) Separately for each output you can set a switching or flashing pattern. Here you can also set if this pattern is always on or only after a start of the motors. The corresponding output is switched to ground. If the option "Only active after motor start" is activated, a green switch box appears behind the Bitmask. Here the initial state can be specified. en/MK-Parameter/Output

43

# Bitmask + Timing

To each switch output (Bitmask) (OUT1/OUT2) a separate flashing pattern is set in different intervals. The set time is always the time of switching of a box. Different switching intervals can be set via the 8 boxes by clicking with the mouse. In the box behind Out1 / 2 timing, either a value from 1 to 247 or a potentiometer (1-8) is entered. 

## Example with a fixed value In the upper picture the first box is clicked for Out1 bitmask and the remaining 7 are not. As time is to Out1 timing a 20 registered. The number that is entered is multiplied each x10 [in 10ms]. This would then in 20 x 10ms 200ms switching time for each box One cycle (8x200ms) would take a total of 1600ms (1.6 seconds) until the switching process starts all over again. Is now for example an illumination connected it's like 200ms on, 1400ms off, 200ms on, 1400ms off, and so on. (Info: 100 x 10ms = 1000ms = 1sec) •



## Example with a potentiometer If a potentiometer (1-8) instead of a fixed value (See Channels) is entered, there are three possibilities. Use of a switch, button or potentiometer on the transmitter: Switch of the LED: A switch on the transmitter can switch on or off the lighting. It does not matter whether a flashing pattern is set. An adjusted flashing pattern has no function here. ◊ 1.

Button to trigger a camera: 2. • en/MK-Parameter/Output

44At the switch output for example the Shuttercable can be connected. With the button then the switch output ◊ is closed or opened for the duration of the operation. If the first of the eight boxes is checked (the rest is off) while operating the switch, the switching contact is closed. However, if the second of the eight boxes is selected, pressing the button of the switch the contact opens. •

Poti to shift the LED: With a potentiometer on the transmitter the value of 1 - 247 is set. So if the pot will be adjusted at the transmitter the adjusted value of each pot is shown as a number (time x 10ms) and the set accepted by flashing sequence runs faster or slower. This depends on the rotation of the potentiometer. ♦ 3

INFO If you use a switch/button/potentiometer on the transmitter, take care, that the channels move with the values from "0" to "254". If you switch off the channel and you doesn't get it down to "0" , the transistor outputs is still "on"
. How to controll this you find here: Channels 

# combine with WP-Event If you set a checkmark in the box "combine with WP-Event" you can use for Output 1 a button on the transmitter (to trigger photos) and the WP-Event to the same time. In that way you can trigger the camera manually and you do not need to change anything while flying WayPoints to trigger the camera automatically with the WP-Event. (A change in the tab channels (like before) is no longer necessary.) Important To use both together you can use on your transmitter a pushbutton who was limited in the servo travel at the transmitter or a 3-way switch. The used channel of this 3-way switch or pushbutton must be set under "Out1 Timing". Example 3-way switch: We use a 3-way switch for triggering the photos. The box "combine with WP-Event" is enabled.

- Switch position 1 (down) => Off (the switching output is off. Normal flight = no triggering / Waypoint flight = no triggering) ♦

- Switch position 2 (center) => Automatic (the switching output is off. Normal flight = no triggering / Waypoint flight= automatic trigger after WP-event) ♦

- Switch position 3 (top) => Manually • en/MK-Parameter/Output

45(he switching output is on. Normal flight = manually triggering (also during a WP-Flight) / Waypoint flight= no triggering) ♦

Example pushbutton: We use a pushbutton for triggering the photos. The box combine with WP-Event is enabled. To trigger the camera manually and automatically on each Waypoint we have to limited the servo travel at the transmitter. Example HoTT transmitter:

(To enlarge -> click on image)

- Switch position 1 (down - not actuated) => Automatic (the switching output is off. Normal flight = no triggering / Waypoint flight = automatic trigger after WP-event) ♦

- Switch position 2 (top - operated) => Manually • en/MK-Parameter/Output

46(the switching output is on. Normal flight = manually triggering of the camera (also during a WP-Flight)/ Waypoint flight = no triggering) ♦ 

# AutoTrigger every You can set in the FC-Settings a distance interval to trigger photos. This you can use during a manual flight and also during a Waypoint flight. So the MikroKopter

can take i.e. every 15m images without WayPoints. All X meters "OUT1" will switch on/off as it was set at "Output 1 bitmask". Each box of the bitmask will be activated for 100ms and open or close the output 1 in the way you set the bitmask. The bitmask will be processed completely if the point for triggering is reached. Example 3-way switch: We use a 3-way switch for triggering the photos all X meter.

- Switch position 1 (down) => Off (the switching output is off. Normal flight = no triggering / Waypoint flight = no triggering) ♦

- Switch position 2 (center) => Automatic (the switching output is off. Normal flight = automatic triggering all X meter) ♦

- Switch position 3 (top) => Manually (the switching output is on. Normal flight = manually triggering but no triggering all X meters) ♦ •

Example pushbutton: : We use a pushbutton for triggering the photos. To trigger the camera manually and automatically each X meter we have to limited the servo travel at the transmitter. Example HoTT transmitter: en/MK-Parameter/Output

47(To enlarge -> click on image)

- pushbutton position 1 (down - not actuated) => Automatic (the switching output is off. Normal flight = automatic triggering all X meter) ♦

- pushbutton position 2 (top - operated) => Manually (the switching output is on. Normal flight = manually triggering of the camera) ♦ • 

# Undervoltage Both outputs can adjust the flash pattern with lower voltage / reception failure / I2C errors, so that even one example optically displays a lower voltage or a reception failure. en/MK-Parameter/Output

48It's flashing if there is::

Under voltage • I2C-Error • loss of the receive • The LEDs will flashing if they are connected e.g. with a ExtensionPCB: ( Link ). • If an output is used to trigger a camera for this output, the warning feature should be off. Otherwise the camera would trigger when a warning is in this interval. 

# Lighting Information on lighting and the use of LEDs can be found here:: Beleuchtung 

# connect the outputs to Servo outputs These signals can also be used to move Servos. With that functionality a mechanical camera trigger could be used for example. Therefore just select Out1 or Out2 on the Servo (camera) configuration:

See also: Example en/MK-Parameter/Output

49

# en/MK-Parameter/Misc 13 LotharF MikroKopter.deIn these settings for example additional features such as CareFree or Emergency-throttle can be set.

en/MK-Parameter/Misc

51Min. Gas

Minimal gas value, which goes to the motor. • Max. Gas Maximal gas value which goes to the motor. • Compass effect Is a compass connected the influence of the yaw can be set up here. In that case a small number has a small, one large number has a big influence. • Carefree control Is the value "0" the function CareFree is off. To toggle the function at the transmitter you can set up a channel. • Under voltage The threshold is set in 0.1 V steps to report the battery-low voltage. The default setting is 33 (3.3 V). This is the voltage of each cell in a lipo that should not be exceeded. (Infos about the Lipo you can read here: Lipo ) When you turn on the Kopter it will detect automatically if, for example, a 3S or 4S Lipo is connected. Info: After switching on (1 x a slightly longer beep) is heard, the detection of cells: 3S = beep 3x, 4x beep = 4S; ... If the under voltage limit is reached, a battery warning issued over the Summer. IF you hear this warning, the Kopter should be landed. If you set a wrong under voltage limit (maybe to low), you will hear the warning until this (wrong) voltage. • en/MK-Parameter/Misc

52Are the cells (it already reaches 1 cell) then lower then 3V, the performance may decrease abruptly.

CH voltage [0.1V] Here you can set the voltage where the copter should automatically fly back to the home position. ImportantThe voltage should be less or equal than the Under voltage
. •

Autoland. voltage [0.1V] Here you can set the voltage where the copter should automatically land. ImportantThe voltage should be less or equal than the Under voltage
. •

Voltage reference Normally you do nothave to change this!! This setting is only for a few FlightCtrl V2.1 at the beginning who get's a other voltage regulator. With this you see in the KopterTool a lower voltage then it realy is. Here you can adjust this. More informations about this you can find here : UndervoltageSettings •

Loss of receiving : INFO: The emergency gas is only active when a gas value was >40 for at least 4 seconds. This means the copter is flying! If the copter stay on the ground, you start the motors and switch off the transmitter, the motors will stop immediately and the functionemergency gas is not working! •

Emergency Time [0.1s] Here the time is entered in tenths of seconds for which the gas is actively seeking emergency reception failure. As a value, a number 1-247 can be entered. So it is a maximum time of emergency-throttle/gas (247 x 0.1s) 24.7 seconds possible. • Emergency-Gas With this emergency gas value the copter goes into the descending flight when a) the time for the FailSafe is over or b) FailSafe is not set/enabled. For the emergency gas there are two possibilities: Automatic If you activate Use vario control for failsafe altitude a percent sign appears before the input fieldemergency gas . Now you can set the emergency gas as a percentage value. Now the neededemergency gas will be calculated automatically - no matter how heavy the copter is. Applies here => 100 = 100% = Copter hovers / keeps the height. IMPORTANT: The functionVario altitude control must be the selected under the tab Altitude
. ♦

Manual setting Depending on the total weight of the copter emergency gas and the settling velocity can be ♦ • en/MK-Parameter/Misc

53entered individually. The value should not be set too low or too high. Otherwise the copter can fall to fast down or climb into the sky if the signal is lost. (See below under

Obtaining Emergency-gas values ) INFO: The set value (Manuell or Automatic) should be chosen so that the UAV to quickly lose altitude. Decreases the copter too slow, the emergency gas time can flow during the fall and the engines put off!

FailSafe CH time In case of RC transmission-lost the MK will fly now automatically for 60 sec. to the Home-Position. (Commercial users can determine up to 247 Seconds.) The function and settings of the FailSafe themselves are described here: FailSafe •
!Failsafe channel If a receiver is used which is not showing a receiving failure a loss of the received signal will be not detected and the Kopter would continue to fly with the last received settings. Here you can enter a free channel. This channel must be set over the "!Failsafe" of the receiver so that the channel is switched off during a loss of a received signal. Is that channel available on a button at your transmitter you can use actually that button as a test-button for the function "!Failsafe". •

Error-Beep (No beep without active transmitter) If you power on your Kopter and the transmitter is not switched on, the Kopter give you a beep signal. This beep signal will stop if you switch on the transmitter. After activating this function, the copter will not beep after you power on the Kopter and forgot the transmitter. (The signal loss is still displayed) •

Use vario control for failsafe altitude If this function is enabled, a percent sign appears in front of "emergency gas" (%). See above => emergency gas > Automatik • Compass error NOTE: This function should only be used for testing purposes! If you click here "ignore magnet error at startup" magnet failure messages will be ignored which are avoiding a start of the Kopter. When using this function a flying with GPS function ( PositionHold , ComingHome , CareFree ) is expressly not recommended. Existing magnetic errors can affect the flight and cause a malfunction of the compass. This can lead to the crash of copter. •

SD card missing If you click here "not start without SD card" the Kopter will start only with the insert SD-Card. If the card is missing the motors can be maybe started. But then a lift of / increase of the engine speed is not possible. That can be necessary for the commercial use of the Kopter if certain legal requirements are requested. (i.e. range limit, Emergency program within an unforeseen exit of a prescribed radius, etc.) (see also: FailSafe ) •

GPS fix missing If you click here "not start without GPS fix" the Kopter will only start with a made Sat-Fix. If the GPS fix is missing the motors can be maybe started. But then a lift of / increase of the engine speed is not possible. Without a Sat-Fix the GPS-Functions like PositionHold, ComingHome or FailSafe are not possible. To ensure that the GPS functions can be used you can activate this function. • en/MK-Parameter/Misc

54Info:

This Emergency-Gas function is used at your own risk. In the event of a loss of reception the Kopter may come down with a sink rate defined here. The Kopter comes down there where the loss was of the reception. Damage to the MikroKopter can not be ruled out! To display this feature, the receiver must receive the loss. This can easily be checked: - Receiver is connected to FlightCtrl. Transmitter and FlightCtrl are switched on (powered). - Now, the transmitter is turned off the red LED lights on the Flight-Ctrl. and the buzzer gives a warning signal. If there is a loss of reception (e.g. from out of range or transmitter off), the gas emergency regulation becomes effective. Find the right emergency gas value formanual emergency gas: On an open field with plenty of space, the required emergency gas value and the function can be flown easily tested. To read the values??, perhaps, a second person could be there and help. You can store different emergency gas levels in the various settings !!! If, for example, a camera is carried later on the MikroKopter the UAV is heavier and therefore it must be another/different Emergency-gas time adjusted !!! The easiest way to determine the needed gas value is in the KopterTool. This should include a data link between the MikroKopter and the PC ( or laptop) to see the data in KopterTool. This can be done over a Bluetooth modul or a Wi232 modul ( Link ). If the connection is available you can change in the Kopter-Tool into the following display (with the red arrows):

Now the Kopter can be started and you can hover in a height of approx. 15 - 20mtr (or higher). All additional features such as height, PositionHold, etc. are off. The value now displayed next to Gs: is the gas float value. Now, the gas can be reduced slowly so that the MikroKopter falls. If you have a proper rate of descent and if this value is reached, the value can be read next to Gs:
. This value can be entered now as emergency-gas . If the value is entered and stored in the !Flight-Ctrl. the MikroKopter can hover in the air and you can turn off the radio once. • en/MK-Parameter/Misc

55 The copter should come down now with the emergency gas setting and shut down after the set time, the engines.

# en/MK-Parameter/Gyro 20 LotharF MikroKopter.deIn this window you can set up the function of the gyro.

en/MK-Parameter/Gyro

57Gyro P

Influence of the gyro on the pitch and roll rate. The higher the value, the more sluggish moves the MikroKopter. Yaw P Yaw rate ratio to stick deflection. If high, fast rotation - if low, sluggish reaction. ♦ •

Gyro I Position stabilization. The higher the value, the stronger the relationship between stick angle and position angle. Leads to large values ??(compared to gyro-P) to oscillate. If high, hard control '(high angles stabilization)' can be set up under vibration inclination, if low, soft control, tilt swing, wind-sensitive. Yaw I Yaw rate ratio to stick deflection. ♦ •

Gyro D Controls the angular velocity upon returning from attitudechanges (from tilted to level). If short control oscillations occurs it can be reduced with Gyro-D. Is the value to high, the MikroKopter starts to vibrate / grumble. Too low, and the MikroKopter will shake when flying fast, or when in wind. Setting: a little bit below the value before the MikroKopter begins to vibrate (reduce by 20%). •

Dynamic Stability With this value now you can adjust how much the thrust regulates the axis control at this point. Some pilots have been disrupted because of the strong increases of the MK. That was the reason for the rise in the wind and other phenomena such as, for example, bearing damage. Beginners also have • en/MK-Parameter/Gyro

58problems with jumping on landing, which also has this cause. Smaller 64 -> the thrust is limited to less gas -> no rise in or with strong control. ♦ Greater 64 -> The thrust can be greater than gas -> hard control of the axis -> Rises with strong controls. ♦ Rotationrate limiterAfter activating this function the electronic brakes faster axis motions of something. ♦ ACC/Gyro-Faktor: Relationship between ACC sensor value and Gyro-integral. If the MK is tilted a few degrees, the line of the ACC and the Gyro-integral have to be congruent. If it's necessary it can be corrected here. • ACC/Gyro-Comp. Degree of fusion between ACC and Gyro (reciprocal). The smaller the value, the faster the gyroangle adapted to the ACC sensor. For hovering, high values are advantageous (> 100). For high-speed and aerobatics, you should use smaller values (10-50). This setting can also affect the performance of the gimbal-compensation. •

Main I Summery of the angular errors. Provides greater precision between stick and location. Should be increased when flying with heading hold enabled. Can contribute to large values ??of swing. • Drift-compensation (only for FlightCtrl V1.x - not for FC >2.0) Specifies how many eighth (1/8) digits per 500 ms of drift must be tracked. If the value is to small -> Gyrodrift (e.g. during temperature changes) pulls the MK strongly in one direction. • Value to high -> MK does not float so much on one spot. Zero -> Drift compensation off, standard is 32, so rather conservative. Note: At the FC 2.x ME the value is always 0! Gyro stability MWith this parameter you can change the "hardship regulation" of the position controller. Generally low hardness: the MK does not react as strongly to disturbances (e.g. variations due to wind) High hardship regulation: der MK reagiert sehr stark auf Störungen. The MK is way more 'crispy' in the air. However, there can be variations in the ascent - particularly with heavy propellers (APC etc). Gyro stability = 6 (Standard) => light reduced hardship regulation ♦ Gyro stability = 8 => normal hardship regulation ♦ Gyro stability = kleiner 8 => reduced hardship regulation ♦ Gyro stability = größer 8 => higher hardship regulation ♦ From version v0.82 for the flight control you can set this value 1 to 16. ♦ •

Motor smooth (Is not required for standard MikroKopter - Should reduce swing Koptern at coax) With the "Motor smooth" the target values ??for the BL-Ctrl on the end of the regular routine again filtered. 0 = original Filter 1 = unfiltered 2 - x = filtered values If the values ??are too large, it could theoretically swing something. •

Some of these values you can get while experimenting with the settings to a potentiometer and to get the optimal values out of a flight: Link
. en/MK-Parameter/Gyro

59

# en/MK-Parameter/Coupling 14 LotharF MikroKopter.deA yaw movement couples pitch and roll now. This means that the MikroKopter flies a curve if, for example,

you nick and yaw at the same time. This prevents that the MK is getting dizzy after curves. en/MK-Parameter/Coupling

61Yaw pos. feedback

Here the degree of coupling axis is set. Is the value too small, the MK hangs in a left curve to the right. Is the value too large, however, the MK hangs in a left curve to the left. •
Nick/Roll feedback Here the negative feedback of the coupling shaft can be adjusted. This takes up the nose of the copter in the curve. If the value is too large, the MK is on a curve (e.g. left forward) backwards. If the value is too small, the MK is on a curve (e.g. lefr forward) forwards. •

Yaw correction So the MikroKopter tries to counteract the (possibly unintentional) change of direction or limit this movement. If the value is zero it turns deliberately into a curve. So you can use as a rolling "aileron". If the sport-settings are to strong or aggressive, you should set the value to 1. • en/MK-Parameter/Coupling

62

# en/MK-Parameter/Mixer-SETUP 16 LotharF MikroKopter.deHere, for example, tables for the mixer such as QuadroKopter, HexaKopter and OktoKopter can be loaded.

Also since the orientation of the FlightCtrl software version v0.80 it can be freely chosen. en/MK-Parameter/Mixer-SETUP

64The FlightCtrl needs information about the motor assembly. For this, a mixer table is used.

The mixer tables for different types of copter and mounting positions can be loaded here and stored in the copter. Also you can create your own mixer tables. If you create your own mixer table you can also use aBMP image (150x150 pixels) to display the motor assembly. This image must have the same name as the saved settings file. •

There are already several mixer tables of the most popular models in the KopterTool available. In order to get the right mixer table, "click" on the buttonLoad and chose the right .mkm file. If you have the right file save it withWrite into the FlightCtrl. •

INFO for .mkm Datei: In the picture of the .mkm file you see: the arrangementof the motors ♦ the addressing of each motor ♦ the rotation of each motor ♦ and the orientation! of the FlightCtrl - displayed with the arrow. ♦ •

There are already different tables in the mixer KopterTool available. To load the correct mixer table, the buttonLoad

can be clicked and the right . mkm file can be opened. After opening the appropriate table that will be then written with a "click" on the buttonWrite into the FlightCtrl
. INFO: .mkm Dateien => (the direction of rotation per motor will be shown in a graphic) en/MK-Parameter/Mixer-SETUP

65Quadro.mkm Quadro-X.mkm Hexa.mkm Hexa2.mkm

For Basisset: Quadro(L4-ME) / QuadroXL For Basisset: Quadro(L4-ME) / QuadroXL For Basisset: Hexa / Hexa2 / HexaXL No Basisset available.

Okto.mkm Okto2.mkm Okto3.mkm Okto-U

For Basisset: Okto For Basisset: Okto2-26 / OktoXL No Basisset available. No Basisset available. The arrow in the middle represents the flight direction (forward) . More Mixer-Tables are displayed here: MKM-Daten . Info: • The default setting is always a mixer table for the Quadro (4 BL-Ctrl/Motors) loaded. If you use e.g. a Hexa (6 BL-Ctrl/Motors) or Okto (8 BL-Ctrl/Motors) the FlightCtrl "find" the first 4 BL-Ctrl but not the other BL-Ctrl. So you will get an error meassage and also a red LED on the BL-Ctrl Nr. 5,6,7,8... So if you use a HexaKopter or a OktoKopter you have to set first the right mixer. 

## Choice of orientation Normally the FlightCtrl shows with the arrow to the rigger No.1 (red). To change the orientation of the UAV it must normally be mounted with the arrow of the FlightCtrl into the new flight direction. (See e.g. Quadro.mkm + Quadro-X.mkm) • en/MK-Parameter/Mixer-SETUP

66With the focus now you can determine where the front should be. With the two arrows you can

change the orientation in 15 ° increments. In this example the "front" is between boom 1 and 3. NOTES: This choice is NOT global -> so you can choose them from setting to setting in a different way. ♦ These function is also without NaviCtrl available. ♦ The camera angle of the camera mount (nick / roll-bonding) is related to the FC and the arrow does not rotate with it. (An adaption of the configuration parameter can be made here: Camera .) ♦ Info: Loopings are not possible if the direction will be changed. ♦



## Function of the Mixer-Table In the mixer table the values ??of the individual motors have to be adapted. This may be necessary in its own frame designs. The individual motor forces are divided into four parts: throttle, nick, roll, yaw =>Therefore rules: A value of 64 is equal 100% If for example an engine has more than 75% gas, you would enter 48. A motor is active if in the "gas" column a value greater than 0 (zero) stands. In the table only the values ??for Nick backwards androll to the rightare registered.. The values ??for the opposite directions are then automatically calculated. The graphic explains how the shares of pitch, roll and yaw are distributed: • en/MK-Parameter/Mixer-SETUP

67For simplicity, in this example, the hexa shares always 100%. You could, however, e.g. distribute the

pitch level with 75% and 100%, because the engines 1 and 4 have a longer (pitch) lever arm. 

## Balance of power Important is the balance of controls . The individual totals of columns Nick, Roll and Yaw must be always 0!
This is indicated with an icon under the column. •


## Check of the correct numbers of BL-Ctrl Since FC v0.73 at the start the proper number of tested BL-regulators will be displayed and if an error appears also shown in the KopterTool. When a BL controller on the bus is not found, you can start the engines, but you can not accelerate. •



### Display of all connected BL-Ctrl's In the virtual menu can be displayed the found BL-regulator: • en/MK-Parameter/Mixer-SETUP

68

### Display of I2C disorders

In the virtual menu can be displayed the I2C-Errors:

Attention: If the I2C bus is faulty, it can count up a random error.. If the error is permanently available, you'll find help here: Link • en/MK-Parameter/Mixer-SETUP

69

# en/MK-Parameter/Easy-SETUP 14 LotharF MikroKopter.deIn the Easy Setup all important settings of the Mikrokopter are summarized on one page.

This makes the basic setup very easy. en/MK-Parameter/Easy-SETUP

71Name of configuration

In the KopterTool you can set and save 5 different settings (configurations). Under Name of configuration you see the name of the chosen setting. This can also be changed by yourself. The names of the settings are: Setting 1 = Fast(Sporting flight attitude) ♦ Setting 2 = Normal (Average flight attitude) ♦ Setting 3 = Easy (Basic flight attitude) ♦ Setting 3 = Easy (Basic flight attitude) ♦ Setting 3 = Easy (Basic flight attitude) ♦ These settings can be adjusted individually via the KopterTool. To select the settings with the transmitter the proceed as follows (the motors are off): Setting 1 => Roll left + Nick middle plus Gas up + Gier left ♦ Setting 2 => Roll left + Nick up plus Gas up + Gier left ♦ Setting 3 => RRoll middle + Nick up plus Gas up + Gier left ♦ Setting 4 => Roll right + Nick up plus Gas up + Gier left ♦ Setting 5 => Roll right + Nick middle plus Gas up + Gier left ♦ •

Enable Altitude control Disabled by default. Here you can enabled / disabled the function of the altitude controller. If the altitude controller is activated, the functionautomatic AltitudeHold can be switched on/off via a switch on the transmitter. • en/MK-Parameter/Easy-SETUP

72So when you switch ON the function with the switch on the transmitter, the altitude sensor takes the

complete control of the total thrust. In this case, not the rotation speed of the motors is influenced via the gas stick. In this case the reference value for the level is shifted. Example: - The throttle stick is in the middle position => the copter hold the current height. - If the stick is moved upwards the desired value for the altitude is shifted upward => the copter rises. ♦ - If the stick is moved downwardly the desired value for the altitude is shifted downward => the copter sinks. ♦ Applies here: Depending of the position of the stick for up/down the copter will slow or faster go up/down. Info: If you activate here the functionEnable Altitude control , automatically the fashion "Vario-height" is selected ( Link ). More informations about the altitude sensor you can find here: Altitude sensor ♦

Setpoint Set by default to Ch5. To use the FunctionAltitudeHold you need a 2-way switch on your transmitter who is also set to channel 5. But you can also use a other channel for the switch. You have only to set the same channel of the switch here under Setpoint . (How the channels are assigned to the switches on the transmitter, can be found in the manual of the transmitter) In this example the switch on the transmitter is assigned to 5 (Ch5). If you switch this button now at the transmitter, the bar display next to the selection box is going up/down. •

Stick neutral point Set by default to 127 => Central position of the throttle stick. INFO: If you not remove the spring of the throttle stick, the throttle stick will also be automatically in the middle position. If you then use the functionAltitudeHold the copter will also hold automatically the altitude. If the spring is removed you have to move the stick yourself to the middle position. ♦ •

Auto Start/Land Channel (ab V2.00) Set by default to Inaktiv. With this function you can automatically start and land the copter. To use the functionAuto Start/Land you need also a 2-way switch and a free channel on your transmitter. The used channel for the switch on your transmitter you have to set under Auto Start/Land Channel
. (How the channels are assigned to the switches on the transmitter, can be found in the manual of the transmitter) INFO To use the functionAuto Start/Land you have to switch ON the functionAltitudeHold (fashion "Vario-height" must be selected under Altitude !) ♦ • en/MK-Parameter/Easy-SETUP

73Function of the switchAuto Start/Land : Switch is OFF => Auto Land ◊ Switch is ON => Auto Start ◊ ♦ The procedure: - After you switch ON the transmitter and the copter you calibrate the Gyros. - All functions (switches on the transmitter) are OFF. - Activate now functionAltitudeHold
. - Start the motors of you copter. - Move the throttle stick slowly to the middle position - the copter will not go up because the functionAltitudeHold

is ON. - Now change the switch for Auto Start/Land

to ON => the copter will automatically start and fly in an altitude of ~1-2m. ♦

GPS Enabled by default. Here you can enabled / disabled the function of the GPS. If the function is selected you can use functions like PositionHold or ComingHome with a 3-way switch on your transmitter. (a Set Navigation is needed) •

GPS Mode Control Set by default to Ch6. To use the functions PositonHold andComingHome you need a 3-way switch with a free channel (here channel6) on your transmitter. (How the channels are assigned to the switches on the transmitter, can be found in the manual of the transmitter) •
Dynamic PositionHold Enabled by default. • Here you can activate / deactivate the functionDynamic PositionHold
. Genutzt wird "Dynamic PositionHold " mit der Funktion PositionHold. Function ON: Here the copter can be moved to a new position by using the nick-/roll stick. The target-value of the GPS coordinates will be shifted. With this a more accurate positioning is possible - even with wind. It will move to the positions a little bit slower. ♦

Function OFF: The copter is controlled directly by moving the nick-/roll stick. The function PositionHold will be disabled by stick movement. And it will be re-enabled at the new position after you release the sticks.

Note: Default is ON. Can be disabled at "EasySetup" or "NaviControl2". ♦ •

ComingHome Altitude Disabled by default. Here you can set an altitude. The copter will use this altitude if you use the function ComingHome. Also during a FailSafe the copter is using this altitude. • After activate the ComingHome function, the MikroKopter flies automatically back to the starting point. (a GPS satellite fix has to be present!). During the return flight, the copter takes the amount who is set here and fly's back in this altitude to the 'Home position'. If he reach the home position the copter will stay at this altitude and you can land the copter manually. • en/MK-Parameter/Easy-SETUP

74During the return flight, the set altitude is served with 3m/sec - this you can not change!

Applies here: 0: Out -> the current height of the copter is maintained. 1-247: Altitude in meter -> The copter will fly to this altitude if you activate ComingHome (CH). ♦
IMPORTANT The copter flys only to this altitude and hold it if:

- the function AltitudeHold is activated and you use the Vario altitude control
. - the throttle stick must be in middle position. • Carefree control Set by default to Inaktiv. If you use the Set Navigation (NaviCtrl with compass and GPS) you can use the function CareFree too. To activat / deactivate the functionCareFree you need a free channel and a 2-way switch on your transmitter. This used channel for the switch you set here under Carefree control
. (How the channels are assigned to the switches on the transmitter, can be found in the manual of the transmitter)<<BR> The function: When this function is "ON", the control direction of nick and roll is no longer fix on the "Front" (rigger Nr.1 of your copter). If you have activated the function the copter will use the compass. So if you start the copter and the function !Care Free is activated, the direction where the front rigger shows is now the front. And this also if you yaw the copter. •

Teachable CareFree Enabled by default. If you use "Teachable CareFree" you can also switch on/off the function during flight and change during flight the front direction. A distinction is made: The copter is Inside of a 20m radius around the place where you start the copter. If you activate here the function CareFree the direction in which the red rigger (rigger Nr.1) is is now fix. If you now yaw the copter he will hold the direction for nick / roll. ♦ The copter is outside dof a 20m radius around the place where you start the copter. If you now activate the function CareFree it is doesn't matter in which direction the front rigger shows. Now the copter use the place where you start and the position where the copter now is for the direction. So the direction from the copter to the starting place is Nick backwards and the direction from the starting place to the copter is Nick forward. No matter in which direction the red rigger shows. ♦

Note: You can alsways change the CareFree direction if you switch off and on the function. More informations: CareFree •

Mixer-SETUP Set by default to "Quadro". If you use a QuadroKopter (4) in "X" Direction or of you use a HexaKopter (6) or OktoKopter (8) you have to change here the mixer. The mixer tells the FlightCtrl how many motors are in use and the arrangement. INFO: MischerTabelle
. • en/MK-Parameter/Easy-SETUP

75There are already different tables in the mixer KopterTool available. To load the correct mixer table,

the buttonLoad

can be clicked and the right . mkm file can be opened. After opening the appropriate table that will be then written with a "click" on the buttonWrite into the FlightCtrl
. INFO: .mkm Dateien => (the direction of rotation per motor will be shown in a graphic) Quadro.mkm Quadro-X.mkm Hexa.mkm Hexa2.mkm

For Basisset: Quadro(L4-ME) / QuadroXL For Basisset: Quadro(L4-ME) / QuadroXL For Basisset: Hexa / Hexa2 / HexaXL No Basisset available.

Okto.mkm Okto2.mkm Okto3.mkm Okto-U

For Basisset: Okto For Basisset: Okto2-26 / OktoXL No Basisset available. No Basisset available. The arrow in the middle represents the flight direction (forward) . More Mixer-Tables are displayed here: MKM-Daten . en/MK-Parameter/Easy-SETUP

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