GRAUPNER Alpha 150Q, Manual

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16571.GPS_Alpha150Q_V2.0sh.en
switch between the available video channels in rotation using a
pushbutton switch.
ALARM CAPACITY
In this line, to be on the safe side, select a value that is approximately
10 to 15% lower than the nominal capacity of the battery used, so
that enough time and power remain for a safe landing.
ROLL/NICK Display
MULTICOPTER RO/NI
ROLL/NICK D 50
DAMPING 10
ROLL FACTOR % 95
POWER2SENS. 100
ROLL/NICK P 30
R/N DYNAMIC 70
––ATTITUDE MODE––
ROLL/NICK I 40
AGILITY 3
––RATE MODE––
R/N RATE I 10
RATE 70
The control is based on the PID principle, where the "P" stands for
"proportional", the "I" for "integral" and the "D" for "digital". In short
...
... the deviation from the setpoint proportional to the manipulated
variable has an effect at the P value.
... the existing control deviation is continuously summed up at the I
value and then acts on the manipulated variable via the I value.
... the differential component only takes into account the speed of
the control deviation and then acts on the control accordingly via the
D component.
ROLL/NICK P
This parameter determines the tilting behaviour of the copter during
the maximum climb.
In order to prevent tilting at full climbing power in the end, this
parameter must be increased in steps of 5 until a medium-fast tilting
occurs. Subsequently, this value is to be adjusted in individual steps
until the tilting has disappeared.
ROLL/NICK D
This parameter determines the tilting behaviour of the roll / pitch
function of the copter.
As described above, this parameter must be adjusted until the Mul-
ticopter engages exactly over Roll and Nick. A too high value leads to
very rapid oscillations.
DAMPING
The damping factor should be set as low as possible, but as high as
necessary, so that the PID control can operate optimally. If you do
not get vibrations away with the PID settings , then change the damp-
ing of 1 step and test whether the setting works better or worse.
ROLL FACTOR %
Set the Roll setting as percent value of the overall gain. For symmet-
rical copters, the value should normally be left at 100. If, because of
its gravity centre, the Copter is more agile on the Roll axis than on
the Nick axis, then you can change here the roll factor.