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Autopilot Installation Manual B.5 Aerospool Dynamic WT9
Table 7: EV97 configuration parameters
Max arm mv 40
◦
Max pitch rate 3
◦
/s
Pitch target 12
◦
Max roll rate 5
◦
/s
Roll target 20
◦
Max VS rate 1.5m/s
2
VS target 3m/s Turn comp 0.3
- - Roll rate gain disabled
Table 8: EV97 PID values
Parameter Pitch VS Roll Heading
P-term 0.4 0.025 0.7 0.9
I-term 7.0 12.0 8 26
D-term 0.0 0.2 0.2 0.2
B.5 Aerospool Dynamic WT9
Table 9: WT9 configuration parameters
Max arm mv 30
◦
Max pitch rate 3
◦
/s
Pitch target 10
◦
Max roll rate 3
◦
/s
Roll target 20
◦
Max VS rate 1.0m/s
2
VS target 2.5m/s Turn comp 0.2
- - Roll rate gain 2.0
Table 10: WT9 PID values
Parameter Pitch VS Roll Heading
P-term 1.2 0.024 0.6 1.5
I-term 6.5 15.0 4.5 26
D-term 0.5 0.3 0.4 0.14
B.6 Roko Aviation
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