# en/Okto-BL-Ctrl_3 5 LotharF MikroKopter.de

# Inhaltsverzeichnis

1 Okto XL - Combi........................................................................................................................................1/11 1.1 power............................................................................................................................................1/11 1.2 Fast response with speed control..................................................................................................1/11 1.3 Other Features...............................................................................................................................1/11 1.4 Interface........................................................................................................................................1/11 1.5 mechanical data.............................................................................................................................1/11 1.6 delivery.........................................................................................................................................2/11 2 Connections.................................................................................................................................................3/11 2.1 Top................................................................................................................................................3/11 2.2 Bottom..........................................................................................................................................3/11 2.3 Drills.............................................................................................................................................4/11 2.4 Connect.........................................................................................................................................5/11 3 Settings.........................................................................................................................................................7/11 4 Error codes..................................................................................................................................................9/11 5 SW-Update................................................................................................................................................10/11 6 FAQ............................................................................................................................................................11/11 6.1 Motor connection........................................................................................................................11/11 6.2 Adressing....................................................................................................................................11/11 6.3 Buzzer.........................................................................................................................................11/11 6.4 What is the gray 1-line cable for?...............................................................................................11/11 en/Okto-BL-Ctrl_3

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# 1 Okto XL - Combi

1.1 power voltage : 10 to 30V -> 3 -7S Lipo • 6 -layer PCB for optimal heat dissipation . 70u copper layers make the entire circuit board to the heat sink . • current: up to 30A (per unit) and 120A (Total) - with appropriate cooling • current limiting and temperature limiting • Active freewheeling -> less power loss • 

## 1.2 Fast response with speed control rapid acceleration and braking of the propeller. Active and seamless braking gives the speed precisely and quickly on the new setpoint . • return energy to the lipo when braking. Seamless transition from acceleration to braking • significantly faster control with speed control • 

## 1.3 Other Features Integrated 12V voltage regulator for external LED-Supply • Switchable LED output -> LEDs can flash in case of undervoltage • Adjustable motor timing in several steps of 13-28° - compatible with the most common BL motors • Adjustable switching frequency ( 10kHz - 20kHz ) • PPM to 500 Hz with simultaneous I2C - bus operation for telemetry and data logging • Integrated 12V stabilization for LED lighting and other 12V appliances • Switchable outputs for lighting -> ZB The blinking lights at low voltage • Software adjustable direction of rotation • Adjustable current and temperature limits • Adjustable start-PWM • Silent Start: test tone at startup can be disabled • 

## 1.4 Interface various interfaces for setpoint input ( I2C, PPM ( 500Hz ) , serial) • Integrated current measurement measurement of the actual current and the used capacity on the Mikrokopter control • voltage and temperature measurement with data transmission to the ground station and data logging • 11-bit resolution (2048 steps ) • various feedback to the MikroKopter

- FlightCtrl ( blocked motor , power limiting , etc. ) • extented configuration options (eg current limit , temperature limit , ...) • two LEDs (OK and Error ) • all BLCs are already adressed (address 1-8) • I2C bus access possible in PPM mode - for data logging and telemetry in PPM mode • status messages are transmitted to the FC ( engine blocks , Current, Self-test error ...) • current measurement up to 75A per controller • Convenient configuration of the BL controller via FC • 

## 1.5 mechanical data hole: 3mm • Dimensions (W x H ): • 1/11weight: appr. 119g

• 

## 1.6 delivery 1 SMD preassembled, programmed and tested board with 8 ESCs • Lipo Power cable (open ends) • 1-line cable for LED output control • en/Okto-BL-Ctrl_3 01/30/15 22:59:45

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# 2 Connections

2.1 Top

2.2 Bottom

3/11

## 2.3 Drills

en/Okto-BL-Ctrl_3 01/30/15 22:59:45

4/11DXF (CAD-File)



## 2.4 Connect FlightCtrl: by the 5-lines molex cable • LiPo: LiPo plus / LiPo minus • Stabilized 12V supply: +12V / - • Adressing: The BL-Ctrls are already adressed • LiPo-Voltage outputs (for low currents up to 3A) • switched LED Stripes connections (4x)(switched by Out1 or Out2 of the flight control) => Plug the gray connector cable int Out1 or Out2 of the FC to use switchable LED-Lights => A / - ♦ •
Motor 1-4 • en/Okto-BL-Ctrl_3 01/30/15 22:59:45

5/11=> Motor outputs 1-4 / A, B, C => You can either solder the cables on the top or the bottom side => the cable colour is marked for the standart MK-rotation direction ♦ Optional: Second Recom -> You can add a second voltage converter (for example 5V) • Buzzer: connect the buzzer ba a 2-line cable to the "BuzZ" marked connections • en/Okto-BL-Ctrl_3 01/30/15 22:59:45

6/11

# 3 Settings

IMPORTANT: To change the Settings of the BL-Ctrl V3.0 you need a Software version since V2.02a ( KopterTool , FlightCtrl , NaviCtrl )! Normally you have not to change the settings! If you have to to it you can do it like described: open KopterTool • press button "Strg" on your keyboard and hold it down. • Then "click" "Settings" in the KopterTool
. • Now you will see the window of the BL-Ctrl V3.0. INFO: only if you "click" and activate the single settings there you can change them.

7/11en/Okto-BL-Ctrl_3 01/30/15 22:59:45

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# 4 Error codes

The BL V3 performs a selftest during startup (test-tone). In case of an error, these are the blink codes: 1 "1" = Shortcut between A+ and B- • 2 "2" = Shortcut between B+ and C- • 3 "3" = Shortcut between C+ and A- • 4 "E" = A doesn't go to high • 5 "F" = B doesn't go to high • 6 "G" = B doesn't go to high • 7 "H" = A doesn't go to low • 8 "I" = B doesn't go to low • 9 "J" = C doesn't go to low • 10 "K" = Overcurrent when switching to low • 11 "L" = Overcurrent when switching to high • 12 "Q" = Cross-circuit between low and high • 15 overcurrent while starting the motor • 16 error current measurement • 17 error voltage measurement • 18 error temperaturen measurement •

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# 5 SW-Update

If there is a new Software for the BL V3, here you can see how to update the BL: Update

10/11

# 6 FAQ

6.1 Motor connection The motors can be connected either on the top-side or on the bottom-side. You can ignore the small (pre-)soldered points on the top-side. 

## 6.2 Adressing The BL-Ctrls are already ardessed. This can't bechanged on this coto. 

## 6.3 Buzzer The buzzer is connected via a cable 

## 6.4 What is the gray 1-line cable for? Plug the gray connector cable into Out1 or Out2 of the FC to use switchable LED-Lights KategorieMK-Baugruppe/de •

11/11

# en/BL-Ctrl_2.0 31 LotharF MikroKopter.de

# Inhaltsverzeichnis

1 Brushless-Controller Version 2.0................................................................................................................1/8 1.1 main Features..................................................................................................................................1/8 1.2 Features...........................................................................................................................................1/8 1.2.1 Show temperatures in the virtual display..............................................................................1/8 1.2.2 Display of the measured values in MKTool..........................................................................2/8 1.2.3 value of the rotation speed....................................................................................................2/8 1.2.4 Display of the temperatures in the display Jeti.....................................................................3/8 1.3 Safety..............................................................................................................................................3/8 1.4 Adjustable.......................................................................................................................................3/8 1.4.1 Meaning of the parameters:...................................................................................................4/8 1.4.2 Notes......................................................................................................................................4/8 1.5 Address selection............................................................................................................................5/8 1.6 Capacitors.......................................................................................................................................6/8 1.7 Wiring diagram...............................................................................................................................6/8 1.8 Connection......................................................................................................................................7/8 1.9 BL-Ctrl in Okto distribution...........................................................................................................7/8 1.10 Software Update...........................................................................................................................8/8 1.10.1 Addresses 9-12....................................................................................................................8/8 1.11 Miscellaneous...............................................................................................................................8/8 en/BL-Ctrl_2.0

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# 1 Brushless-Controller Version 2.0

Shoplink
Note: The BL-Ctrl 2.0 controller is specifically designed and optimized for our MK3638 motor. For maximum stability of the MikroKopter setpoints are set almost instantaneously on the motor. If other motors (especially larger power classes) are used with this controller, this fast change of setpoints can easily lead to very high peak currents, which bring the BL-Ctrl control to the limit or an overload. This is no fault of BL-Ctrl2.0 controller, but a systemic property. Please consider carefully whether a different motor is suitable. 

## 1.1 main Features ATMEGA168 with 16kB Flash • Current: 35A continuos & 40A Peak (provided there is good cooling) • Voltage: up to 5s- Lipo (18,5V) • Sizes: 21 x 44mm (like the V1.0) • Capacitors: a second capacitor is required for currents > 20A • 

## 1.2 Features Current measurement • Temperature measurement • Voltage measurement • 11Bit Resolution (2047 steps) • I2C-Bus for MikroKopter • serial port for MKTool • PPM-input (Important: if the PPM-input is used make sure the 4-5 jumper is not closed) • Jumper to address the Addresses 1-8 • Configurable by the I2C-bus using Koptertool -> the Koptertool can remain connected to the Navi or the FC • 

### 1.2.1 Show temperatures in the virtual display

1/8

### 1.2.2 Display of the measured values in MKTool

(in this case the BLC must directly connected to the MKUSB) 

### 1.2.3 value of the rotation speed The motor speed in RPM (Rotation per minute) is: UPM = raw * 780 / no. of magnets • Example: at rpm(raw) = 30 is the speed 2340rpm if the motor has 10 magnets • Electrical commutation frequency vs. rotation speed en/BL-Ctrl_2.0 01/30/15 23:01:19

2/8RPM = f * 60 * 2 / magnets

• The maximum electrical commutation frequency of the BL2.0 is 1666Hz, so the max rotation speed is 20.000rpm if the motor has 10 magnets 

### 1.2.4 Display of the temperatures in the display Jeti

See also: JetiBox 

## 1.3 Safety adjustable current limit, gently slows down and doesn't shut off • gentle reduction of temperature • doesn't start at> 85 ° C (if the engine is blocked for some time) •



## 1.4 Adjustable The settings are recordered at the start of the MK into the BL-Controller. The settings can be stored manually in the single controllers. In order to show the BL-Ctrl menu press Ctrl + Settings
. en/BL-Ctrl_2.0 01/30/15 23:01:19

3/8•



### 1.4.1 Meaning of the parameters: Max. current: Sets the upper limit for the motor current in amperes. At higer currents it is not switched off but cut back • Temperature Limiter: Limits the maximum temperature of the board in °C. At higher temperatures are not turned off, but cut back (one percent per 0.1 ° C) • PWM Scaling: defines the maximum power at maximum setpoint. This allows you to limit the maximum thrust, without losing resolution on the gas control. • Start PWM: set PWM when you start the engines. When the motors start badly, you can modify this value. • Current Scaling: this value is used for individual fine tuning of the current measurement of a controller. • Reverse Direction: Here you can reverse the direction of a controller by software. • 

### 1.4.2 Notes You can set the parameters of a single controller using its address, or even all at the same time (select "Any"). • Only activated (front chackbox) parameters are set. • To store the settings permanently (ie, even after restart) in the controllers you must activate the option "Store to EEPROM" before writing. • The default settings can be loaded again when the button "Restore Default" is pressed. However, these are stored permanently only if you have also selected the option "Store to EEPROM". • Only settings of controllers whose gas mixing in the mixer table is greater than 0, which means are then used in the attitude control, can be written and read. • en/BL-Ctrl_2.0 01/30/15 23:01:19

4/8•

See also: Firmware 0.80 

## 1.5 Address selection Each engine requires a unique address. Therefore the BL controls addresses are assigned by 1-8. On BL-Ctrl V2.0 the motor address is set on the board using jumpers (use solder).

Where: Adress (Motor) 1-2 2-3 4-5 1 open open open 2 open closed open 3 closed open open 4 closed closed open 5 open open closed 6 open closed closed 7 closed open closed 8 closed closed closed en/BL-Ctrl_2.0 01/30/15 23:01:19

5/8

## 1.6 Capacitors

The BL-controller comes with two capacitors. The second capacitor is needed from 20A. It does not hurt if you fit both capacitors.

Important note: polarity - the white, thick-minus mark of capacitors must be on the board margins 

## 1.7 Wiring diagram http://mikrocontroller.com/files/BL_Ctrl_V2_0_Doku.pdf en/BL-Ctrl_2.0 01/30/15 23:01:19

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## 1.8 Connection

INFO: Normally you connect the BL-Ctrl on the "I2C-Bus" of the FlightCtrl and set the needed address with a solder-bridge on the BL. But if you want to connect the BL-Ctrl with an PPM-cable (see second picture: PPM connection), an addressing with a solder-bridge is not necessary. 

## 1.9 BL-Ctrl in Okto distribution en/BL-Ctrl_2.0 01/30/15 23:01:19

7/8

## 1.10 Software Update

All BL-Ctrl are already set with the latest software and also tested. If you have to install the software again you can find it here:
BL-Ctrl V2.0 - Adr. 1-8: Download description of the BL-Update 

### 1.10.1 Addresses 9-12 For larger MikroKopters with more than 8 motors, you need to update the firmware:
BL-Ctrl V2.0 - Adr. 9-12: Download 

## 1.11 Miscellaneous The software source of these BL-Ctrl is not open • Here the ATMEGA168 incl. Bootloader as spare part • If there is a software update: the software may be updates only by serial MKTool. Using the SPI one would delete the boot loader - which is not public •
General info on BL-Ctrl KategorieMK-Baugruppe/en • en/BL-Ctrl_2.0 01/30/15 23:01:19

8/8

# en/FlightCtrl_ME_2_1 48 LotharF MikroKopter.de

# Inhaltsverzeichnis

1 Flight Ctrl V2.1...........................................................................................................................................1/16 1.1 Top Side........................................................................................................................................1/16 1.1.1 Molex-Connector to connect to power distribution board..................................................1/16 1.2 Bottom Side..................................................................................................................................2/16 2 Flight Ctrl. 2.1.............................................................................................................................................4/16 3 Connections.................................................................................................................................................5/16 3.1 Connectors SV1............................................................................................................................5/16 3.2 Connectors SV2............................................................................................................................5/16 3.3 Connectors SV3............................................................................................................................6/16 3.4 Connectors SV4............................................................................................................................6/16 4 Receiver Connection...................................................................................................................................7/16 4.1 Standard PPM-Receiver................................................................................................................7/16 4.2 Spektrum Satellite Receiver..........................................................................................................8/16 4.3 Jeti Satellite Receiver....................................................................................................................8/16 4.4 HoTT Receiver.............................................................................................................................9/16 4.5 Futaba S.Bus Receiver................................................................................................................10/16 5 Wiring Diagram........................................................................................................................................12/16 6 Hardware Changes since V2.00...............................................................................................................13/16 6.1 What's included and what has changed compared with V2.0.....................................................13/16 7 Other..........................................................................................................................................................14/16 8 Software Development..............................................................................................................................15/16 9 Upgrade for 5S and 6S LiPo....................................................................................................................16/16 en/FlightCtrl_ME_2_1

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# 1 Flight Ctrl V2.1

Shoplink 

## 1.1 Top Side

1.1.1 Molex-Connector to connect to power distribution board 1 - Molex Connector Connections from top to bottom: 1 - Ground (GND FC and Buzzer) 2 - + Buzzer 3 - I2C Bus (D) 4 - I2C Bus (C) 5 - +12V •

1/16suitable connector for the Molex cable

• suitable Molex cable • If you are using this new connection you will be unable to install a power switch for your Flight Controller. The Mikrokopter will then get turned on by connecting your Lipo battery. (All MK with more than 4 engines do that anyways). 

## 1.2 Bottom Side

1 - 10pin connector for MK-USB or NaviCtrl connection 2 - Pressure Sensor (cut out of sensor connector points to the right) 3 - 6pin connector for servo 2 and Servo 3 4 - 6pin connector for servo 4 and servo 5 5 - DC/DC voltage regulator 5v Recom for Flight Controller 6 - DC/DC voltage regulator 5v Recom for servos 7 - 6pin connector for NaviCtrl 8 - 6pin connector for servo 1 and switchable J16/J17 connectors 9 - I2C connector (C/D) for BL Controllers 10 - JET (If you are using the Jeti Satellite receiver you will have to bridge these two connectors) 11 - 5pin connector (5V, GND, 3,3V, RX,TX) en/FlightCtrl_ME_2_1 01/31/15 00:07:05

2/16Connection for Jeti receiver: Connect PPM cable to #13, bridge the 2 connectors on #10 and connect RX ♦ Connection for Spektrum Satellite: : Connect the orange Receiver cable on 3,3V, black to G and gray to RX ♦ •

12 - connection for the buzzer (BUZ-/BUZ+) 13 - Connection for PPM receiver (GN-brown, +5V-red, PPM-orange) 14 - Ground (GND) connection for the Flight Controller 15 - Positive (+) connection for the Flight Controller (if a power switch is being used) 16 - Positive (+) connection for the Flight Controller (without a power switch) en/FlightCtrl_ME_2_1 01/31/15 00:07:05

3/16

# 2 Flight Ctrl. 2.1

The FlightCtrl is already fitted with all needed components.

The FCV2.1 can be connected to the powerboard via the molex cable. When using the Molexkabel between FlightCtrl and powerboard, you don't have to solder the I2C bus, the buzzer and the power cable to the FlightCtrl
. Only the power cable for the receiver still has to be soldered to the FlightCtrl
. The buzzer is connected directly to the appropriate solder points of the powerboard (Buzzer / -). The I2C-bus and the voltage supply are provided from the power distribution via the Molex. Alternatively, the FC V2.1 can be connected with individual cable to the power distributor. But then you don't have to use the Molexcable. When mounting the FlightCtrl , the printed arrow shows to the rigger No.1 (red rigger). The PCB populated side facing up.

4/16

# 3 Connections

(FC2.1 and FC2.0 are identical except the new Molex Connector) 

## 3.1 Connectors SV1

3.2 Connectors SV2 Upper Row (switchable outputs) Pin1: 100mA switchable output with NON Open Collector for LED's, Programmable with MK Koptertool with J16. Pin3: +5 Volt
5/16Pin5: 100mA switchable output with NON Open Collector for LED's, Programmable with MK Koptertool

with J17. Lower row: Nick-Servo Output Pin2: Servo 1 output (for Nick-Servo camera stabilization)(adjustable via MK Koptertool) Pin4: +5V Pin6: GND Attention: the servo outputs get activated after the calibration of the gyros. Push the throttle lever in the upper left corner until you hear the buzzer and the green LED turns off. 

## 3.3 Connectors SV3 Upper row: Servo 3 Pin1: Servo 3 output Pin3: +5V Pin5: GND Lower Row: Roll-Servo Output Pin2: Servo 2 Output ( Setting in Koptertool ) Pin4: +5V Pin6: GND 

## 3.4 Connectors SV4 Upper row: Servo 5 Pin1: Servo 5 output Pin3: +5V Pin5: GND Lower Row: Servo 4 Pin2: Servo 4 output Pin4: +5V Pin6: GND en/FlightCtrl_ME_2_1 01/31/15 00:07:05

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# 4 Receiver Connection

Please note, that you have to choose the right receiver in the settings under "Channels". 

## 4.1 Standard PPM-Receiver Examples: DSL4TOP (35/40MHz) • R6107SP Futaba 2,4GHz • Connection: PPM - sum signal Pad Function Cable color GN GND/Minus Black +5 Plus 5V Red PPM data connection Orange

Click to enlarge the image

7/16

## 4.2 Spektrum Satellite Receiver

The 3,3V power connection for the satellite receiver is on the bottom side of the Flight Controller.
Connection: 2nd serial port connection Pad Function Cable color G GND/Minus Black 3V Plus 3V Orange RX data connection Gray

Click to enlarge the image Also see: Spektrum 

## 4.3 Jeti Satellite Receiver The external diode is already integrated into the FC2.1 circuit and therefore will not have to get soldered.
Connection: en/FlightCtrl_ME_2_1 01/31/15 00:07:05

8/16PPM - sum signal + Telemetry

Pad Function Cable color GN GND/Minus Black +5 Plus 5V Red PPM data connection Orange RX Telemetry connection User defined JET solder bridge for Telemetry

-

Click to enlarge the image Also see: JetiDuplex 

## 4.4 HoTT Receiver Since Software version V0.86 The HoTT receiver will also connected on the PPM and RX pads of the FlightCtrl . To send the telemetry a solder bridge on "JET" is needed. More informations about the HoTT-System you can find here: HoTT
Connection: PPM - Sum signal + Telemetry en/FlightCtrl_ME_2_1 01/31/15 00:07:05

9/16Pad Function Cable color

GN GND/Minus Black +5 Plus 5V Red PPM data connection Orange RX Telemetry connection User defined JET solder bridge for Telemetry

-

Click to enlarge the image 

## 4.5 Futaba S.Bus Receiver Since Software version V0.88 / FlightCtrl V2.1 A S.Bus receiver can be connected with a signal-inverter to the FlightCtrl
. The needed Signal-Inverter you can get here: Shoplink Connection: 2nd serial port connection Pad Function Cable color 5V Plus 5V Red G GND/Minus Black RX data connection Orange en/FlightCtrl_ME_2_1 01/31/15 00:07:05

10/16Click to enlarge the image

en/FlightCtrl_ME_2_1 01/31/15 00:07:05

11/16

# 5 Wiring Diagram

The usage of MikroKopter Software is only permitted on original MikroKopter hardware.

12/16

# 6 Hardware Changes since V2.00

new controller with double the flash memory (ATMEGA1284P) • Molex-connector for easy power distribution board connection • integrated power supply for Spektrum Satellite receiver • JET connector bridge for easy usage for JETI down-link • Adjustable resistor for pressure sensor to accommodate 2000-3000 meters in elevation depending on weather • resistor adjustment for I2C Pull-Ups. • Protection diode for Buzzer • new black color • 

## 6.1 What's included and what has changed compared with V2.0 Pressure Sensor MPX4115A is included • 2 power regulators (recom or similar) are included to supply your flight controller and servos with power • power switch is NOT includes and has to get ordered separately •

13/16

# 7 Other

the boot loader for FC2.1 is not public domain and can not be read out thanks to our good friends in china. •
a AtMega1284 Prozessor with programmed bootloader is available here • under no circumstances is it allowed to program or delete the ISP with Atmel programmers •

14/16

# 8 Software Development

For software development for the new AtMega1284 processor and you need the WinAVR-20060421 Compiler and a special Patch from H&I
. • In addition, in the makefile of the project, change the processor to "MCU = ATMEGA1284P". •

15/16

# 9 Upgrade for 5S and 6S LiPo

Should a 5S or 6S Lipo be used instead of a 4S Lipo, the Recoms regulator must be replaced with an appropriate Traco DC/DC regulator. Furthermore, all electrolytic capacitors in the input area should be exchanged with 25V-rated types. All reconstructions of the FlightCtrl board are taken at your own risk. The voltage regulator must be replaced with one of a correspondingly high input voltage range (e.g. Traco TSR1-2450 ) as the Recoms only permits up to 18V input voltage. Costs about €9. • All SMD capacitors in the input area should be rated to 25V. However, the Kerko - subject to availability upon placer - also only 16V. (yes, the FC is also sold as a max. 4s in the shop) If in doubt, replace. • Exchange the large radial leaded capacitor "C55" for a 330μF/25V type. • KategorieMK-Baugruppe/en •

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# en/NaviCtrl_2.0 26 LotharF MikroKopter.de

# Inhaltsverzeichnis

1 General.........................................................................................................................................................1/34 2 Connections.................................................................................................................................................3/34 3 Integrated compass.....................................................................................................................................4/34 3.1 Indicate the magnet values............................................................................................................4/34 4 Placement.....................................................................................................................................................6/34 5 Connection MKGPS...................................................................................................................................7/34 6 Settings.........................................................................................................................................................8/34 6.1 Activate the GPS-System and assign channel..............................................................................8/34 6.2 Activate CareFree and assign channel..........................................................................................8/34 7 GPS-Mode control....................................................................................................................................13/34 7.1 Dynamic PositionHold................................................................................................................14/34 8 Signal beeps...............................................................................................................................................16/34 9 LED-indication..........................................................................................................................................17/34 10 Functional test.........................................................................................................................................18/34 11 How do you start?...................................................................................................................................19/34 11.1 Calibration of the compass.......................................................................................................19/34 11.2 Videos.......................................................................................................................................24/34 11.3 First Start..................................................................................................................................24/34 12 MicroSD-Card.........................................................................................................................................25/34 12.1 SETTINGS.INI.........................................................................................................................25/34 12.2 stored data - folder "LOG"........................................................................................................28/34 12.3 Presentation of the flight data in Google Earth.........................................................................29/34 13 Parameter................................................................................................................................................31/34 14 Debug-Interface......................................................................................................................................32/34 14.1 NMEA.......................................................................................................................................32/34 15 Upgrading software................................................................................................................................33/34 16 Error Codes.............................................................................................................................................34/34 en/NaviCtrl_2.0

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# 1 General

The NaviCtrl V2.0 with integrated compass is the follow of NaviCtrl V1.1 and expands with the MKGPS the ability of the MikroKopter. Throughout the use of those modules you will get a powerful GPS-System
. With this GPS-System you can use the function like PositionHold, ComingHome, CareFree the Waypoint-flight as well as the FollowMe -function. For the waypoint-flight you can set up to 30 waypoints in the OSD KopterTool. The waypoint-flight (and that of the FollowMe ) is than in a Radius of 250mtr. around the startpoint of the Kopter possible. Users with a commercial license can also use a bigger range. (Questions about the license please wrote to: HiSystem )
1/34All other functions (PositionHold, ComingHome, CareFree, etc.) are usable in the full range of the

transmitter / receiver. (The NaviCtrl with the integrated compass could be also used single with the FlightCtrl. But here would be only the function " CareFree " possible.) The NaviCtrl-PCB has got besides the ARM9-Micro-Controller and the Micro-SD-Card-Socket two additional extension plugs. The first and the second extension plug is free usable for future developments. You can use also the NaviCtrl in connection with the MKGPS as a separate FollowMe-Transmitter . This is explained here: FollowMe en/NaviCtrl_2.0 01/30/15 23:02:21

2/34

# 2 Connections

NaviCtrl V2.0 - Top-Side NaviCtrl V2.0 - Bottom-Side

3/34

# 3 Integrated compass

The function of the MK3Mag compass is now integrated in the NaviCtrl V2.0. You have to calibrate this integrated compass too (see "Calibration of the compass"). During the initialization you will see the integrated compass modul:



## 3.1 Indicate the magnet values The values of the 3-axis sensor you can see on the virtual display of the KopterTool (Button " NaviCtrl "):

To check in the values in the scope of the KopterTool , you can chose them in the second analog-page :

4/34en/NaviCtrl_2.0 01/30/15 23:02:21

5/34

# 4 Placement

On the NaviCtrl V2.0 the pin-header to the interfaces of the FlightCtrl, SPI and Debug are already soldered.

6/34

# 5 Connection MKGPS

For the installation of the MKGPS please note the information under MKGPS
. How to connect the NaviCtrl and the MKGPS with the FlightCtrl you can find here: MK-Tower

7/34

# 6 Settings

6.1 Activate the GPS-System and assign channel To use the NaviCtrl with the compass module MK3Mag and the MKGPS you must activate the function GPS in your settings. In addition you need to have a channel for the mode control to switch between the functions (Free, PositionHold, ComingHome) (pre-set is Poti2 => channel6). This channel must be assigned to a 3-way switch at the transmitter. (How a channel at the transmitter will be assigned to a switch you will find in the appropriate instruction manual of the transmitter.) 

## 6.2 Activate CareFree and assign channel If the function CareFree is used you must assign an additional channel to that function. This function is set up to "0" = Deactivated by default. If here an appropriate channel is set you must assign a switch at the transmitter. (How a channel at the transmitter will be assigned to a switch you will find in the appropriate instruction manual of the transmitter.)

How the function CareFree and the additional activated Teachable CareFree can be used, you can find here: CareFree •

The easiest way to set up/activate the functions is over the menu-point EasySetup
. Here you can activate the GPS and set up the channels to switch for GPS/CareFree. Pre-set is already POTI2 => channel6 for the function of the GPS. CareFree is in the pre-settings on "0" = OFF. Settings in EasySetup

8/34INFO

On the page EasySetup all important settings are summerized. All settings made here are automatically transferred to the corresponding sub-sites.

The settings in EasySetup can be made directly in the different sub-sites.
The GPS can be switched ON/OFF in the tab Configuration :
If you use only the NaviCtrl with the compass module (MK3Mag) it can be activated here individually. An additional function like Fixed alignment can be given. Is that function activated you can yaw the Kopter during the flight • en/NaviCtrl_2.0 01/30/15 23:02:21

9/34If you release the yaw-stick the Kopter automatically aligns itself into the direction

in which the Kopter was at the start.

In the tab Navi-Ctrl you can switch also the GPS ON- and OFF. Also, you can set up here the channel to switch the function: en/NaviCtrl_2.0 01/30/15 23:02:21

10/34Under the tab Misc you can set up the CareFree control

and the Teachable CareFree : en/NaviCtrl_2.0 01/30/15 23:02:21

11/34en/NaviCtrl_2.0 01/30/15 23:02:21

12/34

# 7 GPS-Mode control

A total of three modes can be switched with the GPS mode control
. Those functions are: GPS_MODE_Free (Free) • GPS_MODE_Position Hold (PH) • GPS_MODE_Coming Home (CH) •
As described is this function already pre-set on Channel 6 (POTI2) . This channel can also be changed as desired. To use the function a 3-way switch of the transmitter should be set to that channel and also been used. The Height switch should be switched ON while using this function.
TIPP: The height switch i.e. can be set to the same channel like the GPS Mode Control
. This saves you not only a channel-switch on the transmitter. As soon as the function PH or CH is switched ON automatically the function to keep the height is switched ON. •

Expert function:
The functions are active at a certain value. Those are as follows: GPS_MODE_ Free => Value <20 • GPS_MODE_ Position Hold => Value between 20 and 200 • GPS_MODE_ Coming Home => Value >200 • Info For the function of PH/CH a Sat-Fix is mandatory necessary. If this is not there it can be selected via a switch, but has no function. You must still manually control the Kopter.
In the function PositionHold (PH) the Kopter remains with the support of the GPS on that position at which the function was activated. If you switch to the function ComingHome (CH) the MikroKopter returns automatically back to the start point with the support of the GPS. A switch-back to Free turns the functions off. Tipp:

13/34If the Kopter circles in PH Mode around the activation point (a small radius is pretty much normal) a

new calibration of the compass can help. Also to determine a better and more accurate position the mount of the GPS-Shield1.1 to the MKGPS helps alot. • 

## 7.1 Dynamic PositionHold Either in the EasySetup (see picture above) or under the tab Navi-Ctrl2 the function Dynamic PositionHold can be activated.

The function of the mode PositionHold (PH) is different if Dynamic PositionHold is enabled or disabled :
Function OFF : The Kopter will be throughout moving the Nick- / Rollstick directly controlled. The function PositionHold (PH) will be switched off if you move the sticks. At the new position and after you release the sticks the function PH will be switched on again. ♦ • en/NaviCtrl_2.0 01/30/15 23:02:21

14/34Function ON : Also here you can fly the Kopter through moves with the Nick- / Rollstick to a new position. In that way PH will be not disabled/enabled but the nominal values of the GPS-coordinates will be moved. An more accurate and exact positioning of the Kopter is possible even in windy conditions. The Kopter will fly a little bit slower to the position, moves more sluggish. ♦ en/NaviCtrl_2.0 01/30/15 23:02:21

15/34

# 8 Signal beeps

If the NaviCtrl (with Compass/MKGPS) is properly connected the FlightCtrl beeps more often. The beeps tell you as follows: If the switch for the GPS function will be switched from free to GPS_MODE_ PositionHold or GPS_MODE_ ComingHome and there is no Sat-Fix (LED on the MK-GPS is not flashing) it will beep 1 time per second. The Kopter beeps as long as a minimum number of satellites was found and a Sat-Fix was reached. (See also Paramter "Min Sat"). Exception: The beeping will be more quiet if a Sat-Fix is available but a sufficient number of satellites wasn't found.
Notes: This beep takes place even if GPS is disabled. (If GPS is deactivated set also the value for "GPS Mode Control" to Zero (0).) ♦ •

1x beep *beep* - when changing the GPS-Modes (free - PH - CH) • 1x beep *beep* - when logging new target-coordinates •

16/34

# 9 LED-indication

On the NaviCtrl you can find 2 LEDs, 1x red and 1x green. The red LED indicates you a failure. To show you the respective failures the NaviCtrl must be hooked up to the MK-Tool. The failure will be shown there. The red LED stays on also if the compass is not calibrated! A failure message is displayed as "error6".

17/34

# 10 Functional test

Here you need to open the Terminal Window in the KopterTool . If the NaviCtrl is hooked up single over the connector Debug and connected with the MK-USB and a closed jumper on the MK-USB you should see the following initializing sequence of the NaviCtrl :

TIPP Is the NaviCtrl on the Kopter mounted with the FlightCtrl, the MK3Mag and the MKGPS, those assemblies should be also seen during initializing. Here the jumper shouldn't be on the MK-USB and the Kopter should be supplied with power over a Lipo or an external power-supply.

18/34

# 11 How do you start?

11.1 Calibration of the compass 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.
IMPORTANT The Nick- and Roll axis refers to the FlightCtrl , and not on the Mixer you use! The arrow of the FlightCtrl shows the Nick axis! The Kopter should be calibrated outside, away from magnetic influences! So please do not calibrate the Kopter directly next to a house, near power poles or metallic / magnetic surfaces. Also, please take your cell etc. out of your pocket. The earth's magnetic field is not the same everywhere. That's the reason why you should calibrate the compass new if you change the place where you fly. (e.g. from Germany to USA or from north to south America) The calibration will be done in several steps: Step Function Example View / Function Step 1 Initiate compass calibration Nick down

then Throttle up + Yaw left (The Kopter beeps 1x) On a transmitter in MODE 2 it lokks like in that way:

19/34Step 2

Start Calibration Pull Nick

down 1x (The Kopter beeps 2x and the clicking starts begins) en/NaviCtrl_2.0 01/30/15 23:02:21

20/34Calibration

of the X-Axis (Nick-Axis) The Kopter

with the front (Arrow direction of the FlightCtrl ) pointing to the South or North. Then rotate the Kopter a couple times over the Nick-Axis until the buzzer stops with the clicking starts.

Calibration of the Y-Axis (Roll-Axis) Rotate the

Kopter by 90° The clicking starts again. Rotate the Kopter a couple times over the Roll-Axis until the buzzer stops with the clicking starts. en/NaviCtrl_2.0 01/30/15 23:02:21

21/34Step 3

Finish the calibration of the X and Y-Axis Pull Nick

1x down (The Kopter beeps 3x)

Step 4 Start calibration of the Z-Axis Pull Nick

1x down (The Kopter beeps 4x and the clicking starts begin again) en/NaviCtrl_2.0 01/30/15 23:02:21

22/34Calibration

of the Z-Axis (Yaw-Axis) INFO:

Here it doesn't matter if the Kopter shows with the X or Y-Axis towards South (North). Rotate the Kopter a few times over the Roll- or Nick-Axis until the buzzer stops with the clicking starts.

Step 5 Finish the calibration of the Z-Axis. Pull Nick

1x down The Kopter confirms it with 2 beeps en/NaviCtrl_2.0 01/30/15 23:02:21

23/343. 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! 

## 11.2 Videos (German version)
(English version)
If the calibarion fails (compass still reports "invalid compass value"), you can take a look here: MagnetError 

## 11.3 First Start If you want to try out those functions you need to have a lot of space and a bunch of open sky. As discribed above activate the GPS-Function (and CareFree ) and assign the switch(es) at the transmitter. 1. Switch ON the MikroKopter and ensure a radio contact between transmitter and receiver. 2. 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
. ♦ 3.

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
. ♦ 4.

Wait until the GPS has a Sat-Fix and the LED on the MKGPS flashes. 5. Switch to GPS_MODE_Free ! 6. 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. ♦ 7.
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
. ♦ 8. en/NaviCtrl_2.0 01/30/15 23:02:21

24/34

# 12 MicroSD-Card

Into the NaviCtrl you can place a Micro SD-Card in the size up to 2GB (in FAT16 formatted). Here you can save the flight-route and other datas of the Kopter in KML-Format and GPS-Format. The SD-Card will be plugged in as you can find under Connections into the NaviCtrl
. A detected and initialized Micro SD-Card you can see in the initialization of the NaviCtrl
.

If you want to read or change the data on the Micro SD-card, it must be removed from the NaviCtrl and plugged into an appropriate card slot on the PC. 

## 12.1 SETTINGS.INI On the SD-Card from the NaviCtrl there will be automatically a file generated named Settings.ini with the following content:

25/34KMLLOGGING = 500 (Interval (in ms) the logging of the KML-Datas. Default = 500.)

• GPXLOGGING = 1000 (Interval (in ms) the logging of the GPX-Datas. Default = 1000.) • MAX_FLYING_ALT = 0 (Input of the max. flight-altitude. Default = 0. See INFO ) • MAX_FLYING_RANGE = 0 (Input of the max. flight-radius. Default = 0. See INFO ) • DESCEND_RANGE = 0 (Input of the safety-radius for the max flying range. Default = 0. See INFO ) • GPS_SBAS_DGPS_ON = 1 (Switch on/off DGPS receiving. Default = 0.) • MIN_EVENT_TIME = 2 (Adjustable trigger. See: Delay Time ) • GPSAUTOCONFIG = 1 (1 = the NC writes its own GPS-Configuration (temporary) into the MKGPS. Default = 1.) •

INFO Important settings for license user! MAX_FLYING_ALT Here you can enter a maximum altitude which is required for i.e. a special license for the commercial use. en/NaviCtrl_2.0 01/30/15 23:02:21

26/34If the Kopter reaches that set up altitude mnessage 29 "ERR:Max Altitude" appears over the telemetry

display. If you do not react to this message and you climb further up, 10mtr. above the set up max. altitude the Kopter will switch automatically to the set emergency-throttle/gas Link and sink. After reaching the regular set up altitude again the Kopter will switch automatically back from emergency-throttle/gas to normal operation. User without a license get also after reaching the max. altitude the same message but they are able to climb further up. More informations about this you will find here: Max.Altitude - Example MAX_FLYING_RANGE Here you can enter a max. flight-radius which is required for the special license and commercial use. INFO: This value should be smaller as the under "DESCEND_RANGE" entered radius!!! If the Kopter reaches this radius GPS will be automatically activated. The Kopter will be flown back automatically over the function "ComingHome" into the set up flight-radius. Here you will see an appropriate message over the telemetry display. DESCEND_RANGE Here byou can enter a max. flight-radius which is required for the special license and commercial use. If the Kopter is leaving this radius it will turn automatically with 80% hovering-throttle/gas into a descent flight. INFO: The Kopter should not reach that radius with a small set up "MAX_FLYING_RANGE" under normal circumstances. en/NaviCtrl_2.0 01/30/15 23:02:21

27/34For user without a license is the setting "DESCEND_RANGE" with no function.

TIP: To change those values you should insert and open the SD-Card directly in ab appropriate slot on your PC. Here you can do the adjustment with an editor. TIP: License User should activate in the Settings "Miscellaneous (Misc)" the function "SD card missing". (For your convenient information: In France, i.e., with the beginning of 2012 are those settings now obligation for commercial user and the Kopter MUST come down if it is out of a 150mtr. radius!)

Attention 1. If you need to change those datas please do not use Logging-times under 500ms - that can affect the navigation and lead to failures! 2. After an Update of the NaviCtrl please clear the SETTINGS.INI on the SD-Card. The new Software will set a new file with the needed values. 

## 12.2 stored data - folder "LOG" en/NaviCtrl_2.0 01/30/15 23:02:21

28/34During flight the Kopter will create once a folder "LOG" and save some informations (for each flight) on the

micro-SD-card in a .KML and a .GPX file.
These are: ele • time • sat • Altimeter • Variometer • Course • Groundspeed • VerticalSpeed • FlightTime • Voltage • Current • Capacity • RCQuality • RCRSSI • Compass • NickAngle • RollAngle • NCFlag • ErrorCode • TargetBearing • TargetDistance • RCSticks • GPSSticks • Actual Waypoint • Value of the WP-Event • Nick- and Roll-Servo-Value • You can take a look on this informations with the programm "GPX-Viewer" or "MK_GPX ( Link ) 

## 12.3 Presentation of the flight data in Google Earth In Google Earth you can display and see the saved flight-datas of the Kopter. In the actual Google Earth Version (>6.1) you can display the flight-route by loading the .KML or the .GPX-file. Tipp If you open a .KML file with "Google Earth" and see only red stripes, you have to edit the .KML file. Here in this file you can change the coordinates like you see here: Example: Wrong: +7.1234567,+53.1234567, 0.000 ♦ Right: +7.1234567,+53.1234567,0.000 ♦ • en/NaviCtrl_2.0 01/30/15 23:02:21

29/34Since software version v0.26g ( NaviCtrl ) the changes are already included in the KML-log.

(The flight-route will be also displayed in the height if you set up in the properties of the file the Height to Relativ to ground .) en/NaviCtrl_2.0 01/30/15 23:02:21

30/34

# 13 Parameter

The practice has shown that the default parameters (settings) are already sufficient for almost all MikroKopter
. Who wants to do a little bit fine-tuning that can be done in the settings. You can do that in the tabs NaviCtrl and NaviCtrl2
.

31/34

# 1 MKGPS V3

Das MKGPS V3 ist ein neuer GPS-Empfänger für den Mikrokopter. Das MKGPS V3 ist ein neuer GPS-Empfänger für den MikroKopter . Es können neben den üblichen amerikanischen GPS-Satelliten parallel auch die des russischen GLONASS oder chinesischen BeiDou Satellitensystems empfangen und ausgewertet werden. Dadurch erhöhen sich, besonders in Gebieten mit unzureichender GPS-Abdeckung oder bei Signalabschattung (Gebirge, Hochhäuser), die zur Navigation verfügbaren Satelliten erheblich. Zur Unterdrückung von externen Störquellen (wie Videosendern) wurde der GPS-Empfänger mit einem HF-Vorverstärker und ein SAW Hochfrequenzfilter ausgestattet. ( INFO: MKGPS V3 kann ab der Softwareversion V2.08 für FlightCtrl und NaviCtrl genutzt werden => Download )
Zusammen mit einer NaviCtrl kann damit: die Postion gehalten werden (Position-Hold oder auch PH) • zurück zum Startpunkt geflogen werden (Coming Home oder auch CH) • Wegpunkte angeflogen werden ( Waypoints ) • die Flugstrecke auf SD-Karte geloggt werden • die aktuelle Position auf der 'OSD'-Karte im KopterTool angezeigt werden • Entfernung und Geschwindigkeit in der Graupner HoTT-Telemetrie angezeigt werden • die Kamera auf einen bestimmten Punkt ausgerichtet werden: PointOfInterest •

1/5

# 15 Upgrading software

Connect the NaviCtrl over the 10- and 6pole connection plug with the FlightCtrl (see MK-Tower ) 1. Connect the MK-USB to the Debug -Interface of the NaviCtrl - DO NOT place the jumper on the MK-USB. 2. Now switch ON the Kopter . 3. Start the KopterTool and click in the Terminal Window (Button Firmware Update and Terminal ) on Update Software (serial) . Then choose the .hex-file. 4. The Update-sequence starts and should be done after approx. 1-2 minutes. At the end you can see debug-datas in the Terminal . 5. Further information for the Update (also if an update fails) you can get here: SoftwareUpdate INFO For updating the software you should always use the MK-USB. If you use for the data-transfer a Wi232 Module or a Bluetooth Module the update can be faulty!

INFO To flash the bootloader is not necessary and also not possible. If the processor is defect you can buy a new one with the appropriate bootloader in the Shop
.

33/34

# 16 Error Codes

If you use the GPS-System (NaviCtrl + Compass + MKPGS) on your Kopter and you calibrate the Gyros, you can see for a short time "error 6" + "error 3" in your Telemetry-Display. This is normal. Because the connection between FlightCtrl and NaviCtrl is briefly interrupted when you calibrate the Gyros . For all other Failure codes you can find here some Tipps to resolve it: ErrorCodes

KategorieMK-Baugruppe/en •

34/34

# en/MKGPS - V3 IngoBusker MikroKopter.deen/MKGPS - V3 

# Table of contents **1 MKGPS V3 .......................................................................................... 1/5 2 Video assembling Set Navigation ......................................**  **................. 2/5 3 Features ................................................................................................ 3/5**  3.1 Glonas/ BeiDou ........................................................................ 3/5 3.2 GPS info. .......... ......................................................................... 3/5 3.3 Amplifiers with SAW filter ....................................................... 4/5 3.4 External Compass .................................................................. .....4/5 **4 NMEA ....................................................................................................5/5**

# 1 MKGPS V3 The MKGPS V3 is a new government inspection department receiver for the Mikrokopter. The MKGPS V3 is a new government inspe ction department receiver for that MikroKopter . Parallel also those of the Russian GLONASS or Chinese can do beside the usual American government inspection department satellites BeiDou Satellite system to be received and evaluated. Thus , particularly in areas with insufficient government inspection department cover or during signal shading (mountains, multistoried buildings), the satellites available for navigation increase substantially. For the suppression of external interference sources (like video transmitters) the government inspection department receiver with a HF

- preamplifier and a SAW high frequency filter were equipped. ( **Info.:** MKGPS V3 can be u sed starting from the software

- Version V2.08 for FlightCtrl and NaviCtrl => Download ) **Together with one NaviCtrl**  **can thereby:**

• the Postion to be held (p osition Hold or also pH)
• back to the starting point to be flown (Coming Home or also CH)
• Waypoints to be approached ( Waypoints )
• the air route on SD

- map logged become
• the current position on the “OSD”

- map in KopterTool are indicated
• Distance and speed in that Graupner HoTT telemetry are indicated

• the camera to a certain point to be aligned: PointOfInterest

# 2 Video assembling Set Navigation

# 3 Features 3.1 Glonas / BeiDou That difference to the MKGPS V2 is substantial that it beside **Government inspection department** also the Russian system **Glonass** and the Chinese system **BeiDou** supported. Thus one has a clearly higher satellite cover. Straight one in areas with insufficient gover nment inspection department cover (e.g. in valleys), that brings clear improvements.



## 3.2 GPS Info

## en/MKGPS
- V3 en/MKGPS
- V3 01/30/15 23:07: 35
Over that KopterTool one can be able to be indic ated: • the current government inspection department deviation (MK must stand at the soil) ♦ the central position one knows through right

- clicks shifts
• the current signal strength of the satellites (reference: under free sky should at least. sows. 50dB signal strength have. Government inspection department Shield for receipt improvement one recommends.)
• • Position of the satellites in the sky:
• light

- green satellites: Sows with SBAS Korrekturdaten for navigation one uses
• dark

- green sate llites: Sows without SBAS Korrekturdaten for navigation one uses
• door gravel satellite: Sows at present for navigation one does not use
• red satellites: Signal badly or sows at present not usable
• lila satellites: SBAS Korrekturdaten sends
Government inspection department navigation satellites have the letter “G”, SBAS satellite “S”. The number is the ID of the satellite (PRN code). One gets details to the satellites also, if one drives with the mouse over the satellites. **Note:** If one uses, that sei zes KopterTool directly on the government inspection department module too and those NaviCtrl “error announces the error: NO Government inspection depar tment Communication " 

## 3.3 amplifiers with SAW filter In addition we equipped the receiver with a HF

- preamplifier and a SAW high frequency filter. This filters disturbances of video transmitters etc. out. 

## 3.4 external compass One can bond the external c ompass from downside in the module

- the appropriate place is intended for it.

# en/MikroKopterTool 11 LotharF MikroKopter.deThis page as an PDF-Document ? Click on that Symbol and wait a little moment... --->

MikroKopter -Tool

deutsch • français • See also: Link
Inhaltsverzeichnis MikroKopter-Tool Download 1. Connecting preparation 2. First start of KopterTool 3. Connection of modules 4. First Connection 5. 1.

Choosing Assemblies/Settings

Assemblies 1. Settings 2. 2. Scope Scope Selection 1. Scope Start/Stop 2. Scope Window 3. 3.

Motortest 4. Serial-3D-OSD

Serial 1. 3D Button FlightCtrl 1. Button NaviCtrl 2. 2.
OSD 3. 5.

Terminal-Window

COM-Port 1. Debug 2. Choose language 3. Latest Software download 4. Latest Software update 5. Reset - EEPROM initializing 6. 6.



# MikroKopter-Tool The MikroKopter tool , short KopterTool is a Windows-program with the settings on all MikroKopter -components such as FlightCtrl , NaviCtrl , MK3Mag , MK-GPS
. Supported Windows versions are 98/2000/XP/Windows7 (eventually need admin rights to be awarded). Win7: Do not copy the MK-Tool to Program Files ! To use a Windows-program like the KopterTool on a MAC , you need on your MAC a program like e.g. Darwine or WineBottler. en/MikroKopterTool 02/02/15 23:01:53

1/19

## Download

The KopterTool will not be installed. It is as .zip-file available and can be used directly after unpacking. The actual version you can get here: Download Win7: Do not copy the MK-Tool to Program Files ! 

## Connecting preparation In front of the first start of the KopterTool and to set the individual components, the MK-USB have to be installed on the PC. How you can connected and set up the MK-USB to the PC can be found here: MK-USB

(Alternatively, the SerCon be used for the connection. This, however, requires a correct COM port. A COM-USB adapter can not be used !!) en/MikroKopterTool 02/02/15 23:01:53

2/19If there is no MK-USB (or Sercon) connected to the PC, you cant open/use the KopterTool !

Also if there is no item ( FlightCtrl , NaviCtrl , etc.) connect, you can't use the settings. • 

## First start of KopterTool After the MK-USB is set and connected to the PC the KopterTool can be open. At the first start you see the license window:

This window displays the license agreement to use the tool MikroKopter . Also you can chose the language and the COM-port. The COM port should be set to the MK-USB. (Which COM port is assigned to the MK-USB, you can control in the Windows Device Manager under COM and LPT ports .)
With a "click" on Akzeptieren / Accept you accepted the license conditions, the default language setting and the COM port. Now you see the start window of the KopterTool : en/MikroKopterTool 02/02/15 23:01:53

3/19(View without attached board) If an incorrect COM port is set, it can be set new in the terminal window of the KopterTool
. You can access the terminal windows by pressing the button Firmware update & Terminal in the KopterTool
. Left down the COM port can be set. • en/MikroKopterTool 02/02/15 23:01:53

4/19(With a "click" on the button Debug... you can go back to the main window.)



## Connection of modules After completion of a new Kopter the FlightCtrl can be connected to the MK-USB. The FlightCtrl and also the other (connected) components (such as NaviCtrl , MK3Mag, etc.) can be programmed now. Connection to the Kopter: Flight-Ctrl single installed => MK-USB is connected to the 10-pin connector "Ext" of the Flight-Ctrl. ♦ Flight-Ctrl and GPS system (NaviCtrl, MK3Mag, MK-GPS) installed => MK-USB is connected to the 10-pin connector "Debug" of the NaviCtrl . ♦ •

The 10-pin ribbon cable must be connected from terminal "1" (red-marked side) to the terminal "1" of each board ! The contact "1" is marked on the boards with a print. en/MikroKopterTool 02/02/15 23:01:53

5/19Important:

If the ready copter is connected, the jumper should be open at the MK-USB and supplied by a lipo or a regulated power supply. Especially for first operation it is highly recommended to use the regulated power supply because if errors occur the components will be not destroyed.

Here are some examples of how to connect the modules to the MK-USB. The red arrows mark each pin "1"

FlightCtrl: NaviCtrl: BL-Ctrl: MK3Mag: Are the boards, as shown in the pictures, individually connected, the jumper to supply power to the components should be closed on the MK-USB.



## First Connection Depending on whether the Kopter is connected to the FlightCtrl or when using the GPS system on the NaviCtrl , the startup screen should look like this: Kopter with FlightCtrl , BL-Ctrl and Receiver. opter with FlightCtrl , BL-Ctrl, GPS-System and receiver. en/MikroKopterTool 02/02/15 23:01:53

6/19

# Choosing Assemblies/Settings

Assemblies The different assemblies ( FlightCtrl , NaviCtrl , MK3Mag , GPS-Modul ) will be selected via the button. The function of the individual modules can be displayed in the Scope and the analog display in the main window of the KopterTool
.

A description of each displayed information you will find here: SwitchTo ... 

## Settings All settings to the Kopter are made on Settings. en/MikroKopterTool 02/02/15 23:01:53

7/19If all modules are connected together the settings for all components are made centrally.

To turn into the "Settings..." you must choose the FlightCtrl
.

A description of the settings and the different tabs you will find here: MK-Parameter ...

If you open the "Settings..." first time, you will see the EasySetup. Here you can set the Kopter easy and fast. A description of the EasySetup and the different tabs you will find here: EasySetup ...

INFO If you select the Settings and see this window...

... then the KopterTool Version is not compatible to the software version on the FlightCtrl and/or NaviCtrl
. Then you should update the FlightCtrl / NaviCtrl with the latest software version. ( Update ) (Alternatively, it could also be used an older version of KopterTool .) en/MikroKopterTool 02/02/15 23:01:53

8/19

# Scope

In the Scope window the functions of the modules are checked. You can determine by selecting the individual functions which scope is displayed.



## Scope Selection A klick on Scope open the selection window. Here, the individual functions can selected to be displayed in the scope. Depending on the selected module various functions can be selected. FlightCtrl NaviCtrl MK3Mag

Also you can select on the analog display the value you need with a "right click" of the mouse on it. This will then change the font color of the selected value. Here are the first 5 values are selected: en/MikroKopterTool 02/02/15 23:01:53

9/19

## Scope Start/Stop

The scope on the scope window will be started and stoped by pushing the buttons START and STOP. 

## Scope Window On the right side the scope lines are listed. Depending on which module is selected / connected, different values are chosen. By double-clicking the Scope window it can be increased. Even areas in the scope window can be highlighted by marking with the "mouse".

Example: FlightCtrl display for Nick, Roll, Yaw. To get the scope lines, the FlightCtrl must be inclined in the direction of it's corresponding talk: nick / turn! en/MikroKopterTool 02/02/15 23:01:53

10/19

# Motortest

To test the function of each Motor, you can use the "Motortest". To open this Motortest "click" on "Motortest".

The procedure: Activate Motortest activ
. • Under Address choose the Motor to test. • Give slowly gas with the slider
. • After the Motortest deactivate Motortest activ
. •

Attention : For the test engine, the propeller should be removed. If propellers are mounted, the Kopter can lift of. 

# Serial-3D-OSD

Serial

With the button SerialChannels the following window opens up. Here you can use and set up more channels.

To use these additional serial channels, some conditions are necessary. - The Kopter must be hooked up to the PC/Laptop over an additional connection (Wi232 or Bluetooth) - In example: a joystick must be connected to the PC and set up. - The KopterTool must be open to use the function. ♦ • en/MikroKopterTool 02/02/15 23:01:53

11/19The serial channels do not replace the transmitter! A normal transmitter / receiver must be used anyway.

With the button SerialChannels the following window opens up. Here you can use and set up more channels.

To each channel (Ch1: ... Ch12:) functions can be asigned to the joystick. Those you can choose under Axes , Buttons or

POV
. So that the functions are transferred to the copter it must have a hook at the bottom "sending the serial channels are active" to be set. To each channel now a FUNCTION / POTI can be assigned. This can be done in the Settings: Channels
. 

## 3D en/MikroKopterTool 02/02/15 23:01:53

12/19After a click on the 3D Button the simulation of the Kopter bwill be displayed.

With this function you can display the function of the Gyros visually. The behavior of the 3D-Model is exact the same as the original. Over the variable regulator underneeth the display you can turn the 3D-Model. (Info: It is normal if the 3D-display moves very slowly and a little bit jerky into one direction) 

### Button FlightCtrl If the button " FlightCtrl " was pushed before the additional balance-display will be shown in the 3D-display. en/MikroKopterTool 02/02/15 23:01:53

13/19With the displayed center of gravity you can control while hovering if the Kopter has the center of gravity

right in the middle or on a different spot. To control and to check that you should connect the Kopter with the PC i.e. over a Bluetooth Module or a Wi232. Throughout an unfavorable assembly of parts it is possible that the center of gravity is not in the middle. Is that the case the dot is moving into the appropriate direction. Is the center of gravity is not in the middle but pushed into one direction the engines must work with more power to balance the Kopter . Particularly interesting: Yaw (upper scale). Here you can see if the Kopter wants to yaw still in one direction. That happen if the motors or the frame are not straight assembled. In that case the Kopter must regulate continuously the direction to be straight. Even here more power is needed and the desired yaw falls more slowly in one direction. 

### Button NaviCtrl If the " NaviCtrl " was pushed before the additional Sticks-display will be shown in the 3D-display. en/MikroKopterTool 02/02/15 23:01:53

14/19With this display you can check the function and the position of both control-sticks. Here you need to set in

the display the used Mode on your transmitter (Mode 1-4). If you move now the control-sticks you will see the identical movements and peaks in the display. 

## OSD

With the OSD-display multiple functions can be used. In the upper display, in example, the height of the Kopter, the speed, battery level, distance to the start point, etc. can be displayed. In the lower field maps can be loaded. The position of the Kopter can be displayed. Also, waypoints can be entered and the Kopter can fly automatically. en/MikroKopterTool 02/02/15 23:01:53

15/19For the on-screen display ( OSD ) a data connection is required for the Kopter. This can be done via

Bluetooth or Wi232. For a waypoint-flight the radius is limited to 250mtr! Informations how to use the OSD for e.g. load a map, waypoint setting, POI setting or many other functions can be found here: KopterTool OSD ... 

# Terminal-Window The Terminal Window will open through a click on Firmware update & Terminal
.

The Terminal Window. en/MikroKopterTool 02/02/15 23:01:53

16/19

## COM-Port

Here you can set up the COM-Port for the MK-USB. Only if this is correct set up you will have a connection between the MikroKopter (or individual components) and the KopterTool
.
With the green dot on the left side of the COM port, the COM port can be ended and been restarted. Is the dot green, the COM-PORT is "ON". 

## Debug With the Debug button you can switch back to the KopterTool Main-Window. 

## Choose language In the first time the KopterTool is set up automatically by the detected PC speech. If you decide to have a different language for the KopterTool you need to click on the button to set it up. en/MikroKopterTool 02/02/15 23:01:53

17/19In the next window that opens you can choose the language you need. With Restart the KopterTool starts with the new language.

More languages In the program directory you will find the language files as "language_XX.dat". (XX = country code) This is a simple text file that can be edited with a text editor. Everyone can even modify the files or translate a new language. The format is quite simple: english text = translated text¶ e.g.¶ Communication timeout! = Délai de communication trop long¶ The best thing is for a new language to use an existing language file, renames it and start the compilation. If there is no translation for a word in the file, it automatically displays the text English. Anyone who wants can send us new language files, and in the next release it will be taken over... •



## Latest Software download The latest software for the individual components of the Mikrokopter can be downloaded with the KopterTool
. A click on the loupe opens the necessary window. An explaination of the download you will find here: Software Download ... 

## Latest Software update After the actual software is downloaded you can place it into the necessary module ( FlightCtrl , NaviCtrl , etc.) You need to click on the button Update Software (serial)... en/MikroKopterTool 02/02/15 23:01:53

18/19An information about the Update you can find here:

Software Update ... 

## Reset - EEPROM initializing To reset the modules ( FlightCtrl , NaviCtrl , etc.) back to the standard settings, you can do it on a click of the button with the red triangle. There are two options for this in the KopterTool : Option 1: Each setting has this red triangle. If you "click" on this, only the selected setting and the channel setting reverts to the default settings. •

Option 2: If you open the terminal window and "click" on this red triangle, you will reset all settings to the default setting. Only the channel settings will stay as the are. •

After a "BIG" Software Updates you should initialize the EEPROM like you see in "Option 2". Since this usually have altered much of the default values you should not store old settings. Here, the settings should be set more new. Of course, then you should calibrate the ACC and the compass once again. •

KategorieAnleitung KategorieTools • en/MikroKopterTool 02/02/15 23:01:53

19/19

# 4 NMEA Since the software version 2.00a for NaviCtrl, even the NMEA format can be output via the uBlox module. (eg for cameras with Data Logging) The data can be taken from th e debug port PIN9 NaviCtrl.

IMPORTANT: Only with a plugged

- in NaviCtrl microSD card (max. 2GB / FAT16), the NMEA data can be used. Thereafter, a file "settings.ini" will automatically be applied by the NaviCtrl provides the required parameters. If you alr eady use a microSD card in the NaviCtrl, the existing Settings.ini must be cleared out so that a new one with the required parameters can be created after a software update.



## See also: http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm http://aprs.gids.nl/nmea/ KategorieMK

- Baugruppe/de