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MK- Navi Parameters
The function of the GPS system is set and adjusted on this Navi page and Navi2 page of the parameter settings.

The navigation funtions of the MK reside on the Navi-Ctrl board and together with a MKGPS the navigational capabilities of the Mikrokopter are greatly expanded. (e.g. waypoint navigation, position hold ,...)

While the Navigation system adds some great capabilities to the MK, it should never be totally relied upon. You should continue to practice manual flight in order to provide the best chance of  recovering the MK during in flight emergencies.

The factory default setting should be able to get you up and flying and small adjustments can be made to the following settings after you have some flight experience and an understanding of what these settings are and how they affect MK flight.  

Warning - etting Changes

Warning: These settings should never be made in flight and only made in small increments.


Enable GPS (GPS active)
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). 

Note: GPS Control

Note: Remember-No matter what mode you are flying in, you will always have control of your MK with the sticks. Stick input will override GPS input.




Note: GPS Accuracy

Note: Be aware that GPS Hold works very well, however, even in a finely tuned system it will wander around about +/- 20 feet or so in any direction because of normal GPS error.


GPS Gain
Specifies how much the GPS works. Is it too large, the position swings strongly. 

Operating Note: Setting Changes

Operating Note: when attempting to tweak the GPS settings, leave all the settings stock and play with the gain until it stops twitching. Make small adjustment, between 60 and 100. Than move to the other adjustments if necessary.

GPS Stick Threshhold
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 must have 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.

        • http://gallery.mikrokopter.de/main.php/v/tech/feldstaerke.gif.html

        <!> Dont do this during flight! Otherwise you can crash.

  • 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.


    http://gallery.mikrokopter.de/main.php/v/tech/feldstaerke.gif.html

    Don't 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 theMikroKopter 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 the 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.

Tip: GPS-P in Theory

GPS-P
Imagine GPS-P like a virtual rubber band attached on one side to the MK and on the other side to the target position.
It continually pulls the MK to the target position. the further the Kopter is away from the target point the stronger will be the pull. So, GPS-P determines the strength/thickness of the rubber band.
If GPS-P is small, the rubber band is weak - if GPS-P is high, the rubber band is stronger. If the rubber band is to strong the controller leads to swing.

Limit (GPS-P) - This parameter limits the pulling force of the "virtual" rubber band between the MK and the target position. With the increasing distance to the target and the rising proportional attractive force it would be too great beyond a certain distance.

In reality the flight attitude of the MK causes the attraction to the target. If this flight attitude is getting to large the MK dips immediately. To prevent this  situation is the reason for the P-Limit.

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.

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.

Tip: GPS-D Theory

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. Thit is important because without this friction at the virtual rubber band the MK would swing within its P-share.

The greater the GPS D, the stronger the influence to slow down (stronger the virtual friction) the MK during each movement. If the parameter to big the MK twitches back and forth because of the measurement noise going through the control.

Note: In general, the relationship between GPS D&P has to be correct.

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.

{i} 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 and GPS-D to 60, the speed will change to ~8-9m/s.

    Conversion 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 theMikroKopter 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.

{i} 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]].

Example: Setting Adjust

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 and GPS-D to 60, the speed will change to ~8-9m/s.

Conversion of m/s into km/h => m/s * 3,6 = km/h (6m/s * 3,6 = 21,6km/h)

Caution: Setting changes

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.

Do not make changes in flight.


Operating Note: Erratic Operation

In case of Emergency: If the MK starts acting erratic..
Turn off the GPS and take over by manual control!!!
You can not rely on Come Home, or any other GPS function if a failure has occurred in the GPS system and have little time to react.
Since GPS also influences Alt Hold, this must be turned off also.

Practice flying without GPS often, practice turning off all of the automatic navigation and flying it back home. Don't fly out of sight unless your willing to risk total loss.

Sometimes turning off the GPS and back on may clear the issue also..

Don't wait!!  any time it seems to not do what you think it should turn it all off!! Some day, this practice may save loss of the aircraft and possible physical harm to someone.


Operating Notes:





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