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16570.16572_Alpha150Q/170Q/220Q_V1
If it stops after a roll or pitch command and “oscillates”, the value
must be reduced.
AGILITY
This value determines how fast a change of position is made.
–– Rate mode ––
R/N RATE I
Sets the I component of the rotation in rate mode. At too low values
of Copter tilts slowly. If it stops after a roll or pitch command and
“oscillates”, the value must be reduced.
RATE
This value sets the maximum potential rate in Rate mode.
YAW Display
The general comments on PID control in the description of the roll /
pitch display are also applicable here.
YAW P
MULTICOPTER GIER
YAW I 12
YAW D 10
RATE 70
YAW DYNAMIC 75
YAW P 40
The P factor is responsible for the snap to yaw. Higher values result
in a faster stop. At too high P-values the copter starts to “swing”. In
such cases, the value must be reduced again.
YAW I
The I-factor ensures constant rotations. Start with low values and
only increase them until the rotations are constant. Too high value
cause an oscillation when you stop. Eventually, the motors can start
rotating and thus cause unwanted rising.
YAW D
The D-factor affects the stopping behaviour in Yaw. Normally a hard
D action is necessary. The D component must be set as low as pos-
sible, since it affects the whole system.
RATE
For beginners a rate value of approx. 50, for racers and freestyle
pilots between 50 and 70 are recommended.
MULTICOPTER YAW
YAW I 12
YAW D 10
RATE 70
YAW DYNAMIC 75
YAW P 25
Race Copter Alpha 220Q
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