User manual

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4. Autopilot
For safety reasons, please disconnect ESCs and Power Connection Adapter or remove
all propellers during configuration and system setup!
STEP1: Basic Parameters
You must click [Default] button in first setup
parameter, and subsequence firmware upgrade.
Usually, the default parameters are ready to go. However,
different multi rotors have different gains because of
different size, ESC, motor and propeller. If gain is too large,
you will find the multi rotor oscillating in the corresponding
direction (About 5~10Hz). If too small, the multi rotor will
likely to be hard to control. So you can still setup the basic
Gain of Pitch, Roll, Yaw and Vertical manually according
to your multi rotor to have a wonderful fly experience. We
suggest you to change 10% to 15% of the parameter at a
time.
To the gains of Pitch and Roll, if you release the Pitch or
Roll stick after command stick, multi-rotor should be back
to hovering state. If the reaction of multi-rotor in this
procedure is too soft (large delay), please increase the
basic gain slowly (10%-15% each time) until vibration
emerges after you release the stick. Then decrease the
gain a little until vibration just disappears. Now the gain is
perfect, but the reaction of the attitude change is slow.
You can follow the way introduced at the end of this
section to tune the attitude gains.
The way of tuning the Yaw gain is the same as the way of
adjusting the Tail Gyro. If you want fast stick reaction
speed, increase the gain, otherwise decrease the gain.
However, the spin of multi-rotor is produced by the
counter torque force, and the magnitude of which is
limited. Therefore, large gain will not produce tail
vibration like helicopter, but severe reaction at the start or
stop of motors, which will affect the stabilization of the
other directions.
You use two methods to judge if the Vertical gain is good
enough: 1) The multi-rotor can lock the altitude when the
throttle stick is at center position; 2) The change of altitude
is small during the flight along a route. You can increase
the gain slowly (10% each time) until the vibration
emerges along the vertical direction or the reaction of
throttle stick is too sensitive, then decrease 20% of the
gain. Now it is a suitable Vertical gain.
Attitude gains determine the reaction speed of attitude
from command stick, the bigger the value the quicker the
reaction. Increase it for sharper and quicker leveling
action after command stick released. The control feeling
will be stiffness and rigid if the value is too high; and
sluggish leveling action and slow braking if too small.
Notice: The vertical gain will NOT affect the manual
Step 1
Step 2
Step 3