Cleanflight Manual Rev.6
Code No. MD04001-00-0108
12
6.
Thrust compensation for servo inclination
:
as the motors tilt you will loose altitude. This feature tries
to help you keep an horizontal
fly path adding thrust when needed so that you have to work less on the throttle stick to keep a leveled flight. The slider rapresents the
throttle stick position in hovering. This is very important to set correctly since, a too high value will make your quad compensate too
much and fly away without control:
start with a low value ALWAYS
.
Please be careful while setting this parameter, and be
prepared to disarm your engine using a switch (DON'T USE ARM/DISARM USING TROTTLE/YAW STICK).
7.
Thrust compensation for body inclination
: similar to above but works only on the body pitch inclination to compensate the small
allowed body inclination that may occurr due low ‘body pitch suppressor’, wind, fast acceleration/deceleration, etc.
8.
Yaw and roll compensation
:
the more the motors tilt forward or backward from the vertical orientation, the more mixed are the yaw
and roll axis, i.e. that a yaw input has a roll component on the craft and viceversa. In the limit, when the motors are 90° forward or
backwards (i.e. horizontal) yaw will became roll viceversa. This setting tries to mix the yaw and roll results from the PIDs to minimize
unwanted effects, especially in banked/coordinated turns.
