Copyright 2013 Eagle Tree Systems, LLC Page 8
Figure 8: LED Indication during Steady State
Figure 9: Mode/Config Switch
If the model is not structurally capable of pulling out of a steep dive very quickly, some configuration may be needed to prevent excessive G-Forces. Reduce the Overall
Gain (if connected) during high speed maneuvers or limit the travel of the servos through the PC software’s Expanded / Custom Servo Ranges configuration tool under the
“Servo Config” tab. Test your changes carefully and conservatively.
Servo Binding / Stripping
The Guardian may deflect any connected servos beyond the ranges defined in your controller’s servo deflection settings. Exercise caution when first
configuring your model to prevent binding or stripping.
If moving the model or deflecting your control sticks results in any Guardian-controlled servos binding or reaching their mechanical extents, you can limit their movement
in the Guardian PC App by selecting the “Servo Config” tab, setting “Output Servo Ranges Custom” to “On” and assigning specific endpoints for each servo channel. For
more information, please see “The Servo Config Tab” under the “Guardian Configuration Page Software Reference” section.
Tuning for Optimal Gains
While not needed for a good stabilization experience, there is a maximum gain configuration that can be found that will provide the best flight performance with the
Guardian. This entails setting the highest gains for each axis without triggering oscillations. To do this, start out with the individual gain control dials set for their
maximum correct deflections as described in the “Overview/Quickstart” section. Take off with the Master Gain control knob turned down low and once at a safe altitude
and cruise speed, turn it up slowly to enable stabilization. Continue turning it up until an oscillation occurs. Note which axis upon which it occurs, reduce the overall gain,
and land. Reduce the individual dial gain of the axis that was showing oscillations. Repeat this process until all three axes oscillate at the same Overall Gain level or no
oscillations can be triggered.
Status LED
The Guardian’s LED uses blink sequences to convey information about system status, the current flight mode and any errors that have been detected.
LED Indication during Startup
The LED will turn ON for 2 seconds, and then slowly blink the number representing the Model Control Type currently selected (1 blink = Standard, 2 = Elevon, 3 = V-Tail).
See List of Menu Features and Options: Model Control Type for more information. After this startup blink sequence, the LED will display Steady State status as described
below.
LED Indication during Steady State
•
Solid On: 3D Mode
•
One repeated blink: 2D Mode
•
Solid Off: Stabilization Disabled
Additional LED Messages
•
2 repeated blinks: Radio Stick Menu is active
•
3 repeated blinks: USB is connected
•
4 repeated blinks: Error condition. Error type is indicated by a pause
and a number of additional, faster blinks:
o
One blink: Brownout – BEC or receiver battery is
providing insufficient power for your servos and the
Guardian. See the BEC/Receiver Battery Power
Requirements section above.
o
2 – 5 blinks: Memory / Calibration Errors – Repower the
Guardian to clear. If this problem occurs repeatedly,
contact technical support.
o
6 blinks: Sensor Fault – If this problem occurs
repeatedly, mechanical stress or damage to the board may
have occurred.
o
7 blinks: Internal error. If this problem occurs
repeatedly, contact technical support.
Mode/Config Switch Behavior
The Mode/Config input on the Guardian lets you change your stabilization mode in-flight between 2D Mode, 3D Mode and Disabled (if a 3 position switch is used).
Additionally, you can configure the Guardian in the field via a series of toggles of the Mode/Config switch (within 15 seconds of Guardian power up), referred to as
“Configuration Gestures”.
Leaving the Mode/Config input disconnected will cause the Guardian to switch to the Default Flight Mode. The factory default of this setting is “2D Mode.” If you want to
use a different mode in this case, you will need to use the PC software to set the mode, or temporarily connect the Mode/Config input to change the mode via the radio stick
configuration. See the Default Flight Mode menu item in the List of Features and Options section below.
Flight Mode Selection
Please refer to Figure 9. The Guardian has three main operating modes (described earlier) that can be set by the
Mode/Config switch position:
•
Down: ( Position 2 , -100%, 1.1ms): 2D Stabilization Mode:
•
Middle: (Position 1, 0%, 1.5ms, only available if you are using a 3 position switch): None – No stabilization or
damping. All servo signals are directly passed through. (Elevon and V-Tail mixing is still performed)
•
Up: ( Position 0, +100%, 1.9ms): 3D Stabilization Mode
Configuration Gestures
Within 15 seconds after Guardian power-on, the Guardian can be configured by toggling the Mode/Config switch back and
forth rapidly. The number of times you toggle the switch determines which configuration step is performed. Note that if
you have a 3 position switch, its center position is not used during toggling.
The switch you are using on your radio must be configured with its endpoints at approximately -100%, 100% for Configuration Gestures to work correctly.
