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With this information, it is able to determine the error b

etween your requested flight attitude and your plane’s true orientation. By passing this error through a controller

algorithm and sending it as servo commands through the elevator and aileron outputs on your OSD Pro, the Guardian

flying wing on rails!

Each axis has a separate control gain used to tune stabilization. These are defined by, “Stabilizer Pitch Gain,” “Stabilizer

The Pitch and Roll Gains are scaled by the Ov

erall Gain to provide individual axis tuning while also providing On

aerodynamic performance.

In general, the higher the gain, the more responsive and resilient your plane will be to disturbances such as

however may result in oscillations of the airframe. It is recommended that the Overall Gain be used to tune the airframe unt

down. This will ensure the best

performance while preventing

Warning: Be careful while tuning the Overall Gain. Some airframes may oscillate very strongly

strong oscillations, increase the Overall Gain slowly

and reduce it as soon as oscillations are noticed.

Stabilization “Master Gain” Knob

When the OSD Pro’s “Choose Menu Receiver Inputs” option is set to “3

Guardian.

This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used durin

multiplies the individual Pitch/Roll gains and serves as a way to easily tune both. If you have an RC c

channel to allow for On-The-

Fly stabilization gain adjustment.

This knob gives the ability to transition smoothly from stabilized flight to un

characteristics, it is often helpful to be able to tune the controller in flight. Increasing its value will turn on stabili

fly-by-wire behavior is achieved.

When this feature is used, the stabilizer’s control characteristics given the Master Gain Knob’s position are as follows:

• -100%: Stabilization is OFF. You can fly normally.

• -100%-~0

% (depending on Pitch/Roll gain values): Medium Stabilization. Your ai

still be rolled by strong stick movements or turbulence.

Note:

The Max Stabilized Pitch/Roll angles specified in the “Configure Guardian Stabilizer” menu may be exceeded in this

knob’s position, flight behavior of your model and type of maneuvers attempted.

• ~0% -

100%: Maximum stabilization. The model should not roll over when in

the plane and true Fly-By-Wire functionality.

Note that if you don’t have a knob available on your radio, you can also use the

connecting a spare switch channel to the Aux 2 input

. Then, depending on the endpoints programmed for your switch

stabilization levels and turn off stabilization by flipping the

switch.

If no connection is made to the OSD Pro

Aux 2 input, or you have not configured your OSD switch mode to “3

Gain” setting is always used. The “Stabilizer Overall Gain” setting is also always u

Note: The described

behavior assumes a standard deflection controller, with

Warning:

When RTH is enabled, the Guardian Overall Gain from the “Configure Guardian Stabi

provide the Overall Gain as well. If the menu value of Overall Gain in this menu is set too low,

Displaying the Master Gain Onscreen

To display the Master Gain

on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled

parameter on that line represents the Overall Gain.

Oscillations

Sometimes, when the controller gains are set very high or if there is a very high airspeed, oscillations can develop. If osc

knob, change the inputs of your master gain switch,

or adjust

Additional Features

Center-Stick Only Stabilization

Some

people looking for more aerobatic capabilities from their airplane prefer to disable the sta

they need it for crash avoidance or just to take a short break without needing to land. Center

Stabilization allows for a quick return to stabilized flight at any time by letting go of the control stick. It can

be enabled in the “Configure Guardian Stabilizer” menu.

After turning on this feature, choose the size of the Center-

Stick Box by adjusting the “Center Stick Box

Size”. Choosing “1” will size the

box to 10% of your control stick movement range

while “10” will cover the entire

physical range of your control stick

stick away from its centered position will decrease your Overall Gain until it reaches zero at the edge of the

Center Stick Box as illustrated in Figure 1.

Moving the control stick outside the Center-

Stick Box will accomplish the same as turning your Overall

http://www.eagletreesystems.com

igure 1

: Overall Gain vs. Stick Position

etween your requested flight attitude and your plane’s true orientation. By passing this error through a controller

algorithm and sending it as servo commands through the elevator and aileron outputs on your OSD Pro, the Guardian

can turn

your squirrely m

Each axis has a separate control gain used to tune stabilization. These are defined by, “Stabilizer Pitch Gain,” “Stabilizer

Roll Gain” and “Stabilizer Overall Gain.”

erall Gain to provide individual axis tuning while also providing On

-The-

Fly adjustment depending on conditions and

In general, the higher the gain, the more responsive and resilient your plane will be to disturbances such as

wind, balance and trim issues. Tuning the gains too high

however may result in oscillations of the airframe. It is recommended that the Overall Gain be used to tune the airframe unt

il it oscillates and then be turned back

performance while preventing

future oscillations.

Warning: Be careful while tuning the Overall Gain. Some airframes may oscillate very strongly

at higher gains

, possibly damaging themselves. To avoid

and reduce it as soon as oscillations are noticed.

When the OSD Pro’s “Choose Menu Receiver Inputs” option is set to “3

-Position” or “None”, the OSD Pro’s Aux2 input

channel can be used as a Master Gain for the

This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used durin

multiplies the individual Pitch/Roll gains and serves as a way to easily tune both. If you have an RC c

ontroller that has an analog knob, this can be mapped

Fly stabilization gain adjustment.

This knob gives the ability to transition smoothly from stabilized flight to un

-stabilized flight. Additionally, since your

airspeed can change your airframe’s flight

characteristics, it is often helpful to be able to tune the controller in flight. Increasing its value will turn on stabili

zation, increasing the Guardian’s effect until a full

When this feature is used, the stabilizer’s control characteristics given the Master Gain Knob’s position are as follows:

% (depending on Pitch/Roll gain values): Medium Stabilization. Your ai

rframe is now inherently stable, but depending on your knob selection, may

still be rolled by strong stick movements or turbulence.

The Max Stabilized Pitch/Roll angles specified in the “Configure Guardian Stabilizer” menu may be exceeded in this

range, depending on the Master Gain

knob’s position, flight behavior of your model and type of maneuvers attempted.

Do not attempt maneuvers that may destabilize your airplane!

100%: Maximum stabilization. The model should not roll over when in

this range. Servo commands will become exaggerated, leading to tighter control of

Note that if you don’t have a knob available on your radio, you can also use the

OSD Pro Aux 2 input as an “on/off” switch for

stabilization. This is done by

. Then, depending on the endpoints programmed for your switch

in your radio

switch.

Aux 2 input, or you have not configured your OSD switch mode to “3

-position”

or “None”

Gain” setting is always used. The “Stabilizer Overall Gain” setting is also always u

sed during RTH.

behavior assumes a standard deflection controller, with

100% being defined by a 1.1ms servo pulse and +100% being a 1.9ms pulse.

When RTH is enabled, the Guardian Overall Gain from the “Configure Guardian Stabi

lizer” menu is used, even if the Aux2 input is configured to

provide the Overall Gain as well. If the menu value of Overall Gain in this menu is set too low,

then RTH will not be stabilized.

on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled

Sometimes, when the controller gains are set very high or if there is a very high airspeed, oscillations can develop. If osc

illations occur, turn down the Master Gain

or adjust

the Overall Gain menu setting if a knob or switch is not being used, until the oscillations stop.

people looking for more aerobatic capabilities from their airplane prefer to disable the sta

bilizer until

they need it for crash avoidance or just to take a short break without needing to land. Center

-Stick Only

Stabilization allows for a quick return to stabilized flight at any time by letting go of the control stick. It can

Stick Box by adjusting the “Center Stick Box

box to 10% of your control stick movement range

(best for 3D flight)

physical range of your control stick

(smoother turns). Moving the control

stick away from its centered position will decrease your Overall Gain until it reaches zero at the edge of the

Stick Box will accomplish the same as turning your Overall

http://www.eagletreesystems.com

: Overall Gain vs. Stick Position

within

Center Stick Box

etween your requested flight attitude and your plane’s true orientation. By passing this error through a controller

your squirrely m

odel into a smooth-

Roll Gain” and “Stabilizer Overall Gain.”

Fly adjustment depending on conditions and

wind, balance and trim issues. Tuning the gains too high

il it oscillates and then be turned back

, possibly damaging themselves. To avoid

channel can be used as a Master Gain for the

This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used durin

g RTH). This Master Gain

ontroller that has an analog knob, this can be mapped

to the Aux2

airspeed can change your airframe’s flight

zation, increasing the Guardian’s effect until a full

rframe is now inherently stable, but depending on your knob selection, may

range, depending on the Master Gain

Do not attempt maneuvers that may destabilize your airplane!

this range. Servo commands will become exaggerated, leading to tighter control of

stabilization. This is done by

in your radio

, you can set the on and off

or “None”

, the on-screen “Stabilizer Overall

100% being defined by a 1.1ms servo pulse and +100% being a 1.9ms pulse.

lizer” menu is used, even if the Aux2 input is configured to

then RTH will not be stabilized.

on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled

, the “G”

illations occur, turn down the Master Gain

the Overall Gain menu setting if a knob or switch is not being used, until the oscillations stop.