Hello,

here we can discuss about that 0.88 0.28 release.

Note for the new Graupner V4 - protocol
This release is still based on Graupner V3. We are working together with Graupner regarding V4, but there are still some open issues on Graupner's side.
We hope we can release a firmware in April. Then you will have to update the HoTT-Transmitter also.

But if you have already a Graupner V4-Transmitter, you can use the MikroKopter Text-Telemetry with this MK-Firmware

Regards,
Holger

Is it not longer possible to fly outside a radius of more than 200m?
Or is this just a feature that can be activated if i like to, and if deactivated it is possible to fly outside this range (also in PH) as before?

edkopter meinte

Is it not longer possible to fly outside a radius of more than 200m?
Or is this just a feature that can be activated if i like to, and if deactivated it is possible to fly outside this range (also in PH) as before?

That is just a feature and deaktivated per default. The "200" was an excample

Okey, thanks for answering Holger.
I will try out the firmware a day soon

Thank you for the servo-filter function.

I must admit I'd rather see You guys develop a picloc-level cam. stab. than waypoints and autolanding-features. Waypoints and so on are "nice to have"'s, but a good cam. stab. is "need to have". And we are talking about both video and still-pictures.

You already have the most stable FC. Now it's time to refine its core capabilities even more.

I agree with wizprod. The FC is the best, but its sad to know that we have to deal with another hardware to deal with Camera stabilization ie "picloc 3x". Holger, please.....

1 more here
Mk is the Rolls Royce of Flight Stability but we could use a better cam stab ;-)
Nice work Holger!! Thanks.

Is the selectable speed ground speed or airspeed? If I select a low speed (<2.0 m/s the MK drifts and never reaches WP) I'm also having troubles getting the Nav to cycle through the waypoints. No matter what radius I use the MK stalls at first waypoint unless I use 0 delay. I'm sure its something I'm doing wrong!

Fantastic update! Thanks!

@sarwatch:
1. it is ground speed
2. You should try 15m target radius to make sure that the reason is not that radius
3. If you use the altitude in the Waypoints, you must use the VArio-altitude control. Otherwise it could be that the MK doesn't reach that specific altitude and doesn't switch to the next point then.

Holger, any comments on the cam stab.? I know we have just gotten a new parameter for it, but it isn't only new/more parameters we need. The routine that controls it needs to be enhanced.

My biggest issues with it:
- When the MK is rolling into the wind, or flying sideways, the mount isn't level, even though it was tested to be level on the ground.
- If pushed horizontally by wind, the mount will move, even if the platform will remain steady. Can be verified by pushing the MK around on a flat surface. The mount is suddenly all over the place.
- When using a push-rod roll mechanism, the motion isn't always linear. An exponential compensation parameter would be nice. I even made a thread about this some time ago.

wizprod meinte

I know we have just gotten a new parameter for it, but it isn't only new/more parameters we need. The routine that controls it needs to be enhanced.

Let me explain 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 also 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.
- that works quite well
Otherwise the mechanical decoupling is without effect, because the servos will shake as fast as the MK on top of the decoupled mount.

wizprod meinte

- When the MK is rolling into the wind, or flying sideways, the mount isn't level, even though it was tested to be level on the ground.
- If pushed horizontally by wind, the mount will move, even if the platform will remain steady. Can be verified by pushing the MK around on a flat surface. The mount is suddenly all over the place.

I made some tests about that. The reason is the ACC-influence.
The funny thing is that the effects supposed to be symmetric on nick and roll.
Also in the air the effect should be much smaller, because the NC calculates the ACC-Errors and Kalman values - even if you fly in GPS-free mode.

wizprod meinte

- When using a push-rod roll mechanism, the motion isn't always linear. An exponential compensation parameter would be nice. I even made a thread about this some time ago.

I aggree with you in this point. That must be a 1/cos(angle) function or similar. I'll need to check how to implement that.
I think this is the main reasoun why you see this effect much more than on the nick axis.

Regards,
Holger

Thank you for the thorough response! Much appreciated.

I'm very happy about the new parameter. Guess my choice of words weren't precise enough.

About the acc-influence, isn't possible to tie the gyros to the cam-stab as well? If there's no angular velocity, the mount shouldn't be moving
It probably is somewhat symmetric, but harder to detect on the nick-axis.

Thank you for understanding this Holger. I have the same problem. Hope you can fix this.

Thank you Holger for the thorough explanations. I would like to add that i face the camera movement problem, only when flying quite fast. If my flight is nice and slow, then the camera stays still. If i fly faster, it drifts, however i noticed that the drift gets worse if i accelerate too hard. In other words, if i increase my flying speed gradually, then it is not that bad. I hope that those observations help too. Kind regards, Dimitris.

@Holger: Thanks for explaining the new nick and roll feature.

I've noticed the altimeter being quite inaccurate in the past. In the 0.88 firmware notes I found a statement regarding the Altimeter values: "The old displayed value has been displayed approx. 10% to high." I've looked at the code, but I could not find any changes that appear to be dealing with this.

Any comments on how this was fixed?

In the end, how much can we trust the altimeter values? I generally need high accuracy - less than one meter.

I think that's nearly impossible, if there's any wind.

I'm still having problems using the speed setting in the new software. If I set the speed below 3.0 m/s it doesn't sequence at WP's. Also even if I set > 3.0 m/s with any time delay it doesn't sequence either. I've tried different radius settings and WP's. If I disable the speed by inserting 0 the WP's are flown perfectly with or without a delay. Is anyone else having problems? Is there a setting I could have incorrectly set?

Thanks

I deleted the old SYSTEM.INI file on the SD card for the Navi. A new file wasn't written by the kopter and it's not logging flights anymore. This might be an issue with my set up. Any help would be appreciated. Thanks.

Removed logs and everything in the card?

sarwatch meinte

I deleted the old SYSTEM.INI file on the SD card for the Navi. A new file wasn't written by the kopter and it's not logging flights anymore. This might be an issue with my set up. Any help would be appreciated. Thanks.

Yes, and formated the card.

sarwatch meinte

Yes, and formated the card.

FAT16?

http://www.mikrokopter.de/ucwiki/en/NaviCtrl_2.0#en.2BAC8-NaviCtrl_1.1.MicroSD-Card

Yes FAT16. I had no problems using previous software. I'm getting the following error codes when I look at Navi initialisation.

SDC Init .... error 01A reading data from SD card R1=02
Error reading CID
SD-Card could not be initialized

I've tried another Navi board and I get the same results.

When I try using previous software the SD Card initializes normally.

sarwatch meinte

If I set the speed below 3.0 m/s it doesn't sequence at WP's. Also even if I set > 3.0 m/s with any time delay it doesn't sequence either.

Thanks, I found the bug. The reason were the GPS-Coordinates.
Now I simulated the flights in "New Zealand", "Buenos Aires" and "Alaska"

Regarding your SD-Card-problem: You should try another (newer) card. We increased the speed form 1MBit/s to 2MBit/s

Here the Bugfixes
NaviControl: 0.28i
* MK3Mag didn't come out of Step 5 while calibration
* Menue point 19 was invisible
* Autralia (and maybe also other locations): Waypoint with Speed-Selection didn't reach the Point and didn't switch to the next Waypoint
* Magnet-Error supressed for some seconds after Gyro calibration, because that message came without any reason and was confusing

The firmware works perfectly now. Thanks for the quick fix for the Aussies!

Cheers