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= Enable GPS =

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  The "GPS" function can be activated / deactivated here. <<BR>>

 (See also [[en/MK-Parameter/Easy-SETUP|EasySetup|target="_blank"]])



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== GPS Wind Correction ==

 Cross winds can cause the actual flight direction to deviate.

 Here a lead angle tries to minimize this deviation. <<BR>>
 The parameter controls the strength of this compensation. <<BR>>
 A value of 0 means that this function is switched off.

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== ACC Compensation ==

 Here it is determined how hard the !MikroKopter brakes in position hold mode when the nick / roll sticks are centered again.<<BR>><<BR>>

 The higher this value, the more the MK brakes according to manual controls before it holds the target position.


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== Max. Flying Range ==

 This value defines a circular area around the starting position in meters. <<BR>>

 If you fly manually without GPS and exceed the distance set here, you will receive a <<BR>>
 corresponding error message via telemetry (only Graupner HoTT or Jeti).<<BR>>

 If you fly in dPH-GPS mode, this limit cannot be exceeded. The copter stops at the set flight radius.<<BR>>

 A value of 0 (default) means that this function is switched off and you can fly as far as the radio range of the remote control allows.<<BR>><<BR>>

 '''Waypoint flight:''' <<BR>>
 The flight radius for a waypoint flight depends on the license on your copter. <<BR>>
 Without a license you have a WP flight radius of maximum 250m around the starting point.<<BR>>
 With a license you have a WP flight radius of 1000m (or more) around the starting point.<<BR>>
 Waypoints can only be set and approached for the possible flight radius.<<BR>>
 If this function is deactivated (0), waypoints can be flown to within the maximum possible license radius.

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== GPS Angle Limit ==

 Limits the maximum control influences of the GPS. A value of 100 roughly corresponds to a maximum inclination of 20 °.<<BR>>

 If the value is too small, the MK may not come up against the wind and drift. <<BR>>
 If the value is too large, the approach to the target will take place too quickly.


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== PositionHold Login time ==

 This is the maximum time after which the !MikroKopter logs in the new position after the sticks for Nick / Roll are in neutral position again. 


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== Dynamic PositionHold (dPH) ==

 This function can be activated or deactivated here.

  * Enabled => If ''Dynamic !PositionHold'' is __enabled__ and the 3-was Switch for GPS is centered, the copter is also flying under GPS when you move the Nick/Roll sticks.
   Here the copter is controlled by moving the GPS coordinates to a new position when <<BR>>
   the nick / roll stick is moved. This enables a more precise positioning even in wind. <<BR>>
   The Kopter flies to the positions a little bit slower. <<BR>><<BR>>

  * Disabled => If ''Dynamic !PositionHold'' is __disabled__, and the 3-was Switch for GPS is centered, the copter is flying manual when you move the Nick/Roll sticks.
   The copter (the motors) is controlled directly by moving the nick / roll stick.<<BR>>
   The function PH is deactivated as soon as the sticks are moved. <<BR>>
   If both sticks are centered again, the PH function is automatically reactivated.<<BR>><<BR>>> 

 (See also [[en/MK-Parameter/Easy-SETUP#Dynamic_PositionHold|EasySetup]])


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= ComingHome =
== ComingHome Altitude ==

 The height set here (in meters) applies to flying back when the [[en/Features/ComingHome|ComingHome]] function is activated. <<BR>>

 After activating the !ComingHome function, the !MikroKopter automatically flies back to the starting point.<<BR>>
 (a GPS satellite fix must be available!). <<BR>>
 During the return flight he takes the altitude set here and 'parks' when he reaches the '!HomePosition' at this height.<<BR>><<BR>>
 During the return flight, the set altitude is approached at 3m / sec - this cannot be changed!

 The following applies: <<BR>>

 0: OFF -> the current height of the copter is retained on the return flight.<<BR>>
 1-247: Value in meters -> this height is approached immediately when !ComingHome (CH) is activated at 3m / sec.


{{{#!wiki caution
'''IMPORTANT'''

The altitude: <<BR>>
 - is only flown to with the ''!AltitudeHold'' function switched on ~-(in ''Vario altitude control'' mode)-~. <<BR>>
 - and the throttle stick __must__ be centered.
}}} 


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== ComingHome Orientation ==

 The orientation of the copter on the !ComingHome return flight can be set here: <<BR>>
  * no change
  * Front to home point
  * Rear to home point
  * Alignment like at the start

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= Gain altitude ... =

 If this function is activated, the Kopter rises straight up to 20m on the spot when starting the WP flight.<<BR>>
 Only then will it fly directly to the height / position of the first waypoint.

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= Single WP =
== Single WP Control Channel ==

 A free channel that is assigned a 3-way switch on the remote control can be entered here.<<BR>>

 During a flight, a single waypoint can be saved or loaded directly via the remote control.<<BR>>

 The function: <<BR>>
  * 3-way Switch - position center => No function
  * 3-way Switch - position OFF => "STORE" 
   * the current position, height, orientation of the copter is saved in a separate single waypoint in the copter.
  * 3-way Switch - position ON => "LOAD" 
   * the saved waypoint is loaded

 The automatic departure of the waypoint takes place as with normal waypoint flight => [[de/MikroKopterTool-OSD/WaypointRun#Wegpunkteflug_ausf.2BAPw-hren|Ab "Schritt 2"]]
<<BR>>

  '''INFO:''' <<BR>>
  The waypoints saved in this way are overwritten when you switch to "STORE" again


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== Next WP Channel ==

  A free channel that is assigned a push button on the remote control can be entered here.<<BR>>

  Depending on the position of the 3-way switch under '' "Single WP Control Channel" '', further waypoints can be saved / loaded (max. 99 WP).<<BR>>

  The function: <<BR>>
   * 3-way Switch - position center + push the button once => No function
   * 3-way Switch - position OFF => "STORE" => the first waypoint is saved
    * + push the button => the second waypoint is saved
    * + push the button => the third waypoint is saved
    * ...
   * 3-way Switch - position OFF ON => "LOAD" => the first waypoint is loaded
    * + push the button => the second waypoint is loaded
    * + push the button => the third waypoint is loaded
    * ...


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== Single WP Geschw. ==

 Hier kann entweder eine feste Zahl (x 0,1m/s) oder ein "Poti" eingetragen werden.<<BR>>

 Die hier eingestellte Geschwindigkeit gilt für einen Wegpunkteflug, bei dem die Wegpunkte über den Sender (HoTT oder Jeti) per Telemetrie gespeichert wurden ~-(siehe ''"Single WP Control Channel"'' / ''"Nächster WP Channel"'')-~. <<BR>>
 Alternativ zur festen Geschwindigkeit (per Zahl) kann über ein Potentiometer am Sender die Geschwindigkeit manuell gewählt werden. <<BR>>



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= Fail Sink-Radius =

 Hier kann ein maximaler "Sicherheits" Flugradius in Meter eingetragen werden.<<BR>>

 Wird dieser Radius überschritten, geht der Kopter an Ort und Stelle automatisch in die Landung über.<<BR>>
 ~-(nur mit kommerzieller Lizenz möglich)-~ <<BR>>

 ''Dieser Radius ist z.B. in Frankreich bei kommerzieller Nutzung gefordert.''
<<BR>>

~- 
 Tip: <<BR>> 
 Der ''Max. Flugradius'' sollte kleiner gewählt werden als der ''Fail Sink-Radius''. <<BR>>
 So hält der Kopter dann bei dem eingestellten max. Flugradius an.<<BR>> 
 Sollte der Kopter dann dennoch den zweiten ''Fail Sink-Radius'' erreichen (z.B. durch starke Windböen etc.), landet der Kopter dann automatisch an Ort und Stelle.
-~

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