Step 5:
Optional settings for Yaw
Very strong drives can lead to oscillating at full throttle. This
parameter allows you to set a kind of gyro suppression. High-
er values result in an increased gyro suppression towards full
throttle.
Only for attitude mode:
ROLL/NICK I:
Set the I component of the Attitude mode. At too low values
the Copter swings slowly. If it stops after a roll or pitch com-
mand and “oscillates”, the value must be reduced.
AGILITY:
Agility determines at what speed (yaw rate) a new position is
occupied.
Only for Rate mode:
R/N RATE I:
Sets the I component of the rotation in rate mode. At too low
values of Copter swings slowly. However, it stops after a roll or
pitch command and “oscillates”, the value must be reduced.
RATE: Sets the max. potential rate of rotation in Rate mode.
Multicopter Yaw settings
Yaw P - Factor
Standard setting: +45
The P factor is responsible for the harder snap to yaw. Higher
values result in a faster engagement.
At too high P-values the copter starts to “swing”. In this case,
the value must be reduced again.
Yaw I - Factor
Standard setting: +15
The I-factor ensures constant rotations. Start with low values
and increase only as long until the rotations are constant. Too
high value cause an oscillation when you stop and possibly
the motors can run higher. This can lead to an undesirable
rise.
Yaw D - Factor
Standard setting: MIN
The D-factor affects the stopping behaviour in yaw. In most
Copters a hard D action is necessary. The D component must
be set as low as possible, since it affects the whole system.
Multicopter Yaw<v>
>Yaw P 40
Yaw I 20
Yaw D 20
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