Freefly ALTA - Page 59

59| USER MANUAL
tuning. When tuning Stiffness first, or making large stiffness changes, Hold Strength
should be set to a low, non-zero value.
Higher Stiffness values give more responsive control. Values that are too high can
cause instability or oscillation.
WARNING
Excessively high stiffness values can cause ALTA to become
unstable and difficult or even impossible to control.
Lower Stiffness values give less responsive control. Values that
are too low can cause a vague or disconnected control response.
HOLD STRENGTH
Hold Strength controls how much ALTA will try to maintain a pitch/roll
angle command, or a yaw heading command. It is adjusted for pitch and roll
simultaneously, and yaw independently. A higher Hold Strength setting will give a
faster control response and a more responsive feel. However, values that are too
high can cause ALTA to overshoot pitch or roll commands, or even cause instability.
WARNING
Excessively high strength values case cause ALTA to become
unstable and difficult or even impossible to control.
Typically, this setting will not need to be changed from
the default value, and only then in small increments.
HEIGHT TUNING
Tuning height parameters will adjust the control feel of ALTA’s height control while
in Height and Position modes (for additional information on flight modes, see the
Flight Controller Modes section of this manual). Tune height parameters only after
satisfactorily tuning attitude parameters.
Similar to attitude tuning, stiffness is the primary tuning parameter.
If switching to Height Mode causes ALTA to fly in an unstable manner, switch back to
Manual Mode, land and try reducing the values of height tuning gains if they are very
high, or increasing them if they are very low.
VERTICAL STIFFNESS
Vertical Stiffness Gain modifies the vertical stability of the ALTA in Height mode.