# en/MK-Parameter/All 3 LotharF http://www.mikrokopter.de. This side as aPDF-Document ? Klick on the Symbol and wait a moment... --->

• MikroKopterTool - Settings - summary Back to back to mainview

deutsch • français • Inhaltsverzeichnis Altitude Selection of functions 1. 1. Camera Choosing the functions 1. 2. Channels

Channels from the transmitter 1. Serial Channels 2. Function / Channels 3. 1.
MotorSafetySwitch 2. Advanced signal reception test 3. Receiver Selection 4. 3.

Configuration

Choosing the Function 1. 4. Coupling (Achskopplung)

Choosing the functions 1. 5. Easy Setup

Name of configuration 1. Pressure sensor

Target-value 1. Stick neutral point 2. 2.
GPS GPS Mode steering 1. Dynamic PositionHold 2. ComingHome altitude 3. 3.

Carefree control

Teachable CareFree 1. 4. Motor-Safety switch 5. Mixer Setup 6. 6.

Gyro Choosing the functions 1. 7. Looping

Choosing the functions 1. 8. Misc Choosing the functions 1. 9. Mixer-SETUP

Loading Mixer-Tables(.mkm) 1. Choice of orientation 2. Function of the Mixer-Tablel 3. Balance of power 4. Check of the correct numbers of BL-Ctrl 5. 10. en/MK-Parameter/All 03/29/12 16:13:06

1/50Display of all connected BL-Ctrl's 1. Display of I2C disorders 2. Navi-Ctrl Choosing the functions 1. 11. Navi-Ctrl 2

Choosing the functions 1. 12. Output Flashing pattern or shifting

Example with a fixed value 1. Example with a potentiometer 2. 1. Warning function 2. Lighting 3. 13.

Stick Choosing the functions 1. 14. User 15. 

# Altitude

The altitude control on a Mikrokopter is based on measuring the air pressure and z-axis en/MK-Parameter/All 03/29/12 16:13:06

2/50accelerometer-/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: 

## Selection of functions Enable 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 pointto 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 / Rateis 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 pointcan 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 optionAcoustic 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. ◊ ♦ • en/MK-Parameter/All 03/29/12 16:13:06

3/50Setpoint 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 255. ♦ •

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. ♦
Actual altitude above the setpoint: Gas will be proportional decreased with the difference (Mode: Vario and hight limitation) ♦ Actual altitude below the setpoint: Gas will be proportional increased with the difference (only in Vario mode) ♦ •

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 AltitudeHold is ON, you can not fly above this altitude. ♦ •

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. Should be low/lower than z-acc, but not zero, as the gps is the only absolute variable in the PID loop. The value should be kept low, as GPS altitude values aren't very precise. ♦ •

Stick neutral point 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. ♦ • en/MK-Parameter/All 03/29/12 16:13:06

4/50Attention: 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. Important: An eventually activatedMixer function (in the transmitter) of the height control switches to gas must be necessarely disabled , otherwise the complete control will not work! Some of these sizes you can get while experimenting with the settings to a potentiometer and the optimal values out of a flight. erfliegen For more information on checking, installing, and packaging the height sensor it can be read here: height sensor 

# Camera

If a camera mount is used the function of the (pitch / roll) servos can be adjusted. These servos are connected to the connector

SV2 => Servo1 (Nick) andSV3 => Servo2 (roll) of the FlightCtrl
. Additional you can connect three more servos: SV3 (Servo3) and SV4 (Servo4/Servo5). en/MK-Parameter/All 03/29/12 16:13:06

5/50Anschlüsse FlightCtrl2.0/2.1

If the change heading feature Mixer Setup software Technically is used, the heading direction should also be changed here, in order for the pitch/roll camera gimbal servos to respond on their corresponding axis 

## Choosing the functions Servo control Value defining the position of the nick/roll servo. If a numeric value is entered (i.e. a value corresponding to a level nick/roll angle), the angle will remain the remain same during flight. If a poti (i.e poti3-8, note: the poti has to be assigned to a channel) is selected from the dropdown menu, the user can change the angle of nick/roll in-flight. ♦ •

Nick Compensation Influence of the nick angle and roll angle to the corresponding servo. Used for tuning the servo-throw at MK attitude changes. ♦ •

Invert direction If the rotational direction of the servos are opposite, the direction can be inverted. ♦ •
Servo min Minimum value as a stop. ♦ •
Servo max Maximum value as a stop. ♦ •
Servo filter Here you can use a value between 0 and 25. Depending on the value you set, the servo will controlled softer (5-20) or harder (0-4). ♦ Why we need this parameter: ♦ You decouple the cameramount by vibration dampers or similar. ♦ Now, if the MK itself moves quickly, the cameramount moves just a bit or even not. ♦ But the FlightControl 'thinks' that the cameramount moves with the same speed like the FC notices by the Gyros and because of that it moves the Servos as fast as possible. ♦ So, if you have a good decoupling between the MK and the Cameramount, you need some kind of a parameter that tells the FC that the cameramount is decoupled. ♦ Otherwise the mechanical decoupling is without effect, because the servos will shake as fast as the MK on top of the decoupled mount. ♦ •

Servo refresh rate Some servos can not deal with fast values (high PWM pulse frequencies). (the smaller the value, the faster the drive) ♦ • en/MK-Parameter/All 03/29/12 16:13:06

6/50With the FlighCtrl ME 2.0/2.1 up to 5 servos can be issued. The output is performed sequentially. The "servo refresh rate" also controls the maximum number of servo channels. I.e. a value of 3 are only the first 3 servo channels (nick, roll, and servo 1) Then Servo4 and Servo5 are grayed out in the KopterTool and can not be used. Manual control speed If a potentiometer for controlling the nick servo is registered, you can absorb the servos by a larger / smaller number of the servos. So also slower / smoother camera movements are possible. The pitch and roll compensation which is performed on the FlightCtrl is not involved - which is still very fast. ♦ •

NOTE: The nick-/roll-servos are only activated after calibrating the gyro. Servo 3,4,5 This can be controlled from the FlightCtrl for three additional servo-outputs. ♦ •
You can use all servos with a fixed value or the "POTI" function. Servo 3 + 4 can be used also as a manual trigger for cameras. For this you can use the "Output" and chose ->OUT1 or ->OUT2 on the servos. ♦ •



# Channels en/MK-Parameter/All 03/29/12 16:13:06

7/50The FlightCtrl can handle up to 12 channels from the transmitter, and up to 12 channels via a serial input.

These serially transmitted channels from the transmitter can be checked in this view and the MikroKopter functions can be assigned. To control the copter 4 channels are required: GAS, YAW, NICK, ROLL 

## Channels from the transmitter Depending on the transmitter / receiver, a different number of channels are used. (See Sender ) If the receiver is connected properly and the the transmitter hooked up right to the FlightCtrl, you can check on the function of each channel. en/MK-Parameter/All 03/29/12 16:13:06

8/50Below is shown the channel 1-12. Above the current values of each channel is displayed: 0 (down) / 127

(middle) / 254 (above). The bar graph also shows you the values of each channel. INFO If you move the Sticks for throttle, yaw, nick, roll , or you use a switch / poti at your transmitter, the bar graph and the numbers above it should move from"0" to "254"
. If you use a stick / switch / poti at your transmitter and the values doesn't go down to "0" and up to "254" , you have to set the servo travel on your transmitter. This is normally at 100%. Change the servo travel until you will have "0" to "254"
. This is necessary to ensure a proper function of the Kopter-functions and the "switch-outputs". 

### Serial Channels 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 for your use. The KopterTool must be open for use! For the control at your PC a joystick should be installed. The joystick must be connected and assigned to the channels. Here you need to click in the KopterTool onSerial Channels en/MK-Parameter/All 03/29/12 16:13:06

9/50Now you can assign the individual functions.

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.



### Function / Channels To each channel now a FUNCTION / POTI can be assigned. The first 4 channels are for GAS (1), YAW (Yaw) (4), NICK (3), ROLL (2) set. The remaining channels / serial channels you can freely assign to POTI1-8. en/MK-Parameter/All 03/29/12 16:13:06

10/50The allocation is also shown in the lower POTI bar.

By clicking on the downward triangle the channel, serial channel or awaypoint event (WP Event) will be selected. (The WP Event is listed under OSD

 ́ 

## MotorSafetySwitch In the past it happened again and again that the pilot had turned off the MK in the air by pressing the gas yaw lever into the lower left corner by a mistake. Especially during rapid descent and yawing at the same time these mishaps happen. Now you can lock the switching ON and OFF of the engines on a different switch at the transmitter. The ON / OFF is then latched when the channel value >35 (for example a switch is turned on). Tipp: You can use this function for example to merge with the channel of height control, then you can not disable the activated height control accidentally. en/MK-Parameter/All 03/29/12 16:13:06

11/50

## Advanced signal reception test

The "Advanced signal reception test" was especially installed for the 35/40MHz-Systems. There at the range limit (or disorders) it caused undefined values since there is no backup of the data by a similar protocol. Erweiterte Empfangssignalprüfung (Advanced receiver signal validation) RC-routine: reception loss is safely recognized It is checked whether the numbers of channels changes in flight -> this should never happen in the error-free operation ◊ in the first 500ms at a disorder an old receiving data packet (the penultimate) is used instead of the last ◊ it is switched to a minimum of 1 second on "faulty reception" ◊ ♦ •

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. If the "Advanced signal reception test" is switched off an error will be detected. This does not lead immediately to the receiving failure, but to the fact that the reception quality is counted down. For the use with the MK it is unproblematical to discard a packet from time to time (the data rate from the receiver is high enough). An actual loss of the receiver signal always leads to the detection of a receive failure. Not every receiver provides a receive signal failure! Some receiver keep receiving errors in the last received value which means that the receiving failure is not detected. This can for example lead to a fly-away of the copter during a receiving failure. Therefore, you should check first whether the receiver uses failure supports. Checking for receiving failure: While the Kopter and transmitter are powered on the red LED at the Flight-Ctrl. should be off and the buzzer should be silent. If the transmitter will be switched off the red LED will be on and buzzer will be beeping in intervals. Now the loss of receiving is detected and the emergency throttle set up (Notgas) is active (Notgas = Set up under Misc ). 

## Receiver Selection Here you can choose the receiver. en/MK-Parameter/All 03/29/12 16:13:06

12/50There 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) 2.4GHz 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 on the Jeti Box. (Connection at the PPM-Input of the FlightCtrl + connection to the 2nd serial port for telemetrie) ♦ •

ACT DSL Connecting a ACT DSL-signal on the 2nd serial port on the FlightCtrl ♦ • Graupner HoTT 2.4GHz Graupner HoTT Empfänger (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 ♦ • en/MK-Parameter/All 03/29/12 16:13:06

13/50(How to connect a receiver you can see here: Receiver ) 

# Configuration

In 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. 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. Each set must be saved individually! en/MK-Parameter/All 03/29/12 16:13:06

14/50WithRead the respective parameter set can be read out of the Kopter. WithSave andLoad

each set can be saved and loaded from the PC. The parameter sets can be viewed with a text editor and printed, too. Thus, it is for example possible to compare the parameters of the 5 different settings on the airport without a laptop while flying. 

## Choosing the Function Altitude control (Höhenregelung) Checked if the air pressure sensor is mounted on the FlightCtrl so the height control should be used. ♦ •

GPS In that case the NaviCtrl and 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 (Kompass) Typically, this field is grayed out and active when GPS is selected. The MK3Mag alone can also be used with the FlightCtrl . This can be toggled while using the MK3Mag. Is a MK3Mag installed on the NaviCtrl , the function should be turned on! ♦
Fixed Orientation (Feste Ausrichtung)

If this function is activated, the MikroKopter depends on the yaw and over again from the direction in which it has been at the start. If the box is not checked, the Kopter is directed to the yaw and not to go back into the old direction, but remains in the yawed position. ◊ ♦ •

Advanced Receiver Signal Validation (Erweiterte Empfangssignalprüfung) A receiving failure is detected properly. Here will be checked if during a flight the numbers of channels are changing -> this should never happen in error-free operation. When a fault is received in the first 500ms then an an old data packet is used (the penultimate) rather than the last - and after a minimum of time (approx. 1 sec) it switches to "bad reception". ♦ •

Axis-(de-)coupling (Achs-(ent-)kopplung) 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!! ♦ •

Rotation Rate Limiting (Drehratenbegrenzung) 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 going back into a horizontal position when the stick is in neutral position. This setting, for example, are possible for most types of loops ♦ • en/MK-Parameter/All 03/29/12 16:13:06

15/50This function is for experienced pilots! --> 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 ♦ 

# Coupling (Achskopplung)

A 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. 

## Choosing the functions Yaw pos. feedback (Gier pos. Rückkopplung) 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 (Nick/Roll Rückkopplung) • en/MK-Parameter/All 03/29/12 16:13:06

16/50Here 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 (Gier-Korrektur) 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. ♦ •


# Easy Setup

In the Easy Setup all important settings of the Mikrokopter are summarized on one page. This makes the basic setup very easy. en/MK-Parameter/All 03/29/12 16:13:06

17/50

## Name of configuration

In the KopterTool you can set and save 5 different settings (configurations). In this example we are in the setting Easy
. This name can be changed and saved individually. 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
. How these settings can be individually adjusted with the transmitter can be found here: Settings with the transmitter
. 

## Pressure sensor The pressure sensor can be activated and deactivated via the setting Enable Altitude control
. The function: If the pressure sensor was aktivated here you can turn on/off the funktionautomatic altitude-hold via a switch on the transmitter. If this function is active, the pressure sensor overtakes full control of the overall-thrust. Here the gas stick will no longer affect the speed of the motors. It sets the target-value for the height. Example: - If the throttle-stick is been moved up the target-value for the height will move up as well. - If the throttle-stick is in the center position, the Kopter stays at the actual position (+/- a certain tolerance), the target-value will not move. - If the throttle-stick is moved down from the center position, the target-value for the height will moved down. Depending on how far the stick is moved up (or down), the height value is shifted less or more in that direction. •

Info: if you activate this function in EasySetup , the "Vario-height" mode automatically is activated. Expert-function: More information about the modes vario-height , height limityou can find here: KopterTool-Höhe How the height regulator itself works and how to configute it you can read here: Höhensensor ♦ • en/MK-Parameter/All 03/29/12 16:13:06

18/50

### Target-value

To activate the pressure sensor a switch on the transmitter has to be used. This switch has to be assigned to a channel / "POTI" in the KopterTool (the allocation of the channels you can find here: Kanaleinstellung ). (how to allocate the channels to the switches of the transmitter can be read in the manual of the transmitter) In this example "Poti 1" (channel 5) is allocated to the switch of the transmitter. With the appropriate swtich on the transmitter you can activate and deactivate the altitude control. OFF: manual throttle control ♦ ON: Vario-height-regulator via the pressure sensor ♦ •



### Stick neutral point Normally, the gas stick (throttle) is set to "no neutralizing". It is not held by a spring in the middle like the second stick on the transmitter.<BR>> For this a "0" is entered as default value (0 = automatic). ♦ If you fly a lot with activated pressure sensor, it can be advantageous when the gas stick is set to "neutralizing". If you leave the spring in the transmitter, the stick always goes back to the middle position (like the Nick/Rollstick). Pro: Its comfortable to fly with activated height regulator in vario-mode, because you don't have to take care for the gas position for hovering. Contra: If you are flying with manual gas, you should not let go the gas stick. ♦
If the stick is set to "neutralizing" this position of the gas stick should be set as stick neutral point
. Normally the centerposition is 127
. But this can be different at other transmitters. Therefore the display GAS: on the right side can be helpful. The middle position is displayed by a bar and the corresponding value. This value can be entered as stick neutral point
.

(By clicking on the arrow next to the gasdisplay you can transfer the actually gasvalue into the field.) This also applies at this setting: Gasstick in neutral position: No change of the target-height ♦ Gasstick above the neutral point: elevate ♦ Gasstick below the neutral point: fall ♦ • en/MK-Parameter/All 03/29/12 16:13:06

19/50

## GPS

The MKGPS can be activated or deactivated via the entry GPS
The function: If the GPS was activated here, functions likePositionHold (PH) or ComingHome(CH) can be used via a switch on the transmitter. For this a 3-way switch on the transmitter is needed. With this, the respective function can be switched => The 3 switch positions are: ON - PH - CH
. 

### GPS Mode steering You can select the switch which you have assigned to "channels" (the allocation (check) of the channels can be found here: Kanaleinstellung ). In this example "Poti2" (cahnnel 6) is assigned to the switch on the transmitter. • 

### Dynamic PositionHold Here the function "Dynamic PositionHold" can be activated and deactivated.

"Dynamic PositionHold " is used together with PositionHold.
Function OFF: The Kopter is controlled directly by moving the nick-/roll stick. The function PH will be disabled by stick movement. And it will be re-enabled at the new position after you release the sticks.
Function ON: Here the kopter can be moved to a new position by using the nick-/roll stick as well. 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.

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



### ComingHome altitude In this setting a height can be entered, in which the Kopter is moving in ComingHome mode. • en/MK-Parameter/All 03/29/12 16:13:06

20/50In the function ComingHome the MikroKopter automatically comes back to the starting position. (if a GPS-fix is available!). Here it can move to the height u have set. On top the Kopter is 'parking' in this height when reaching the GPS coordinates. During the flight to the position the Kopter is moving with 3 meters per second - this value can not be changed!
Please note: The Kopter is only moving to that height with the vario-height-regulator. And only if the gas stick is in center position.
In this: 0: OFF -> the current height of the Kopter is maintained. ♦ 1-247: Value in meters -> to this height the Kopter will move with 3m/sec directly at activating of ComingHome (CH). ♦ •



## Carefree control In connection with the GPS-System (NaviCtrl, Compass and GPS) CareFree can be used. This function can be activated and deactivated via a switch on the transmitter. The used switch (which you have assigned at "channels") you can select here.
The function: When this function is activated the direction of nick and roll is no longer assigned on the "Front"-definition (Front/rigger 1 of the Kopter), but by the compass direction, in which the front/rigger 1 was pointing during start-up of the engines. So you can yaw the MikroKopter without considering the changing and co-rotating effects of Nick and Roll. •



### Teachable CareFree If "Teachable CareFree" is activated, then the CareFree- directionis re-determined every time the CareFree-switch is turned on.
A distinction is made: 1. Within 20m around the starting point the direction of the front (rigger 1) of the MikroKopter

is front. After activating that function this direction is front, no matter how the Kopter turns around and how far it is flying away. ◊ ♦ • en/MK-Parameter/All 03/29/12 16:13:06

21/502. Outside of the 20m, the direction from the Kopter to the ComingHome-point (startpoint) is back and the opposit direction is front. If the function is activated here, it doesn't matter in which direction the Kopter shows. The current direction of the Kopter to the startig point is front and the opposit direction is back. ◊ ♦

Now the pilot can turn around and reset the CareFree-direction via the !Carefree-switch. Outside the 20m he don't even have to know where the front of the Kopter was. Pull the stick always means: "Back to the start" Note: The new CareFree -direction resets every time the CareFree -switch is used.
More information: CareFree 

## Motor-Safety switch In the past it happened again and again that the pilot had turned off the MK in the air by pressing the gas yaw lever into the lower left corner by a mistake. Especially during rapid descent and yawing at the same time these mishaps happen. Now you can lock the switching ON and OFF of the engines on a different switch at the transmitter. The ON / OFF is then latched when the channel value >35 (for example a switch is turned on). Tipp: You can use this function for example to merge with the channel of height control, then you can not disable the activated height control accidentally. •



## Mixer Setup Depending on which model has been build ( QuadroKopter , HexaKopter or OktoKopter ), the right Mixer has to be uploaded. About this the FlightCtrl gets information how many engines are used and their arrangement. A so-called MischerTabelle will be used. 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) Quadro.mkm Quadro-X.mkm Hexa.mkm Hexa2.mkm • en/MK-Parameter/All 03/29/12 16:13:06

22/50For 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
. 

# Gyro en/MK-Parameter/All 03/29/12 16:13:06

23/50In this window you can set up the function of the gyro.



## Choosing the functions Gyro P Influence of the gyro on the pitch and roll rate. The higher the value, the more sluggish moves the MikroKopter
. ♦ Yaw P (Gier 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 (Gier I)

No data?! ◊ ♦ •

Gyro D • en/MK-Parameter/All 03/29/12 16:13:06

24/50Controls 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 problems 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. • In the settings it is like: * 1.Sport: 100 -> increases 2.Normal: 75 -> increases a little bit ♦ 3.Beginner: 50 -> it's not increasing ♦ Alternative explanation (using a quad X as example):

Value = 64: The MK is hinged around the very center of the platform. In theory, it does not ascend nor descend when changing attitude (at constant throttle) ◊ Value < 64: The MK is hinged towards the rear motors. The lower the value, the further back/towards the rear motors the MK is hinged. Will lose altitude when given stick-commands. ◊ Value > 64: The MK is hinged towards the front motors. The higher the value, the further out front the MK is hinged. Will gain altitude when given stick-commands. ◊ ♦ •

Rotation rate limiting • ACC/Gyro-Factor: 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 regulator I (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 ♦ • en/MK-Parameter/All 03/29/12 16:13:06

25/50swing.

Drift-compensation(for FC 1.x) 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 (Gyro stab.) With 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 <= 4 greatly reduced hardship => Suitable for aerial photography/video platforms. Don't go too low . Decrease only in steps of 1. ◊ Gyro stability = 6 (Standard) => light reduced hardship regulation ◊ Gyro stability = 8 => normal hardship regulation ◊ Gyro stability = smaller 8 => reduced hardship regulation ◊ Gyro stability = greater 8 => higher hardship regulation ◊ From version v0.82 for the flight control you can set this value 1 to 16 ♦ •

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 [ SettingsErfliegen[| get in flight]]. 

# Looping en/MK-Parameter/All 03/29/12 16:13:06

26/50In 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!! 

## Choosing the functions Arrows 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 ♦ • en/MK-Parameter/All 03/29/12 16:13:06

27/50Reaction Point / Response threshold (Ansprechschwelle) From this value it is calculated from the stick position control and changes into a rotation rate control to complete the loop. ♦ Hysteresis (Hysterese)

Stick-Hysteresis for the reaction point. Normally always lower as the reaction point. ◊ ♦ •

TurnOver Nick (Umkehrpunkt Nick)

100 means 100% of a 360° rotation. Also entspricht 1 einem Winkel von 3,6° Wenn nach dem Looping der MK zu weit dreht, muss der Wert verringert werden. Dreht er nicht weit genug, muss der Wert vergrößert werden. ♦ •

TurnOver Roll

100 bedeutet 100% einer 360° Drehung. So the value of 1 is equal to an angel of 3,6°. If after a looping the MK turns to far the value must be reduced. If the Kopter does not turn far enough 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 • 

# Misc en/MK-Parameter/All 03/29/12 16:13:06

28/50In these settings for example additional features such as CareFree or Emergency-throttle (gas) can be set.



## Choosing the functions Min. 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 ♦ • en/MK-Parameter/All 03/29/12 16:13:06

29/50set up a potentiometer.

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

Voltage reference

Normally you do nothave to change this!! This setting is only for a few FlightCtrl2.1 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 Emergency-Throttle/Gas 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 Here the gas value is entered for the motors. This value should be determined first individually (depending on the weight of the Copts). The value should not be set too low or too high. The Kopter could otherwise fall upon receiving either too fast or fail to rise into the sky and crash at the end of time. This causes of course the risk that the Mikrokopter drops at an undesirable location (obstructions, trees). Important : If you activate Use vario control for failsave altitude , the Emergency-Gas is entered as a percentage (%). Here on the Notgas will be calculated automatically. ♦ • en/MK-Parameter/All 03/29/12 16:13:06

30/50Failsave 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.) See also: FailSafe ♦ •

Failsafe channel If a reiceiver 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 swiched on, the Kopter give you a beep signal. This beep signal will stop if you swich on the transmitter. After activating this function, the kopter will not beep after you power on the Kopter and forgot the transmitter. ♦ •

Use vario control for failsave altitude If this function will be activated the percentage sign (%) will appear before the "EMERGENCY-Throttle/Gas". With that function it is possible to calculate the value of the Emergency-throttle/gas automatically. In example, if you enter here the number 80 the emergency-throttle/gas will be set on 80% of the normally used hovering-throttle/gas. The value should be set in that way that the Kopter looses altitude quickly. ♦ •

Compass error If you click here "ignore magnet error at startup" magnet failure messages will be ignored which are avoiding a start of the Kopter. The Kopter can be started and flown. Present magnet failures can interfere the flight and could cause a malfunction of the Kopter. ♦ •

SD card missing If you click here "not start without SD card" the Kopter will start only with the insert SD-Card. 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: FailSafe ) ♦ •

Important That functions and the settings of the FailSave are described here: FailSave en/MK-Parameter/All 03/29/12 16:13:06

31/50Info:

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. The engines will bee operated for a preset time with a preset value of emergency gas and shuts off when the time expires
Note : The entire emergency gas control is only active when a gas-value of >40 for at least 4 seconds was exceeded (i.e., the MikroKopter flies probably)! Obtaining Emergency-gas values: 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 Bluetoothmodul or a Wi232 Modul
. ♦

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, PH, etc. are off. ♦ • en/MK-Parameter/All 03/29/12 16:13:06

32/50The 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. The copter should come down now with the emergency gas setting and shut down after the set time, the engines. 

# Mixer-SETUP

Here, 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. Since the Flight software version v0.73 you now able to connect up to 12 engines and configure them as desired. en/MK-Parameter/All 03/29/12 16:13:06

33/50The settings (mixer engine) for various mounting positions / Koptertypes can be loaded into this menu and

stored in the Kopter. In addition to their own settings (mixer engine) can be set and saved under a different name on the hard disk and loaded again. In addition to its own setting can also be a suitable .bmp graphic(150x150 pixels) be displayed. This chart has the same name as saved settings file. 

## Loading Mixer-Tables(.mkm) Info: The default setting there is always a table for the Quadro (4 BL-Ctrl/Motoren) loaded. This has for example with a hexa (6 BL-Ctrl/Motoren) or October (8 BL-Ctrl/Motoren) the result that the first 4 BL-Ctrl must correctly identified (the BL-Ctrl: green LED and red LED off) and the rest of the BL-Ctrl (not the BL-Ctrl: green LED and red LED on). If you have a HexaKopter or OktoKopter

therefore it needs to be adapted for this Mixer-Table. 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) 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. en/MK-Parameter/All 03/29/12 16:13:06

34/50The arrow in the middle represents the flight direction (forward) .

More Mixer-Tables are displayed here: MKM-Daten
. 

## Choice of orientation Normally the FlightCtrl shows with the arrow to the boom 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)

With 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 (pitch / 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. Kamera) • Info: Loopings are not possible if the direction will be changed. •



## Function of the Mixer-Tablel 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: gas, pitch, roll, yaw =>Therefore rules: A value of 64 is equal 100% en/MK-Parameter/All 03/29/12 16:13:06

35/50If 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:

For 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 pitch, 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
. en/MK-Parameter/All 03/29/12 16:13:06

36/50When 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 displayedthe found BL-regulator:



### Display of I2C disorders In the virtual menu can be displayedthe I2C-Errors :

Attention: If the I2C bus is faulty, it can count up a random error. 

# Navi-Ctrl en/MK-Parameter/All 03/29/12 16:13:06

37/50If the GPS system (MK-GPS, MK3Mag (compass), NaviCtrl ) is used on the Kopter the function of the GPS

system has to be set here. 

## Choosing the functions Enable GPS Lock/unlock the GPS in the software (applies to both Navi-Ctrl tabs). (has the same effect as the setting in Configuration ) ♦ •

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: Off / Free, position hold (PH), Coming Home (CH). ♦ •

GPS Gain • en/MK-Parameter/All 03/29/12 16:13:06

38/50Specifies how much the GPS works. Is it too large, the position swings strongly. ♦ GPS Stick Threshold So you can set the threshold for PositionHold to 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 musthave a minimum of 4 satellites. Reliable values are obtained by position from 6 satellites. The more satellites are received, the greater the GPS accuracy. INFO: 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. In the reality the flight attitude of the MikroKopter causes the attraction to ⋅ ◊ ♦ • en/MK-Parameter/All 03/29/12 16:13:06

39/50the 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. ◊ ♦ •

GPS-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. ◊ ♦ •

Analog to the GPS P-Limit this parameter limits the strength of the virtual friction. 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 andGPS-D to 60 , the speed will change to ~8-9m/s
. • en/MK-Parameter/All 03/29/12 16:13:06

40/50Conversion 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 the JetiBox 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 [ SettingsErfliegen[| erfliegen]]. 

# Navi-Ctrl 2

The parameters of GPS wind correction, speed compensation, GPS max. Radius have no direct effect to the GPS-PID-controllers (P, I, D in the tab navigation Ctrl). en/MK-Parameter/All 03/29/12 16:13:06

41/50

## Choosing the functions

Enable GPS Unlock GPS in the software (valid for both Navi-Ctrl tabs). (has the same effect like the set up under Configuration ) ♦ •

GPS Wind correction Throughout 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. The higher the value the stronger slows down the MK after manual controlling and before it keeps the nominal position. ♦ •

GPS maximal radius This value in meter defines a circular area around the start position. Only inside of this circular area you can set position targets (waypoints/POI). If a waypoint-position is outside of this area the target will be set on a spot of the edge of the circle which is close to the nominal position. The maximum radius is about 250m. That's equal to an area of approx. 500m in a diameter around the start position. Only valid for the waypoint-flight! The function PositionHold and ComingHome are usables in full range of the transmitter/receiver. ♦ •

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 Nick/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
. Funktionoff : Is the functionPositionHold (PH) switched on the movement of the Kopter will be directly controlled with the Nick- / Roll stick. ◊ ♦ • en/MK-Parameter/All 03/29/12 16:13:06

42/50Here the functionPHwill be switched off if the sticks are moved. At the new position and after releasing the sticks the functionPositionHold (PH) will be switched on again. Funktionon : Also here you can fly the Kopter through movements with the Nick-/Roll stick to a new position. The 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. ⋅ ◊

Use GPS max. radius for dPH If you activate this function, the Kopter will fly only in the GPS-Range if you use the function PositionHold or ComingHome. (See also FailSafe ) ♦ •
ComingHome Altitude In the functionComingHomethe 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 in Vario-Height control
. And only if the throttle stick is in neutral position. Some of these sizes you can get while experimenting with the settings to a potentiometer and get the optimal values in a flight  erfliegen
. 

# Output en/MK-Parameter/All 03/29/12 16:13:06

43/50A Switch-/Blink pattern at the transistor outputs (SV2 top port) of the FlightCtrl can be set here.

This pattern can occur in a fixed time (0-247) or be controlled by a switch / potentiometer on the transmitter. As an additional option it is to be set whether this pattern will always be active, or only after the start of the engines. If the option "Only active after engine start" (just after the start of the motors active)is chosen a green switch box appears behind the bit mask setting. Here the initial condition for stationary engines are fixed. If the green switch box is clicked the green LEDs lit steadily before you start the engines. After turning the motor on the LED will flash at the set pattern. If the green switch box is off the LED do not lit prior to the start of the engines. After turning the motor on the LED will flash at the set pattern. en/MK-Parameter/All 03/29/12 16:13:06

44/50Outputs (SV2 upper connector) at the FlightCtrl . The shift is a ground potential!
Attention: No lighting at these outputs should be connected directly because the transistors can be damaged on the FlightCtrl ! For this you should 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
. ♦ •



## Flashing pattern or shifting en/MK-Parameter/All 03/29/12 16:13:06

45/50To 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 bitmaskand the remaining 7 are not. As time is to Out1 timinga20 registered. The number that is entered is multiplied each x10 [in 10ms]. This would then in20 x 10ms 200ms switching timefor 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:

At 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. ⋅ ◊ 2.

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 en/MK-Parameter/All 03/29/12 16:13:06

46/50If 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 

## Warning function 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.

It's flashing if there is: Under voltageUnterspannung • I2C-Error • loss of the receive •
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 

# Stick en/MK-Parameter/All 03/29/12 16:13:06

47/50Here the sensitivity of the stick movements (gas, yaw, pitch, roll) can be set by the transmitter.



## Choosing the functions Nick/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 = spongy 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. ◊ ♦ • en/MK-Parameter/All 03/29/12 16:13:06

48/50Strictly spoken, it affects the Stick speed to the MikroKopter
.

Yaw-P(Gier-P) Yaw rate ratio to stick deflection. The 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. ♦ •



# User en/MK-Parameter/All 03/29/12 16:13:06

49/50This configuration parameter found in the official version of the Flight Software / NaviCtrl not apply.

Here, no changes can be made. Therefore, all settings are left at 0. The User parameters facilitate the handover to the MikroKopter for testing, special or debug versions. KategorieTools • en/MK-Parameter/All 03/29/12 16:13:06

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