COMPLEX RADIO CONTROL SYSTEM
or Acrobatic mode. If the coefficient is too high, slow but strong
oscillations might appear.
Integral coefficient - determines the weight of stabilisation error
accumulated from the past. Thanks to integrating, the receiver is
able to return the model to its original orientation, even if it has
been previously displaced. Set this factor so that the model does
not tilt in the air in any axis and keeps a steady attitude in the Sport
When testing the modified coefficients, take off and apply small but
fast movements on the inputs and check if the multicopter reacts
quickly, but without overshoots. The rudder axis (Yaw) is not so
critical for fine tuning the gain - after moving a stick in yaw
direction, the multicopter should not become unstable and should
not experience significant changes in altitude. Leave the derivative
coefficient at zero.
For multicopter models, the altitude and climb/descent stabisation
can also be tuned. If the model responds more violently than
expected to the climb command, lower the proportional
coefficient in the appropriate row (Vertical Speed). Conversely, if it
does not respond to the altitude change at all, increase the
coefficient value.
Derivative coefficient - the derivative component of the
stabilisation loop responds to rapid changes in model orientation
and is able to suppress, for example, the effects of wind gusts. Edit
the value of the derivative component very carefully with small
steps, as the model might begin to oscillate very quickly.
EN
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