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| = Gyro = {{http://gallery.mikrokopter.de/main.php?g2_view=core.DownloadItem&g2_itemId=63255&g2_serialNumber=1}} <<BR>> * '''Gyro-P''': Influence on the nick- roll- (rotation) speed. If larger, the MK moves slower. * '''Gyro-I''': Influence of the angle attitude. * '''Gyro-D''': If short control oscillations occur, this can be reduced with the Gyro-D value. If the value is too high, the MK begins to vibrate / hum. Setting: slightly below the value at which the MK starts to vibrate (20%). * '''Gier-P''': Influence on the yaw (rotation) speed. If larger, the MK moves slower. * '''Gier-I''': Influence of the yaw-angle attitude. * '''Dynamic Stability''': This value can adjust how much the thrust available to stabilize. If too large, the MK will raise during stabilizing action. * Smaller than 64 -> the thrust to regulate is limited under limit -> no rise in strong movements. * Larger than 64 -> the thrust to regulate can be larger than the gas value -> hard stabilisation of the axes -> could raise during strong movements * '''ACC/Gyro-Faktor: ''': The factor between the ACC-ange and the Gyro-ancles * '''ACC/Gyro-Comp.: ''': The angle fusion between ACC and Gyro-Angle. Grad des Fusion zwischen ACC und Gyro (reciprocal). The smaller the value, the faster is the data fusion.The smaller the value, the more quickly adapted to the Gyrowinkel the ACC sensor. For slow hoovering higher values are better (> 100). For fast flying, you should take small values (10-50) * '''Hauptregler I''': Sum of the angular error. Provides greater precision between stick and attitude. Can oscillate if the value is too large. * '''Driftcompensation''' (for FC 1.x): Specifies how many 1/8 counts per 500 ms of the gyro-sensor drift can be tracked. If the value is too small -> the Gyrodrift (eg temperature changes) could pull the MK strongly in one direction. Null -> drift compensation off<<BR>> / \ NOTE: The FC 2.0 ME is the value is always 0! * GyroStability: reduces the influence of all three P,I,D * below 8: lower influence of the PID * larger than 8: higher influence of the PID {i} Tipp: if you want to change the behave of the MK, please first start changing the GyroStability and Stick-P and Stick-D === Setting up your gyro for smooth reactions such as for Aerial Video applications. (by MK-Flyer-SA) === Some settings are for when you input movements with your stick and want a certain reaction, other settings are for what happens either after you have let go the sticks or are doing nothing.. Noted below as follows: S = Stick input R = Return input '''Gyro-D''' = R = under 10, makes copter sluggish (softer) to return from a user input. Above 15 very quick return from user input (harder) probably good for 3D but bad for aerial video. Lower values useful for larger copters and or aerial video. The copter has a natural dampening effect after a user input to return to neutral position. This setting has nothing to do with actual speed of user input i.e. exponential curves. If for instance it takes 2ms to reach a certain pitch, it might take 3ms to return to neutral with lower values. Whereas with higher values the stick input and return input might be the same, making the craft more agile. '''Acc /Gyro - Comp''' = R = 32 standard. Higher values makes copter more resistant or less susceptible to wind changes and more planted. Lower values allow copter to be influenced by small wind gusts. Alternatively, lower values causes copter to over compensate and wobble, whereas higher values resist the urge to try and compensate for small wind changes therefore keeping copter more 'stable' which is good for aerial video. At a setting of 60, my copter was a bit 'loose' at 50 it was perfect, at 32 it was susceptible to wind influence. '''Gyro Stability''' = S = below 4 copter sways and cannot get back to neutral easily. Use with caution. Above 8, copter jiggles and over compensates almost as if it is on springs and takes some time to stabilize after user input. '''Gyro P and Gyro I''' = I have had both of these values on a poti and cranked them up and down with no visual difference to the flying characteristic of the craft and cannot explain these or what they do. For most cases leave them as standard settings. Please note the following when adjusting your gyros: Smaller motors with their smaller props (10") react differently (faster?) to the same board suddenly fitted with bigger motors and heavier props. Changing motors and props from a known configuration to heavier and stronger motors will not necessarily mean it flies the same. Each copter is different regarding final build, arm length, load and general construction, so each must be set up separately. In summary: '''Gyro-D''' lower numbers dampens stabilization, Higher numbers quicken stabilization '''Acc /Gyro - Comp''' Lower values makes copter try and stabilize more quickly in gusts of wind '''Gyro Stability''' Lower values makes copter very sluggish to find neutral. Higher values might cause wobbling Disclaimer: These are my experiences only and not the outright rule. I only post my findings in order to try and clear up settings for new users or users struggling to find a happy setting.. |
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Gyro
In this window you can set up the function of the gyro.
Choosing the functions
Gyro P
Influence of the gyro on the pitch and roll rate. The higher the value, the more sluggish moves the MikroKopter.
Yaw P (Gier P)
- Yaw rate ratio to stick deflection. If high, fast rotation - if low, sluggish reaction.
Gyro I
- Position stabilization. The higher the value, the stronger the relationship between stick angle and position angle. Leads to large values (compared to gyro-P) to oscillate. If high, hard control '(high angles stabilization)' can be set up under vibration inclination, if low, soft control, tilt swing, wind-sensitive.
Yaw I (Gier I)
![/!\](/moin_static199/mk-style3/img/alert.png "/!\")
No data?!
Gyro D
Controls the angular velocity upon returning from attitudechanges (from tilted to level). If short control oscillations occurs it can be reduced with Gyro-D. Is the value to high, the MikroKopter starts to vibrate / grumble. Too low, and the MikroKopter will shake when flying fast, or when in wind. Setting: a little bit below the value before the MikroKopter begins to vibrate (reduce by 20%).
Dynamic Stability:
With this value now you can adjust how much the thrust regulates the axis control at this point. Some pilots have been disrupted because of the strong increases of the MK. That was the reason for the rise in the wind and other phenomena such as, for example, bearing damage. Beginners also have problems with jumping on landing, which also has this cause.
Smaller 64 -> the thrust is limited to less gas -> no rise in or with strong control.
Greater 64 -> The thrust can be greater than gas -> hard control of the axis -> Rises with strong controls.
In the settings it is like: * 1.Sport: 100 -> increases
2.Normal: 75 -> increases a little bit
3.Beginner: 50 -> it's not increasing
- Alternative explanation (using a quad X as example):
- Value = 64: The MK is hinged around the very center of the platform. In theory, it does not ascend nor descend when changing attitude (at constant throttle)
Value < 64: The MK is hinged towards the rear motors. The lower the value, the further back/towards the rear motors the MK is hinged. Will lose altitude when given stick-commands.
Value > 64: The MK is hinged towards the front motors. The higher the value, the further out front the MK is hinged. Will gain altitude when given stick-commands.
Rotation rate limiting
ACC/Gyro-Factor:
- Relationship between ACC sensor value and Gyro-integral. If the MK is tilted a few degrees, the line of the ACC and the Gyro-integral have to be congruent. If it's necessary it can be corrected here.
ACC/Gyro-Comp.
Degree of fusion between ACC and Gyro (reciprocal). The smaller the value, the faster the gyroangle adapted to the ACC sensor. For hovering, high values are advantageous (> 100). For high-speed and aerobatics, you should use smaller values (10-50). This setting can also affect the performance of the gimbal-compensation.
Main regulator I (Main I)
- Summery of the angular errors. Provides greater precision between stick and location. Should be increased when flying with heading hold enabled. Can contribute to large values of swing.
Drift-compensation (for FC 1.x)
Specifies how many eighth (1/8) digits per 500 ms of drift must be tracked. If the value is to small -> Gyrodrift (e.g. during temperature changes) pulls the MK strongly in one direction.
Value to high -> MK does not float so much on one spot. Zero -> Drift compensation off, standard is 32, so rather conservative.
Note: At the FC 2.x ME the value is always 0!
Gyro stability (Gyro stab.)
With this parameter you can change the "hardship regulation" of the position controller.
Generally low hardness: the MK does not react as strongly to disturbances (e.g. variations due to wind)
Gyro stability <= 4 greatly reduced hardship => Suitable for aerial photography/video platforms. Don't go too low. Decrease only in steps of 1.
Gyro stability = 6 (Standard) => light reduced hardship regulation
Gyro stability = 8 => normal hardship regulation
Gyro stability = smaller 8 => reduced hardship regulation
Gyro stability = greater 8 => higher hardship regulation
From version v0.82 for the flight control you can set this value 1 to 16
Some of these values you can get while experimenting with the settings to a potentiometer and to get the optimal values out of a flight [SettingsErfliegen [| get in flight]].