ONLY
be used to set the gyro into rate or heading hold mode. The gyro's gain is not set by the
gain signal, instead it is determined by the parameter
Rate Gain
if the gyro is in rate mode or
PID Gain
if it's in heading hold mode. The relation of gain signal and gyro mode is as follows:
1920
μ
s (100%)
|
| gyro is in heading hold mode, the gain is determined by the parameter value
PID Gain
|
1532
μ
s (51.5%)
| undefined state
1508
μ
s (48.5%)
|
| gyro is in rate mode, the gain is determined by the parameter value
Rate Gain
|
1120
μ
s (0%)
The parameter
Gyro Mode
is inactive and overridden by whatever the gain input signal says.
3) Gain Input Function = not used
In this setting, any signal at the gain plug is ignored and it can even be totally absent. The gyro is
set into rate or heading hold mode by setting the parameter
Gyro Mode
to rate or heading hold,
respectively. The gyro's gain is not set by the gain signal, instead it is determined by the
parameter
Rate Gain
if the gyro is in rate mode or
PID Gain
if it's in heading hold mode.
4) Gain Input Function = pitch
In this setting, the gyro expects to see a signal at the gain plug, as before in (1) and (2), however
this signal will be interpreted as to represent the pitch of the main blades. This options allows for
a torque pre-compensation as known e.g. from FBL units.
5. The Controller Parameters
It is important to understand that not all controller parameters are active at all times. The GA250-
OW can be set into different working modes, and which parameters are active/inactive depends
on the working mode. As the inactive parameters can totally be ignored, this implies that in
practice you usually don't have to deal with all controller parameters but only a subset of them!
Of the possible working modes only the three basic ones are described.
5.1. Rate Mode
This is the simplest working mode, and what it is should be obvious. In this mode only one
parameter is relevant, namely the gyro gain.
Active Controller Parameters:
- gyro gain (set either via the transmitter or via Rate Gain)
This sounds simple, however, the actual gain used by the gyro is
NOT
necessarily determined by
the value in the parameter field
Rate Gain
. If this isn't clear, please reread section 4! Most of
you will have chosen
Gain Input Function = set gain & mode
. Then the gyro gain is
determined by your transmitter setting, and the parameter
Rate Gain
is inactive. Hence, with
Gain Input Function = set gain & mode
, there is only one "knob" to turn, namely the gain
setting in your transmitter (which has to be in the range 0-48.5% for rate mode). If you have
chosen a different setting for
Gain Input Function
, then, and only then, the actual gain is
determined by the parameter
Rate Gain
, and you have to set
Gyro Mode = rate
.
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