Holidays in Italy & weather are fine (windless & sunny), but I havn't a mikrokopter already. Now I'm building on my know how, before I will buy my own kopter. I have already downloaded the firmware to ensure this firmware for my future use, because my opinion is that only a version without distance limit makes sense.

Hi, I'm still collecting step by step the stuff for my hexa. not building it yet.
Still unsure where to buy the flight control and the other boards ......

my guess: ......... perhaps the "silence" is due to the holiday season in germany.....
(or they all died ) just kidding !!
take care!

metalmanbaris meinte

It's very interesting that about 200 downloads of the firmware has been made from RAPIDSHARE... but there is no comment on it in the forum.. I need a very good guess on this :

- nobody tested it (%0)
- people had problem uploading the firmware (%1)
- someone tested it but they didn't fly with it (%30)
- people fly with it but they don't want to share their comments before someone else does (%20)
- they liked it very much, they are still flying, they don't have time to comment on it (%5)
- people don't want other people to know how good it is (%1)
- people don't want other people to know how bad it is (%1)
- Other reasons (%42)

Do you have any other guess ...!?

I do some test navigation flight (400-500m) with the following PID values In Taiwan
GPS P=100
GPS D=150
Wind correction=127
Most of the firmware functions works normally only a few issues below:
1)GPS communication Error (error 5) appears frequently, when use MK GPS v2.1, not with the old GPS module
2)MagnetField value fix at 020
3)MagnetIndination value fix at 0,0
4)Mikrocopter will climb unexpected when switch to Position Hold Mode if the waypoints altitude are imported
5)Does the Dynamic Position Hold function will be active in the near future ?
6)Personally, I think the mikrocopter is good to stop at the final waypoint rather than to come back to home position directly when finish navigation flight
7)I would like to test FW 0.88 with distance to 1KM or more

Thank you for testing and reporting back;

Zitat

1)GPS communication Error (error 5) appears frequently, when use MK GPS v2.1, not with the old GPS module

Yes, I know.. We tried to do fix.. even sniffing the original codes.. I do send the same initialisation to the GPS.. but I have the same issue.. we'll try to FIX IT.. anyone has idea on it.. Holger fixed it someway.. I think I am doing initialization very fast.. that might be an issue

Zitat

2)MagnetField value fix at 020
3)MagnetIndination value fix at 0,0

Hmm.. yes.. you're right we don't use Magnbetfield in ouir navigation.. instead we use a fixed value... If you're in taiwan it will differ very much... Let me do a fix and make it variable that can be set via mk-tools... Now it is fixed for my location within the source code (to 5.3).. the value you see is something left in eeprom... Taiwan is too far to us, so you might have some drifts while following the waypoints ...

Zitat

4)Mikrocopter will climb unexpected when switch to Position Hold Mode if the waypoints altitude are imported

Please clarify this issue.. That might not be happen, and never happened during our tests.. Could you please write what you do step by step.

Zitat

5)Does the Dynamic Position Hold function will be active in the near future ?

Why not.. it is in the code but commented out.. we don't see it usefull.. maybe we'll tight it to the mktool parameter next time

Zitat

6)Personally, I think the mikrocopter is good to stop at the final waypoint rather than to come back to home position directly when finish navigation flight

will be done in next release soon....

Zitat

7) I would like to test FW 0.88 with distance to 1KM or more

soon...




Thanks for helping us..... we'll fix your comments...

Zitat

4)Mikrocopter will climb unexpected when switch to Position Hold Mode if the waypoints altitude are imported

Please clarify this issue.. That might not be happen, and never happened during our tests.. Could you please write what you do step by step.

Edit some waypoints and upload to Navi-Ctrl, waypoint 1 altitude is 40m high and the other waypoints have different altitude setting , CF on, take off the Mikrocopter in free mode and then switch to PH mode and AH mode in about 3m high, mikrocopter climb to 40m high unexpected at the moment when i switch to AH mode , I then switch to CH mode the mikrocopter flies to waypoint 1 2 3.......... and get back to Home position when finished the navigation flight .

I have the log file also, but i don't know how to upload it to here , i can email the log file to you if i got your email address.


Highly appreciated for your effort on the firmware

I didn't get an email from you yet....


Anyone else had a chance to test the firmware.... according to the comments I would like to start 0.88 modifications..

met

metalmanbaris meinte

I didn't get an email from you yet....


Anyone else had a chance to test the firmware.... according to the comments I would like to start 0.88 modifications..

met

I have sent email to you on Aug 6 already.........
I just sent another two emails to you again and hope you can get the log file this time

Highly appreciated for your effort on this firmware

I gt your emails, and analysing the tracks... They look good, that you had a 200m by 60m rectengular flight in total of 520m in about 10 minutes...(last flight)

my first impressions are :

1) in first flight you had altitude hold at 50 meters, and it was 50 meters all the way with no problem, on the last flight you had a altitude setup of 35m, but it changed between 35 and 65 during the flight... looks like you manualy changed the trim to go up and down

2) In both flights the heading direction was around 360 degrees, I prefer you to do test flight heading through a direction other than north to see the stability in the logs (360->to->0 degrees messes the logs visuality)... What was the heading setting for the waypoints.. Because there's a tiny problem with "LOOK TO THE POI" in the firmware released, the bearing to POI calculation has errors, please try a fixed angle next time(e.g 45 degrees ) , then you will not have turnarounds.. the new release will have a fixed heading/bearing calculation.

3) The speed limitation effects straight flight, we might smooth the breaking control on the speed limitation....



could you please tell me that what time in the logs you had altitude problems ?

P.S. : there will be a magnetude setting by user params settings in next release ..............


I see a good flight in the logs... May I share the pictures here in the forum (after cleaning the the coordinate information...)


Met

Hi,

I was not able to download hex from rapidshare (no download link even after registration). Is it possible to share it with normal download source, dropbox or something?

Thanks.

you don't need to register to rapidshare to download the file.. just follow the link

https://rapidshare.com/files/1424274963/Navi-Ctrl_STR9_060212.hex

sorry.. I don't use dropbox.. maybe someoneelse can put it there

Dear Metalmanbaris!
I tried your firmware yesterday. On the whole I am satisfied with the result.
The kopter is very neat way home. Hold the point in some cases, too, was good. But there are questions ...
Several times, while holding the position, my kopter began to fly through the diverging spiral.
I was forced to switch to manual control. Calibrate the compass held immediately before the flight.
What would you suggest to correct the problem with spirals in the air?


On this link you can get my flight logs: https://dl.dropbox.com/u/67412159/GPX.rar

The second link I put your firmware in dropboks because some users had problems with her copy.
Dropbox link: https://dl.dropbox.com/u/67412159/Navi-Ctrl_STR9_060212.hex
You can use it for the distribution of its firmware.

And more... If I understand you correctly, the number of points is limited to 30?
I ask you to increase the number of points to 60 and preferably 100.
This is very useful when taking pictures of the earth in flight by the snake.

Could you please write the parameter settings

GPS P : ?
GPS D : ?
WindCorrection : ? (which is max stick value for our firmware)

Looks like you have some kind of PID gain problems...




Thanks for posting results..

Dear Metalmanbaris!

My setup is:
GPS P : 95
GPS D : 150
WindCorrection : 123

Athe settings is:

[Gyro]
P=136
I=120
D=14
Gier_P=100
Gier_I=120
DynamicStability=70
ACC_Gyro-Factor=27
ACC_Gyro-Compensation=32
DriftCompensation=0
Stability=6
Main-I=16
MotorSmooth=0

[NaviCtrl]
GPS_ModeControl=254
GPS_Gain=120
GPS_P=95
GPS_I=90
GPS_D=150
GPS_P_Limit=75
GPS_I_Limit=85
GPS_D_Limit=75
GPS_Acc=0
GPS_MinSat=6
GPS_StickThreshold=8
GPS_WindCorrection=123
GPS_AccCompensation=42
GPS_MaxRadius=245
GPS_AngleLimit=140
GPS_PH_Login_Time=5
CH_Altitude=0


Thanks for answer!

Hi painter12,

thanks!!

Matthias

Hi, Matthias and All!

What settings of Gyro are you doing for heavy devices e.g. big hexa?

Best regards!

metalmanbaris meinte

I gt your emails, and analysing the tracks... They look good, that you had a 200m by 60m rectengular flight in total of 520m in about 10 minutes...(last flight)

my first impressions are :

1) in first flight you had altitude hold at 50 meters, and it was 50 meters all the way with no problem, on the last flight you had a altitude setup of 35m, but it changed between 35 and 65 during the flight... looks like you manualy changed the trim to go up and down

2) In both flights the heading direction was around 360 degrees, I prefer you to do test flight heading through a direction other than north to see the stability in the logs (360->to->0 degrees messes the logs visuality)... What was the heading setting for the waypoints.. Because there's a tiny problem with "LOOK TO THE POI" in the firmware released, the bearing to POI calculation has errors, please try a fixed angle next time(e.g 45 degrees ) , then you will not have turnarounds.. the new release will have a fixed heading/bearing calculation.

3) The speed limitation effects straight flight, we might smooth the breaking control on the speed limitation....



could you please tell me that what time in the logs you had altitude problems ?

P.S. : there will be a magnetude setting by user params settings in next release ..............


I see a good flight in the logs... May I share the pictures here in the forum (after cleaning the the coordinate information...)


Met

Hello Metalmanbaris:

I had altitude problems at the beginning of the GPS00002.GPX , #3-#11 and #21-#39, It climb to 50m high automatically when i enter ALT HOLD & POS HOLD mode around the take off position .....i also found and confused that why it says Target Reached in the NCFlag(Text) at the same time of the altitude problems?

Of course, You may share my logs to all the flyers here even no clean the coordinate information

Highly appreciated for your effort on this firmware

Hi, all!
Today, I again had a problem with the whirling kopter for holding position and return home. I very carefully calibrated compass. I changed all the parameters one by one to navigate, but it did not lead to positive effect. I do not think that this effect is associated with the new firmware from Metalmanbaris. Most likely reason is different, but I can not solve this problem!
Here are the links to the GPX file: https://dl.dropbox.com/u/67412159/GPS00000.GPX , and a new version of the software to view it: https://dl.dropbox.com/u/67412159/MK_GPX_0019_beta.zip

Pay attention to the period from 56 to 72 seconds. During this time the kopter was supposed to fly in a straight line to the starting place (Coming Home, CH). Instead of a direct flight I could watch the flight of a large spiral. I'll be very grateful for their help in resolving this problem!

Best regards!

Hi...

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Hi painter2, thanks for taking time and evaluating the firmware

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Hi painter2, thanks for taking time and evaluating the firmware

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Hi painter2, thanks for taking time and evaluating the firmware

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Hi painter2, thanks for taking time and evaluating the firmware

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Hi painter2, thanks for taking time and evaluating the firmware

In this firmware there's a speed limitation, which will be parametric (just as in Holger's V0.8 in near future.... And this limit is fixed to 5 m/s for now... between 57 and 75 seconds, it looks like you were in the edge of this speed limit... And most propably you had a headwind from south-west directoin.. Because of wind and speed limit, whenever the copter speeds up, we apply a brake.. (this brake does not have a softening function yet, but it will), the copter suddenly drops it speed, until the gps reports back that the speed is under 5m/s (this takes a few seconds)..

I think this was the problem, because in our tests we are also having a similar issue now.. we're woking on it and fix it very soon.. we were thinking that it might be because of the stability of our copter.. If you're having the similar problem, we need to focus on this speed limiting function immediately...


for the whirling effect, we discovered another buggy code (we don't calculate the magnetic declination, it is fixed in the code to +5... in the code instead of adding this value, we subtracted it.. that causes =10 degrees error in our area...) and in your area it is +7.5.. that means 12.5 degree eror.. which is real BIG..... we'll fix it and release a new firmwqre immediately..


to ALL: are there someone like "rtllrtll", who have negative magnetic declination ? Because rtllrtll had a straig flight withour whirls...


Thanks to all

Dear Metalmanbaris!
Thank you for your reply. I had to write in the previous my post about the weather.
During my test was complete calm.
You write about the influence of wind and the speed limit, but it is not.
On that day there was no wind at all.
In addition, I observe an intense whirling around the point of holding positions at all times.

If in PH mode, I'm using manual operation stop the spinning flight, then after a short time the kopter is beginning to whirl again intense.
You can see it in my log.

Maybe the magnetic declination must be computed, depending on the coordinates of space flight, rather than a constant?

I'll try to install the official firmware and then your firmware directly on the field, and observe the difference in the results.

Best regards!