Copyright © 2019 Xflight Technologies LLC, Florida, USA
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9.
When complete allow servos to return to a neutral position, then switch the AUTOPILOT off (
AP
OFF
) and/or power down the roll servo(s).
10.
If the roll response is too slow then you will need to increase
RLL2SRV_P
and
RLL2SRV_FF
when
back on the ground in small increments around 0.5 until you are happy with the response
(alternatively, an in-flight tuning kit is available to modify parameters in flight).
These are the
most important roll tuning parameters and must be tuned first.
RLL2SRV
RLL2SRV_P
Roll Proportional gain (default =
2
)
RLL2SRV
RLL2SRV_FF
Roll Feed Forward gain (default =
2
)
If you get bank angle oscillation or overshoot, then you will need to reduce
RLL2SRV_P
when
back on the ground in increments of 0.1.
11.
You can also adjust the
RLL2SRV_I
response in steps of 0.1 to allow the aircraft to cope better
with wind.
12.
If you see unexpected rapid servo movement then your PID gains may be too high; this may
cause the servos to overheat.
13.
If you are not able to achieve smooth roll reactions, then recheck AHRS level configurations
and/or roll axis orientation. A more detailed explanation can be found here:
http://ardupilot.org/plane/docs/roll-pitch-controller-tuning.html
If all else fails, then contact [email protected] for support.
