5.2. Heading Hold Mode with Debounce
This is the standard mode, and likely used by most of you. Besides gain two new "knobs" come
additionally into play, namely the parameters
PID I
and
Debounce CCW
/
Debounce CW
. These
can't be set via the transmitter but only via the respective parameter fields.
Active Controller Parameters:
- gyro gain (set either via the transmitter or via PID Gain)
- PID I
- Debounce CCW, Debounce CW
If you have chosen
Gain Input Function = set gain & mode
, which is assumed here, the actual
gyro gain is determined by your transmitter setting, and the parameter
PID Gain
is inactive.
There are two debounce parameters for optimizing the CCW and CW piro stops independently.
However, it is possible to link them by setting
Debounce CW = 0
. Then the value of
Debounce
CCW
is internally used for
Debounce CW
, and changing
Debounce CCW
simultaneously
changes
Debounce CW
. A value of 30 inactivates the respective debounce parameter.
In this working mode, the parameters
De-/Acceleration Limit Right
and
De-/Acceleration
Limit Left
are active, but should actually not be used, i.e., should be set to their default (30/0).
5.3. Heading Hold Mode with De-/Acceleration
This mode had been used until v0.15 of the firmware, and should be considered deprecated since
v0.16. However, it is the "textbook" solution to the heading hold problem and hence still
available, for anyone to test. In contrast to mode 5.2 the debounce parameters are not used but
De-/Acceleration Limit Right
and
De-/Acceleration Limit Left
(the parameters
Debounce
CCW
and
Debounce CW
are still active but should not be used and set to their default, 30/0).
Active Controller Parameters:
- gyro gain (set either via the transmitter or via PID Gain)
- PID I
- De-/Acceleration Limit Right, De-/Acceleration Limit Left
If you have chosen
Gain Input Function = set gain & mode
, which is assumed here, the actual
gyro gain is determined by your transmitter setting, and the parameter
PID Gain
is inactive.
There are two de-/acceleration parameters for optimizing the piro stop behavior for rudder stick
to the right or left, respectively. However, it is possible to link them by setting
De-/Acceleration
Limit Left = 0
. Then the value of
De-/Acceleration Limit Right
is used for
De-/Acceleration
Limit Left
, and changing
De-/Acceleration Limit Right
simultaneously changes
De-
/Acceleration Limit Left
. A value of 30 inactivates the respective de-/acceleration parameter.
6. Understanding the Controller Parameters
According to chapter 5.2, there are actually only three parameters to tune in heading hold mode
(or four parameters if CCW and CW piro stops shall be tuned independently), but what is the
meaning of these parameters? An attempt is made to explain them in simple terms, without
becoming (hopefully) too technical.
6.1. Gain
For a gyro two pieces of information about the tail are relevant, namely (i) what is the
desired
yaw rate and (ii) what is the
actual
yaw rate. The desired yaw rate is determined by you via the
rudder stick. The actual yaw rate is measured by the gyro via a built-in sensor. The major aim of
the gyro is simply to send out commands to the tail servo such as to get the actual and desired
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