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29
K.
ROLL Axis Gain Calibration (in flight)
This step will calibrate the roll axis only to ensure the gain is set correctly to allow for a smooth
correction to roll and heading in flight. Pick a clear area on a good weather day with very little wind for
this test and fly at a safe altitude away from populated areas.
Ensure the correct direction of movement:
Make sure the pitch servo power is disconnected or switched off prior to starting, this test is only for
roll
. This will likely take a few flights to fine tune.
Make sure to do clearing turns before any maneuver
to ensure there is no other traffic in the area.
1.
Prior to takeoff power up the AUTOPILOT. This will display the AHRS and set the Home location.
Leave the servo(s) circuit powered down
.
2.
Takeoff and fly straight and level at a typical cruise speed at a safe altitude. The AHRS display
should be straight and level.
3.
Select
AP ON
. This will enable the Servo PWM signals and start flight logging. Power up the roll
servo(s).
Immediately switch the AUTOPILOT off (AP OFF) or power down the roll servo(s) if
you experience any adverse reaction.
4.
Wait a second or two, then select
STAB ON
to enter wings stabilization mode.
5.
The current heading should not change much.
Immediately switch the AUTOPILOT off (AP OFF)
or power down the roll servo(s) if you experience any adverse reaction.
6.
Put in a rapid bank angle for a couple of seconds and then release the yoke. Do the same in the
opposite direction. You want the plane to roll out smoothly and gently, with wings level on the
new heading (note this mode does not track a heading).
Immediately switch the AUTOPILOT off
(AP OFF) or power down the roll servo(s) if you experience any adverse reaction.
7.
Next, from straight and level with the roll servo(s) powered up and the AUTOPILOT on (
AP ON
),
select
CRUISE ON
(Cruise mode). The AUTOPILOT should now display a
Target
heading (this is
the heading it locked in as the current heading to follow. The
Track
is your actual heading and
should remain within a few degrees of the
Target
heading, depending on wind.
Immediately
switch the AUTOPILOT off (AP OFF) or power down the roll servo(s) if you experience any
adverse reaction.
8.
Again, put in a bank angle for a couple of seconds and then release the yoke. Do the same in the
opposite direction. You want the plane to roll back smoothly and gently to re-acquire the
Target
heading (note if its windy the aircraft will crab into the wind, to maintain the GPS target). The
maximum bank angle has been configured for
20
degrees.
Immediately switch the AUTOPILOT
off (AP OFF) or power down the roll servo(s) if you experience any adverse reaction.