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.
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).
Specifies how much the GPS works. Is it too large, the position swings strongly.
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.
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.
Limits the potency of the parameter GPS-P.
I-share of the control. Eliminates the permanent position deviation in the wind (larger = stronger tendency for prolonged position deviation).
Limit Limits the potency of the parameter GPS-I.
D-share of the control. Influence of speed on the GPS controller (Bigger = slower movement).
Note: In general, the relationship between GPS D&P has to be correct.
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.
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]].