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httWKM Detailed Descriptions on Autopilot parameter setting
When user is configuring the parameters, please ensure that:
1. Aircraft has been correctly installed and ready to fly.
2. Test with no wind
3. Sufficient space for the test flight.
4. Test in Atti mode first.
5. With any mechanical problems, the aircraft are unable to achieve the best performance.
For the majority users of multirotor, the default parameter is good to flight. For security reasons, the default 100% is slightly smaller for most of the frames. This document is to guide the users how to configure the parameters properly to achieve the best performance.
First, the user shall restore all default parameters to 100%.
1. Basic parameters
We recommend to start from the basic parameters, because other parameters won’t help if the basic parameters are not set appropriately.
There are four directions for these,namely, pitch, roll, yaw and vertical. The method is the similar to that when we adjust gyro sense.
A. Pitch, roll:
For the first flight, pls go to an open area with no wind, test in Atti mode. Throttle slowly up to take the aircraft off the ground. See if It is oscillate in relevant direction. If everything seems fine, you can try to move the cyclic stick to feel how it responds to stick commands.
B. Push the stick to make the aircraft tilt, and then release immediately.Watch the response when it’s self leveling automatically. If it is too sluggish, increase the parameters by 10% -15% each time, until it wobbles when self leveling. Now the feeling will be more direct and straightforward.
C. But we do not want it wobble, so we need to slightly reduce the values.
B. Tail
The sensitivity of the tail is actually very easy to adjust, because there is only one basic sensitivity parameters, like general head-locking gyro. You can increase the gain to make it more sensitive and vice versa. As to multi-rotor platform, however, it is necessary to know that anti-torque for the blades controls the rotation of the tail. Due to the limited strength, it can’t shake like the tail of helicopters no matter how big the gain is, but will get motor to start and stop very agilely to affect the stability of the other direction.
If it is asymmetric about the speed to turn, please carefully check if the motors are installed upward straightly.
C. Height
There are two methods to verify if vertical gain is appropriate. Check if the height can be maintained when throttle stick stays central, or if there is a significant altitude change when flying cruise.
If it is the first time to fly, you can make it through the following way to reach a relatively appropriate gain. To increase vertical gain step up by 10% until vertical shock just happens or over-sensitive reaction from throttle stick. The phenomenon above mean too high gain, you can decrease the gain by 20% to get the relatively appropriate gain.
2.
Attitude Gain
Appropriate basic parameters have already been good for most of the flight. If the user would like to further enhance the control feeling, because each person's individual requirements for multi-rotor is not the same, you can then fine-tune the attitude gain.
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Attitude gain only works for pitch and roll. High gains mean faster reaction of multi-rotor with the same stick range. Full stick range is corresponding to 35°multi-rotor inclines. For example, if the stick range is 20°now, the higher the gain is, the faster the multi-rotor inclines to 20°, and vice versa. Please note, too high or too low gains are not good, too low gains can make multi-rotor out of control, and shocking caused by too high gains. The default 100% is a little bit low to most of multi-rotors, but it could be adjusted higher or lower by 10% to reach the best control effect. Lower than 80% or higher than 150% are not recommended generally.
3.
Advance Parameters
Do not arbitrarily modify the advanced parameters since default values are suitable for almost all multi-rotors. Just keeping the default value of 100% is OK.
Introduction of advanced parameters:
A. I: Better left alone, it is mainly for forward flight with head wind. Increase for strong head wind. Decrease for strong tail wind.
B. Velocity damping: Ascending and descending braking, as to how fast you want the multi to stop. Increase value to have fast braking.
C. Increase to have higher position hold; decrease to have less. Fine tuning between ATTi and GPS modes in position hold.
Kind Remind: do not modify the default values without professional guidance. All advance parameters are only good in GPS mode.
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