GRAUPNER GR-18 Series Manual page 16

Roll and Nick setting
Step 4
Optional setting for Roll and Nick
Multicopter RO/NI< >
>ROLL/NICK P
ROLL/NICK D
DAMPING 0
ROLL FACTOR %
POWER2SENS. 80
--ATTITUDE MODE--
ROLL/NICK I
AGILITY 3
Multicopter RO/NI< >
--RATE MODE--
R/N RATE I 25
RATE 3
16 - 24
Now do the same for nick: on the transmitter, briefly set the nick
command so that it is fully forward. Roll the copter more than
45 degrees forwards; the axis is displayed, the field is no longer
highlighted and identification of this axis is complete.
Finally complete the procedure for yaw: on the transmitter, briefly
set the yaw command fully to the right. Turn the copter so that
the nose turns more than 45 degrees to the right; the axis is dis-
played, the field is no longer highlighted and identification of this
axis is complete.
The gyros and operating directions have now been assigned.
Now check to make sure that the operating directions are cor-
rect.
To do this remove the propeller of the copters and give
approximately a quarter throttle, all motors are running at
the same speed.
Tilt the Copter in Attitude mode so that its nose is facing
downwards the front motors must turn faster than back
ones. Tilt the Copter in Attitude mode to one side the
motors of the side, in witch you tilt the model, must turn
faster then the motors on the other side.
For Attitude and Rate mode:
ROLL/NICK P:
Set this parameter in steps of 5 higher and higher, until a medi-
um-speed overshoot occurs. Then go some steps back in order
50
to prevent the soar up climb in case of full throttle.
30
ROLL/NICK D:
65
Now adjust well to the D component in steps of 5, until the Cop-
ter engages exactly on nick and roll. A too high value leads to
40
very rapid oscillations.
DAMPING
The damping factor should be set as low as possible, but as
high as necessary, so that the PID control can operate optimally
and the setting can be increased at best. If you do not get vibra-
tions away with the PID settings , then change the damping of
a step and test whether the setting works better or worse. Rec-
ommended settings:
For Racecopter with fast controllers and 5-6 inch propellers:
- 2
For copters with fast controllers and 8 inch propellers:
Copter with bigger propellers: 2 or higher.
1
2
GR-18_3D_jh_V1