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English: Beta Firmware 2.07

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Entwickler, Admin
Registriert seit: Feb 2006
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Ort: Ostfriesland
Hello,

we have a new PublicBeta Version 2.07
http://mikrocontroller.com/files/PublicBeta

Boat Mode: Switch on, calibrate and start under movements
If you want to start a MikroKopter, there is a problem when you are in a moving environment (like on a ship), because you can't calibrate the Gyros.
The same if you have a wobbly landing gear or you have to launch from hand.
New: during ACC-Calibration the Gyro-Calibration data is also stored in the FC.

Use the stored calibration data:

User image

* If the pitch / roll stick is pressed into the bottom right corner during calibration, the Boat-mode is activated.
* The Boat mode can only be terminated by switching off and an. This means that if you 'normal' calibrated just before the start, the Baot mode remains active.
* We do not know exactly the long-term stability of the gyros. How therefore recommend to do the ACC calibration at least a few hours or 1-2 days before using the 'Boat' mode.

User image

Regards,
Holger
« Bearbeitet von HolgerB am 05.08.2014 21:28. »
Entwickler, Admin
Registriert seit: Feb 2006
Beiträge: 5795
Ort: Ostfriesland
Flight simulation

User image

User image

(Logfile of this flight)

We implemented a physical model in the NC that behaves like it would fly.
Now it is possible to simulate a flight path. It works in manual flight as well as with Waypoints.

Why:
1. Training
- how to control the MK with the transmitter
- try CareFree
- how to start waypoint flight

2. Test
- Simulation of waypoint flights
- camera angle test on Flights with POI
- Triggering the camera
- create and test logfiles

3. Development tool for 3rd party Software-Tools
- the vitual MK acts on the serial interface as it would really fly

How to:
- connect the MK to the PC
- load a map
- click into the map to select the starting point - that will be the Home-Position
- press "start motors" (the don't really start) to start the virtual flight

Regards,
Holger
« Bearbeitet von HolgerB am 05.08.2014 21:26. »
Mitglied
Registriert seit: Sep 2013
Beiträge: 37
Being able to take off from a boat is a great new feature. Thank you Holger and Ingo!
Mitglied
Registriert seit: Jun 2013
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Ort: Luxembourg
HolgerB meinte
we have a new PublicBeta Version 2.07
http://mikrocontroller.com/files/PublicBeta

On Windows 7, start MikroKopter-Tool, click OSD button. Close OSD and the software wants to write INI file but fails with error message box:

"Nach MikroKopter-Tool.INI kann nicht geschrieben werden."

It happens because the software tries to write INI file in Windows folder. This used to be possible with Windows XP because the user would have administrator rights, however with Windows 7 (and other new versions) you will run as a user and then it is not allowed unless disabling Windows UAC (not recommended).

Writing INI files in the Windows folder has been deprecated for at least a decade, the software should write the INI file in a data folder.

This is not a new problem but it is about time that it is resolved.

Small side problem; why is the error text in Deutsch when the application is running in English?
Entwickler, Admin
Registriert seit: Feb 2006
Beiträge: 3838
Ort: Ostfriesland
Hmm - the MK-Tool should uses the registry and not INI-Files for storage. So I have no idea at the moment.

Did you installed the MK-Tool under Program Files ? May be there are some limitation in the path under Win7, too.
Try a path like C:\MK-Tool
Mitglied
Registriert seit: Jun 2013
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IngoB meinte
Hmm - the MK-Tool should uses the registry and not INI-Files for storage. So I have no idea at the moment.

Did you installed the MK-Tool under Program Files ? May be there are some limitation in the path under Win7, too.
Try a path like C:MK-Tool

Thank you for replying, looking forward to have this small annoying issue resolved.

I run the MikroKopter-Tool from E:\Install\MikroKopter... folder, which is actual a folder structure that I keep for downloaded programs. However as MikroKopter-Tool does not have an actual install process, I run the program directly from the download folder.

I tried to copy it to a folder C:\MK-Tool and ran it. It gives the same error message box.

1. Have you tested MikroKopter-Tool on Windows 7, running as normal user with UAC (User Access Control)?

2. Do you develop on Windows 7 (or similar) or on Windows XP?

Personally I uses both, and it is important that MikroKopter-Tool can work correctly on both without error.

3. I think it is fine that MikroKopter-Tool uses INI file, in many ways it is easier than the registry. However have you never seen the MikroKopter-Tool.INI in the Windows folder?

Example of C:\Windows\MikroKopter-Tool.INI made by disabling UAC:

---begin---
[OSD_Setup]
FormVersion=0
Flags=0
ShowCmd=1
PixelsPerInch=96
MinMaxPos(1920x1200)=-1,-1,-1,-1
MinMaxPos=-1,-1,-1,-1
NormPos(1920x1200)=565,315,1355,885
NormPos=565,315,1355,885
Visible=0
MenuAutostartGE_Checked=false
MenuAutoMoveTo_Checked=true
OpenPictureDialog_FileName=
ShowGrid1_Checked=false
ShowBLInfo_Checked=true
Showoutputstate1_Checked=true
Showoutputstate2_Checked=true
Menu_GPSLat_Caption=Lat: 29.977186
Menu_GPSLon_Caption=Lon: 31.132915
MenuLogAnalogDebugvalues_Checked=true
MenuGPXEnabled_Checked=true
Showtrack_Checked=true
---end---
« Bearbeitet von Foersom am 10.08.2014 09:16. »
Entwickler, Admin
Registriert seit: Feb 2006
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Ort: Ostfriesland
@Foersom: Please try again with lastest MK-Tool (copy also dll-file)...
Mitglied
Registriert seit: Jun 2013
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IngoB meinte
@Foersom: Please try again with lastest MK-Tool (copy also dll-file)...

I tested and the INI-file problem is resolved. Thank you!
Entwickler, Admin
Registriert seit: Feb 2006
Beiträge: 5795
Ort: Ostfriesland
I built a new Beta-Firmware: 2.07f

New Parameter for altitude hold

User image

There you will find a new parameter under "Altitude", that is called "Tilt Compensation"
Normally that is around 100-110% (In Version 2.06 it was 100%)
-> you can also put it onto a Poti to find the right value

With that parameter the MK increases the gas-value immediately if the MK is tilted.
That avoids the MK from descending because of the tilt angle.

I tested it on a normal 'flat' Hexa and Okto.
If the value is below 100, the MK immediately sinks if the attitude is tilted -> after the move the MK climbs back to the desired altitude.
If the value is above 120, the MK immediately rises if the attitude is tilted -> after the move the MK descends back to the desired altitude.

So, I decided to set it to 110%

Failsafe:

- the default time for RC-Lost failsafe is set to 60 sec
- the MK decends automatically at the home-position, no matter if the "use vario for failsafe" was selected in the settings
- bugfix: when a seperate channel is used for the failsafe, the nick/roll channels were not set to zero
- the correct failsafe behavior is activated as default

Regards,
Holger
Mitglied
Registriert seit: Oct 2010
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The tilt compensation is really good news, as I have been struggling with that for some time (both with new and old AH algorithm).

A question: tilting the platform 5 degrees or 20 degrees will cause different rates of descend. Is this taken into account or is compensation generic and thus proportional to the throttle level?
Entwickler, Admin
Registriert seit: Feb 2006
Beiträge: 5795
Ort: Ostfriesland
wizprod meinte
A question: tilting the platform 5 degrees or 20 degrees will cause different rates of descend. Is this taken into account or is compensation generic and thus proportional to the throttle level?

Sure - basically it is the mathematic cos(tilt) function.
Mitglied
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Thank you for the quick answer!
Mitglied
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I think there's an issue with the switch + gas 0 setting. All the other 3 (off/disabled/ch xx) works fine (so it can't be my mappings of channels, as they work with ch xx mode).

Running fc2.07d and nc2.07f
Entwickler, Admin
Registriert seit: Feb 2006
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wizprod meinte
I think there's an issue with the switch + gas 0 setting. All the other 3 (off/disabled/ch xx) works fine (so it can't be my mappings of channels, as they work with ch xx mode).

Thanks.
That is fixed in the latest Version

Also new:
Waypoint Timeout (Parameter on SD-Card)
-> increases the WP-Target-Radius automatically if the MK can't reach it
Mitglied
Registriert seit: Oct 2010
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Have tried out the new altitude tilt compensation in 5 m/s a few days ago. I like it lot! I find that it has to be around 112-115 in order to keep it from losing height (flying with the acc-upgraded fc 2.2 and the medium AH settings)
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Registriert seit: Nov 2012
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HolgerB, when the final version of 2.07 is planned?
Entwickler, Admin
Registriert seit: Feb 2006
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zond meinte
HolgerB, when the final version of 2.07 is planned?

There comes just one more small change in the Logfile and then we will build the 2.08
Mitglied
Registriert seit: Nov 2012
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2.08 will be the final version or again, the "beta"? ;)
Mitglied
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2.08 will be the final Version 😉
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I look forward to 2.08! Thank!
Entwickler, Admin
Registriert seit: Feb 2006
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Ort: Ostfriesland
You can now find the new 2.08 in the Beta-Folder
-> we just need to update the Wiki pages on monday
Mitglied
Registriert seit: Oct 2010
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Some feedback on AH of 2.08 (and properly earlier versions as well)

There's some unwanted behavior when after forward flight, when braked again, the platform will loose 1-2 meters of height. It does go back to its assigned afterwards.
Very easily reproduced.
Entwickler, Admin
Registriert seit: Feb 2006
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@wizprod: is it different to the 2.06?
Mitglied
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i don't remember seeing it before, however, more variation in altitude was seen in previous versions when tilting, which was considered normal. Now with tilt-compensation, the sudden loss of altitude is much more "mentally" visible.
Also because it happens about 0.5-1 second after it has actually gone into a hover, and thus not immediately when breaking.
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Does this new parameter allow us to set higher CH speed without the platform loosing hight?

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MikroKopter - Forum » Software » English: Beta Firmware 2.07