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| 1791296 | 209, 20 inch Planer, 5HP 1PH 230V |
| 1791297 | 209, 20 inch Planer, 5HP 3PH 230/460V |
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Standard Equipment:
The following parameters should be set correctly based on the specifications of your aircraft.
Parameters used to linearise your motor thrust curve.
Parameters used to define the output range sent to the ESC.
For Copter-4.0 (and later):
For Copter-3.6 (and earlier):
The initial tune of the aircraft should be done in the aircrafts most agile configuration. This generally means that the aircraft will be at its minimum take off weight with fully charged batteries.
The first takeoff of an untuned multirotor is the most dangerous seconds of the aircraft’s life. This is where the aircraft could be very unstable causing a sudden increase in power when then results in the aircraft jumping into the air, or it may be so poorly tuned that you have insufficient control over the aircraft once it is airborne. The pilot should be extremely diligent during the tuning flights to avoid a situation that could result in injury or damage.
There are several things that the pilot can do to minimise the risk during the early tuning process: Elmedia video player pro 7 9 download.
The first take off is the most dangerous time for any multirotor. Care must be taken to ensure the aircraft is not destroyed in the first seconds of flight and nobody is injured.
This flight will allow to setup your aircraft in a “flyable for tuning” state.
Next section will explain how to remove the oscillations.
The first priority when tuning an multirotor aircraft is to establish a stable tune, free of oscillations, that can be used to do further tests.
This process is repeated until the aircraft can hover without oscillations being detectable visually or audibly.
If the aircraft has very long or flexible landing gear then you may need to leave the ground before ground resonance stops.
Be aware that in this state the aircraft may be very slow to respond to large control inputs and disturbances. The pilot should be extremely careful to put minimal stick inputs into the aircraft to avoid the possibility of a crash.
This test will allow to test the altitude controller and ensure the stability of your aircraft.
AltHold starts to move up and down the position and velocity controllers may need to be reduced by 50%. These values are: PSC_POSZ_P and PSC_VELZ_P.
Most pilots will look to move to Autotune as quickly as possible once their aircraft can hover safely in AltHold. Before Autotune is run the pilot should ensure that the current tune is good enough to recover from the repeated tests run by Autotune. To test the current state of tune:
If the aircraft begins to overshoot significantly or oscillate after the stick input, halt the tests before the situation begins to endanger the aircraft. The aircraft may require manual tuning (see next section) before autotune can be run.
To test the stabilization loops independent of the input shaping, set the parameter: ATC_RATE_FF_ENAB to 0.
Halt the tests if the aircraft overshoots level significantly or if the aircraft oscillates, the aircraft may require manual tuning (see next section https://downdup504.weebly.com/blazing-seven-slots.html. ) before autotune can be run.
Set ATC_RATE_FF_ENAB to 1 after the tests are complete.
Manual tuning may be required to provide a stable tune before Autotune is run, or if Autotune does not produce an acceptable tune. The process below can be done on roll and pitch at the same time for a quick manual tune provided the aircraft is symmetrical. If the aircraft is not symmetrical then the process should be repeated for both roll and pitch individually.
The pilot should be especially careful to ensure that ATC_THR_MIX_MAN and MOT_THST_HOVER are set correctly before manual tuning is started.
When oscillations start do not make large or sudden stick inputs. Reduce the throttle smoothly to land the aircraft while using very slow and small roll and pitch inputs to control the aircraft position.
Each time the P term is changed set the I term equal to the P term. Those parameters can be changed on ground and preferably disarmed. A confident pilot could set them in flight with GCS or transmitter tuning knob (see Transmitter based tuning section).
If using Transmitter based tuning , set the minimum value of the tuning range to the current safe value and the upper range to approximately 4 times the current value. Be careful not to move the slider before the parameter list is refreshed to recover the set value. Ensure the transmitter tuning is switched off before setting the parameter value or the tuning may immediately overwrite it.
If the aircraft appears stable enough to attempt autotune follow the instructions in the autotune page.
There a number of problems that can prevent Autotune from providing a good tune. Some of the reasons Autotune can fail are:
If Autotune has failed you will need to do a manual tune. Prizmo pro 4 0 3 0.
Some signs that Autotune has been successful are: Casino free games slots machine.
Autotune will attempt to tune each axis as tight as the aircraft can tolerate. In some aircraft this can be unnecessarily responsive. A guide for most aircraft:
These values should only be changed if Autotune produces higher values. Small aerobatic aircraft may prefer to keep these values as high as possible.
Arducopter has a set of parameters that define the way the aircraft feels to fly. This allows the aircraft to be set up with a very aggressive tune but still feel like a very docile and friendly aircraft to fly.
The most important of these parameters is:
Autotune will set the ATC_ACCEL_P_MAX, ATC_ACCEL_R_MAX and ATC_ACCEL_Y_MAX parameters to their maximum based on measurements done during the Autotune tests. These values should not be increased beyond what Autotune suggests without careful testing. In most cases pilots will want to reduce these values significantly.
For aircraft designed to carry large directly mounted payloads, the maximum values of ATC_ACCEL_P_MAX, ATC_ACCEL_R_MAX and ATC_ACCEL_Y_MAX should be reduced based on the minimum and maximum takeoff weight (TOW):
ACRO_YAW_P should be set to be approximately 0.5 x ATC_ACCEL_Y_MAX / 4500 to ensure that the aircraft can achieve full yaw rate in approximately half a second.
ATC_ANG_LIM_TC may be increased to provide a very smooth feeling on the sticks at the expense of a slower reaction time.
Aerobatic aircraft should keep the ATC_ACCEL_P_MAX, ATC_ACCEL_R_MAX and ATC_ACCEL_Y_MAX provided by autotune and reduce ATC_ANG_LIM_TC to achieve the stick feel desired by the pilot. For pilots wanting to fly ACRO the following input shaping parameters can be used to tune the feel of ACRO:
The full list of input shaping parameters are:
Arducopter has an extremely flexible controller design that can been used with great results on aircraft from 100g to 500 kg. There are a number of difficult control problems that provide a greater depth of understanding that can be provided here. Some of these issues include:
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