Beastx MICROBEAST PLUS - 109 Cyclic adjustment; Cyclic gain; Cyclic feed forward

109 Cyclic adjustment
The control loop for the cyclics depends on two major parameters: Cyclic gain and
Cyclic feed forward.
Cyclic gain
In general the higher the gain, the harder the helicopter will stop after cyclic moves and
the more stable and exact the helicopter will fly. But if the gain is too high, the helicopter
will tend to oscillate at high frequency especially on the elevator axis. Due to their low
mass, this behavior will occur sooner on small helicopters, so typically these do not need
as much gain as large helicopters.
On the other hand, in case the gain is too low, the helicopter does not stop precisely
and overshoots the more or less after a cyclic movement. Additionally, it feels unstable
and sluggish in fast forward flight and when hovering. In general, low gain will allow the
helicopter to have more life of its own and so it will not react to stick inputs as precise and
immediate as the pilot expects it.
Ideally you set the gain to the sweet spot, at which the system reacts as precise and stable
as possible without creating any negative effects.
Cyclic feed forward
This part mixes some amount of stick input directly to the servos, bypassing the control
loop. If correctly adjusted, the feed forward relieves the control loop so it will work more
efficiently by only having to make residual corrections. Factory setting of the dial is
horizontal which provides a good setup in most cases. Turn dial 2 clockwise to increase the
cyclic feed forward. This will cause more cyclic stick input going directly to aileron and
elevator on the swashplate. Decreasing the direct stick feed forward will do the opposite.
In case the cyclic feed forward is set too high, the stick input will over control the cyclic
input from the control loop. Eventually the control loop needs then to steer back and
compensate the unwanted cyclic movement. Even though you get the impression to have a
more direct and immediate control over the servos with high feed forward values, unwanted
side effects may appear, like pitching back on cyclic stops and imprecise fast forward flight.
If the direct cyclic feed forward is too low, the helicopter will feel softer, slower and less
”connected”. The optimal point depends of many factors like blades, servos, head speed,
size and mass of the helicopter. Ideally you can increase the feed forward just as high as
possible without any negative effects happening. So you get a quite natural stick feeling
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